@wandelbots/wandelbots-js-react-components 1.29.0 → 1.29.1

package/dist/index.cjs

@@ -80,5 +80,5 @@ const theme2 = createTheme({ palette: {
 `)}get[Symbol.toStringTag](){return"AxiosHeaders"}static from(t){return t instanceof this?t:new this(t)}static concat(t,...r){const n=new this(t);return r.forEach(a=>n.set(a)),n}static accessor(t){const n=(this[Bo]=this[Bo]={accessors:{}}).accessors,a=this.prototype;function s(i){const l=Dr(i);n[l]||(cg(a,i),n[l]=!0)}return v.isArray(t)?t.forEach(s):s(t),this}};Fe.accessor(["Content-Type","Content-Length","Accept","Accept-Encoding","User-Agent","Authorization"]);v.reduceDescriptors(Fe.prototype,({value:e},t)=>{let r=t[0].toUpperCase()+t.slice(1);return{get:()=>e,set(n){this[r]=n}}});v.freezeMethods(Fe);function Fa(e,t){const r=this||ln,n=t||r,a=Fe.from(n.headers);let s=n.data;return v.forEach(e,function(l){s=l.call(r,s,a.normalize(),t?t.status:void 0)}),a.normalize(),s}function El(e){return!!(e&&e.__CANCEL__)}function Rr(e,t,r){J.call(this,e??"canceled",J.ERR_CANCELED,t,r),this.name="CanceledError"}v.inherits(Rr,J,{__CANCEL__:!0});function Ll(e,t,r){const n=r.config.validateStatus;!r.status||!n||n(r.status)?e(r):t(new J("Request failed with status code "+r.status,[J.ERR_BAD_REQUEST,J.ERR_BAD_RESPONSE][Math.floor(r.status/100)-4],r.config,r.request,r))}function mg(e){const t=/^([-+\w]{1,25})(:?\/\/|:)/.exec(e);return t&&t[1]||""}function dg(e,t){e=e||10;const r=new Array(e),n=new Array(e);let a=0,s=0,i;return t=t!==void 0?t:1e3,function(u){const c=Date.now(),m=n[s];i||(i=c),r[a]=u,n[a]=c;let f=s,d=0;for(;f!==a;)d+=r[f++],f=f%e;if(a=(a+1)%e,a===s&&(s=(s+1)%e),c-i<t)return;const x=m&&c-m;return x?Math.round(d*1e3/x):void 0}}function fg(e,t){let r=0,n=1e3/t,a,s;const i=(c,m=Date.now())=>{r=m,a=null,s&&(clearTimeout(s),s=null),e.apply(null,c)};return[(...c)=>{const m=Date.now(),f=m-r;f>=n?i(c,m):(a=c,s||(s=setTimeout(()=>{s=null,i(a)},n-f)))},()=>a&&i(a)]}const Jn=(e,t,r=3)=>{let n=0;const a=dg(50,250);return fg(s=>{const i=s.loaded,l=s.lengthComputable?s.total:void 0,u=i-n,c=a(u),m=i<=l;n=i;const f={loaded:i,total:l,progress:l?i/l:void 0,bytes:u,rate:c||void 0,estimated:c&&l&&m?(l-i)/c:void 0,event:s,lengthComputable:l!=null,[t?"download":"upload"]:!0};e(f)},r)},Jo=(e,t)=>{const r=e!=null;return[n=>t[0]({lengthComputable:r,total:e,loaded:n}),t[1]]},Vo=e=>(...t)=>v.asap(()=>e(...t)),hg=st.hasStandardBrowserEnv?function(){const t=/(msie|trident)/i.test(navigator.userAgent),r=document.createElement("a");let n;function a(s){let i=s;return t&&(r.setAttribute("href",i),i=r.href),r.setAttribute("href",i),{href:r.href,protocol:r.protocol?r.protocol.replace(/:$/,""):"",host:r.host,search:r.search?r.search.replace(/^\?/,""):"",hash:r.hash?r.hash.replace(/^#/,""):"",hostname:r.hostname,port:r.port,pathname:r.pathname.charAt(0)==="/"?r.pathname:"/"+r.pathname}}return n=a(window.location.href),function(i){const l=v.isString(i)?a(i):i;return l.protocol===n.protocol&&l.host===n.host}}():function(){return function(){return!0}}(),gg=st.hasStandardBrowserEnv?{write(e,t,r,n,a,s){const i=[e+"="+encodeURIComponent(t)];v.isNumber(r)&&i.push("expires="+new Date(r).toGMTString()),v.isString(n)&&i.push("path="+n),v.isString(a)&&i.push("domain="+a),s===!0&&i.push("secure"),document.cookie=i.join("; ")},read(e){const t=document.cookie.match(new RegExp("(^|;\\s*)("+e+")=([^;]*)"));return t?decodeURIComponent(t[3]):null},remove(e){this.write(e,"",Date.now()-864e5)}}:{write(){},read(){return null},remove(){}};function pg(e){return/^([a-z][a-z\d+\-.]*:)?\/\//i.test(e)}function _g(e,t){return t?e.replace(/\/?\/$/,"")+"/"+t.replace(/^\/+/,""):e}function Nl(e,t){return e&&!pg(t)?_g(e,t):t}const Go=e=>e instanceof Fe?{...e}:e;function Ht(e,t){t=t||{};const r={};function n(c,m,f){return v.isPlainObject(c)&&v.isPlainObject(m)?v.merge.call({caseless:f},c,m):v.isPlainObject(m)?v.merge({},m):v.isArray(m)?m.slice():m}function a(c,m,f){if(v.isUndefined(m)){if(!v.isUndefined(c))return n(void 0,c,f)}else return n(c,m,f)}function s(c,m){if(!v.isUndefined(m))return n(void 0,m)}function i(c,m){if(v.isUndefined(m)){if(!v.isUndefined(c))return n(void 0,c)}else return n(void 0,m)}function l(c,m,f){if(f in t)return n(c,m);if(f in e)return n(void 0,c)}const u={url:s,method:s,data:s,baseURL:i,transformRequest:i,transformResponse:i,paramsSerializer:i,timeout:i,timeoutMessage:i,withCredentials:i,withXSRFToken:i,adapter:i,responseType:i,xsrfCookieName:i,xsrfHeaderName:i,onUploadProgress:i,onDownloadProgress:i,decompress:i,maxContentLength:i,maxBodyLength:i,beforeRedirect:i,transport:i,httpAgent:i,httpsAgent:i,cancelToken:i,socketPath:i,responseEncoding:i,validateStatus:l,headers:(c,m)=>a(Go(c),Go(m),!0)};return v.forEach(Object.keys(Object.assign({},e,t)),function(m){const f=u[m]||a,d=f(e[m],t[m],m);v.isUndefined(d)&&f!==l||(r[m]=d)}),r}const $l=e=>{const t=Ht({},e);let{data:r,withXSRFToken:n,xsrfHeaderName:a,xsrfCookieName:s,headers:i,auth:l}=t;t.headers=i=Fe.from(i),t.url=Il(Nl(t.baseURL,t.url),e.params,e.paramsSerializer),l&&i.set("Authorization","Basic "+btoa((l.username||"")+":"+(l.password?unescape(encodeURIComponent(l.password)):"")));let u;if(v.isFormData(r)){if(st.hasStandardBrowserEnv||st.hasStandardBrowserWebWorkerEnv)i.setContentType(void 0);else if((u=i.getContentType())!==!1){const[c,...m]=u?u.split(";").map(f=>f.trim()).filter(Boolean):[];i.setContentType([c||"multipart/form-data",...m].join("; "))}}if(st.hasStandardBrowserEnv&&(n&&v.isFunction(n)&&(n=n(t)),n||n!==!1&&hg(t.url))){const c=a&&s&&gg.read(s);c&&i.set(a,c)}return t},yg=typeof XMLHttpRequest<"u",bg=yg&&function(e){return new Promise(function(r,n){const a=$l(e);let s=a.data;const i=Fe.from(a.headers).normalize();let{responseType:l,onUploadProgress:u,onDownloadProgress:c}=a,m,f,d,x,y;function _(){x&&x(),y&&y(),a.cancelToken&&a.cancelToken.unsubscribe(m),a.signal&&a.signal.removeEventListener("abort",m)}let p=new XMLHttpRequest;p.open(a.method.toUpperCase(),a.url,!0),p.timeout=a.timeout;function j(){if(!p)return;const C=Fe.from("getAllResponseHeaders"in p&&p.getAllResponseHeaders()),S={data:!l||l==="text"||l==="json"?p.responseText:p.response,status:p.status,statusText:p.statusText,headers:C,config:e,request:p};Ll(function(M){r(M),_()},function(M){n(M),_()},S),p=null}"onloadend"in p?p.onloadend=j:p.onreadystatechange=function(){!p||p.readyState!==4||p.status===0&&!(p.responseURL&&p.responseURL.indexOf("file:")===0)||setTimeout(j)},p.onabort=function(){p&&(n(new J("Request aborted",J.ECONNABORTED,e,p)),p=null)},p.onerror=function(){n(new J("Network Error",J.ERR_NETWORK,e,p)),p=null},p.ontimeout=function(){let w=a.timeout?"timeout of "+a.timeout+"ms exceeded":"timeout exceeded";const S=a.transitional||Tl;a.timeoutErrorMessage&&(w=a.timeoutErrorMessage),n(new J(w,S.clarifyTimeoutError?J.ETIMEDOUT:J.ECONNABORTED,e,p)),p=null},s===void 0&&i.setContentType(null),"setRequestHeader"in p&&v.forEach(i.toJSON(),function(w,S){p.setRequestHeader(S,w)}),v.isUndefined(a.withCredentials)||(p.withCredentials=!!a.withCredentials),l&&l!=="json"&&(p.responseType=a.responseType),c&&([d,y]=Jn(c,!0),p.addEventListener("progress",d)),u&&p.upload&&([f,x]=Jn(u),p.upload.addEventListener("progress",f),p.upload.addEventListener("loadend",x)),(a.cancelToken||a.signal)&&(m=C=>{p&&(n(!C||C.type?new Rr(null,e,p):C),p.abort(),p=null)},a.cancelToken&&a.cancelToken.subscribe(m),a.signal&&(a.signal.aborted?m():a.signal.addEventListener("abort",m)));const R=mg(a.url);if(R&&st.protocols.indexOf(R)===-1){n(new J("Unsupported protocol "+R+":",J.ERR_BAD_REQUEST,e));return}p.send(s||null)})},xg=(e,t)=>{let r=new AbortController,n;const a=function(u){if(!n){n=!0,i();const c=u instanceof Error?u:this.reason;r.abort(c instanceof J?c:new Rr(c instanceof Error?c.message:c))}};let s=t&&setTimeout(()=>{a(new J(`timeout ${t} of ms exceeded`,J.ETIMEDOUT))},t);const i=()=>{e&&(s&&clearTimeout(s),s=null,e.forEach(u=>{u&&(u.removeEventListener?u.removeEventListener("abort",a):u.unsubscribe(a))}),e=null)};e.forEach(u=>u&&u.addEventListener&&u.addEventListener("abort",a));const{signal:l}=r;return l.unsubscribe=i,[l,()=>{s&&clearTimeout(s),s=null}]},vg=function*(e,t){let r=e.byteLength;if(!t||r<t){yield e;return}let n=0,a;for(;n<r;)a=n+t,yield e.slice(n,a),n=a},jg=async function*(e,t,r){for await(const n of e)yield*vg(ArrayBuffer.isView(n)?n:await r(String(n)),t)},zo=(e,t,r,n,a)=>{const s=jg(e,t,a);let i=0,l,u=c=>{l||(l=!0,n&&n(c))};return new ReadableStream({async pull(c){try{const{done:m,value:f}=await s.next();if(m){u(),c.close();return}let d=f.byteLength;if(r){let x=i+=d;r(x)}c.enqueue(new Uint8Array(f))}catch(m){throw u(m),m}},cancel(c){return u(c),s.return()}},{highWaterMark:2})},fa=typeof fetch=="function"&&typeof Request=="function"&&typeof Response=="function",Fl=fa&&typeof ReadableStream=="function",ns=fa&&(typeof TextEncoder=="function"?(e=>t=>e.encode(t))(new TextEncoder):async e=>new Uint8Array(await new Response(e).arrayBuffer())),Dl=(e,...t)=>{try{return!!e(...t)}catch{return!1}},Sg=Fl&&Dl(()=>{let e=!1;const t=new Request(st.origin,{body:new ReadableStream,method:"POST",get duplex(){return e=!0,"half"}}).headers.has("Content-Type");return e&&!t}),Ko=64*1024,as=Fl&&Dl(()=>v.isReadableStream(new Response("").body)),Vn={stream:as&&(e=>e.body)};fa&&(e=>{["text","arrayBuffer","blob","formData","stream"].forEach(t=>{!Vn[t]&&(Vn[t]=v.isFunction(e[t])?r=>r[t]():(r,n)=>{throw new J(`Response type '${t}' is not supported`,J.ERR_NOT_SUPPORT,n)})})})(new Response);const Rg=async e=>{if(e==null)return 0;if(v.isBlob(e))return e.size;if(v.isSpecCompliantForm(e))return(await new Request(e).arrayBuffer()).byteLength;if(v.isArrayBufferView(e)||v.isArrayBuffer(e))return e.byteLength;if(v.isURLSearchParams(e)&&(e=e+""),v.isString(e))return(await ns(e)).byteLength},Ag=async(e,t)=>{const r=v.toFiniteNumber(e.getContentLength());return r??Rg(t)},wg=fa&&(async e=>{let{url:t,method:r,data:n,signal:a,cancelToken:s,timeout:i,onDownloadProgress:l,onUploadProgress:u,responseType:c,headers:m,withCredentials:f="same-origin",fetchOptions:d}=$l(e);c=c?(c+"").toLowerCase():"text";let[x,y]=a||s||i?xg([a,s],i):[],_,p;const j=()=>{!_&&setTimeout(()=>{x&&x.unsubscribe()}),_=!0};let R;try{if(u&&Sg&&r!=="get"&&r!=="head"&&(R=await Ag(m,n))!==0){let P=new Request(t,{method:"POST",body:n,duplex:"half"}),M;if(v.isFormData(n)&&(M=P.headers.get("content-type"))&&m.setContentType(M),P.body){const[K,le]=Jo(R,Jn(Vo(u)));n=zo(P.body,Ko,K,le,ns)}}v.isString(f)||(f=f?"include":"omit"),p=new Request(t,{...d,signal:x,method:r.toUpperCase(),headers:m.normalize().toJSON(),body:n,duplex:"half",credentials:f});let C=await fetch(p);const w=as&&(c==="stream"||c==="response");if(as&&(l||w)){const P={};["status","statusText","headers"].forEach(ce=>{P[ce]=C[ce]});const M=v.toFiniteNumber(C.headers.get("content-length")),[K,le]=l&&Jo(M,Jn(Vo(l),!0))||[];C=new Response(zo(C.body,Ko,K,()=>{le&&le(),w&&j()},ns),P)}c=c||"text";let S=await Vn[v.findKey(Vn,c)||"text"](C,e);return!w&&j(),y&&y(),await new Promise((P,M)=>{Ll(P,M,{data:S,headers:Fe.from(C.headers),status:C.status,statusText:C.statusText,config:e,request:p})})}catch(C){throw j(),C&&C.name==="TypeError"&&/fetch/i.test(C.message)?Object.assign(new J("Network Error",J.ERR_NETWORK,e,p),{cause:C.cause||C}):J.from(C,C&&C.code,e,p)}}),ss={http:Vh,xhr:bg,fetch:wg};v.forEach(ss,(e,t)=>{if(e){try{Object.defineProperty(e,"name",{value:t})}catch{}Object.defineProperty(e,"adapterName",{value:t})}});const Wo=e=>`- ${e}`,Pg=e=>v.isFunction(e)||e===null||e===!1,Ul={getAdapter:e=>{e=v.isArray(e)?e:[e];const{length:t}=e;let r,n;const a={};for(let s=0;s<t;s++){r=e[s];let i;if(n=r,!Pg(r)&&(n=ss[(i=String(r)).toLowerCase()],n===void 0))throw new J(`Unknown adapter '${i}'`);if(n)break;a[i||"#"+s]=n}if(!n){const s=Object.entries(a).map(([l,u])=>`adapter ${l} `+(u===!1?"is not supported by the environment":"is not available in the build"));let i=t?s.length>1?`since :
 `+s.map(Wo).join(`
 `):" "+Wo(s[0]):"as no adapter specified";throw new J("There is no suitable adapter to dispatch the request "+i,"ERR_NOT_SUPPORT")}return n},adapters:ss};function Da(e){if(e.cancelToken&&e.cancelToken.throwIfRequested(),e.signal&&e.signal.aborted)throw new Rr(null,e)}function Ho(e){return Da(e),e.headers=Fe.from(e.headers),e.data=Fa.call(e,e.transformRequest),["post","put","patch"].indexOf(e.method)!==-1&&e.headers.setContentType("application/x-www-form-urlencoded",!1),Ul.getAdapter(e.adapter||ln.adapter)(e).then(function(n){return Da(e),n.data=Fa.call(e,e.transformResponse,n),n.headers=Fe.from(n.headers),n},function(n){return El(n)||(Da(e),n&&n.response&&(n.response.data=Fa.call(e,e.transformResponse,n.response),n.response.headers=Fe.from(n.response.headers))),Promise.reject(n)})}const Bl="1.7.4",Ns={};["object","boolean","number","function","string","symbol"].forEach((e,t)=>{Ns[e]=function(n){return typeof n===e||"a"+(t<1?"n ":" ")+e}});const Xo={};Ns.transitional=function(t,r,n){function a(s,i){return"[Axios v"+Bl+"] Transitional option '"+s+"'"+i+(n?". "+n:"")}return(s,i,l)=>{if(t===!1)throw new J(a(i," has been removed"+(r?" in "+r:"")),J.ERR_DEPRECATED);return r&&!Xo[i]&&(Xo[i]=!0,console.warn(a(i," has been deprecated since v"+r+" and will be removed in the near future"))),t?t(s,i,l):!0}};function Cg(e,t,r){if(typeof e!="object")throw new J("options must be an object",J.ERR_BAD_OPTION_VALUE);const n=Object.keys(e);let a=n.length;for(;a-- >0;){const s=n[a],i=t[s];if(i){const l=e[s],u=l===void 0||i(l,s,e);if(u!==!0)throw new J("option "+s+" must be "+u,J.ERR_BAD_OPTION_VALUE);continue}if(r!==!0)throw new J("Unknown option "+s,J.ERR_BAD_OPTION)}}const os={assertOptions:Cg,validators:Ns},Ot=os.validators;let Gt=class{constructor(t){this.defaults=t,this.interceptors={request:new Uo,response:new Uo}}async request(t,r){try{return await this._request(t,r)}catch(n){if(n instanceof Error){let a;Error.captureStackTrace?Error.captureStackTrace(a={}):a=new Error;const s=a.stack?a.stack.replace(/^.+\n/,""):"";try{n.stack?s&&!String(n.stack).endsWith(s.replace(/^.+\n.+\n/,""))&&(n.stack+=`
-`+s):n.stack=s}catch{}}throw n}}_request(t,r){typeof t=="string"?(r=r||{},r.url=t):r=t||{},r=Ht(this.defaults,r);const{transitional:n,paramsSerializer:a,headers:s}=r;n!==void 0&&os.assertOptions(n,{silentJSONParsing:Ot.transitional(Ot.boolean),forcedJSONParsing:Ot.transitional(Ot.boolean),clarifyTimeoutError:Ot.transitional(Ot.boolean)},!1),a!=null&&(v.isFunction(a)?r.paramsSerializer={serialize:a}:os.assertOptions(a,{encode:Ot.function,serialize:Ot.function},!0)),r.method=(r.method||this.defaults.method||"get").toLowerCase();let i=s&&v.merge(s.common,s[r.method]);s&&v.forEach(["delete","get","head","post","put","patch","common"],y=>{delete s[y]}),r.headers=Fe.concat(i,s);const l=[];let u=!0;this.interceptors.request.forEach(function(_){typeof _.runWhen=="function"&&_.runWhen(r)===!1||(u=u&&_.synchronous,l.unshift(_.fulfilled,_.rejected))});const c=[];this.interceptors.response.forEach(function(_){c.push(_.fulfilled,_.rejected)});let m,f=0,d;if(!u){const y=[Ho.bind(this),void 0];for(y.unshift.apply(y,l),y.push.apply(y,c),d=y.length,m=Promise.resolve(r);f<d;)m=m.then(y[f++],y[f++]);return m}d=l.length;let x=r;for(f=0;f<d;){const y=l[f++],_=l[f++];try{x=y(x)}catch(p){_.call(this,p);break}}try{m=Ho.call(this,x)}catch(y){return Promise.reject(y)}for(f=0,d=c.length;f<d;)m=m.then(c[f++],c[f++]);return m}getUri(t){t=Ht(this.defaults,t);const r=Nl(t.baseURL,t.url);return Il(r,t.params,t.paramsSerializer)}};v.forEach(["delete","get","head","options"],function(t){Gt.prototype[t]=function(r,n){return this.request(Ht(n||{},{method:t,url:r,data:(n||{}).data}))}});v.forEach(["post","put","patch"],function(t){function r(n){return function(s,i,l){return this.request(Ht(l||{},{method:t,headers:n?{"Content-Type":"multipart/form-data"}:{},url:s,data:i}))}}Gt.prototype[t]=r(),Gt.prototype[t+"Form"]=r(!0)});let Mg=class Jl{constructor(t){if(typeof t!="function")throw new TypeError("executor must be a function.");let r;this.promise=new Promise(function(s){r=s});const n=this;this.promise.then(a=>{if(!n._listeners)return;let s=n._listeners.length;for(;s-- >0;)n._listeners[s](a);n._listeners=null}),this.promise.then=a=>{let s;const i=new Promise(l=>{n.subscribe(l),s=l}).then(a);return i.cancel=function(){n.unsubscribe(s)},i},t(function(s,i,l){n.reason||(n.reason=new Rr(s,i,l),r(n.reason))})}throwIfRequested(){if(this.reason)throw this.reason}subscribe(t){if(this.reason){t(this.reason);return}this._listeners?this._listeners.push(t):this._listeners=[t]}unsubscribe(t){if(!this._listeners)return;const r=this._listeners.indexOf(t);r!==-1&&this._listeners.splice(r,1)}static source(){let t;return{token:new Jl(function(a){t=a}),cancel:t}}};function kg(e){return function(r){return e.apply(null,r)}}function Ig(e){return v.isObject(e)&&e.isAxiosError===!0}const is={Continue:100,SwitchingProtocols:101,Processing:102,EarlyHints:103,Ok:200,Created:201,Accepted:202,NonAuthoritativeInformation:203,NoContent:204,ResetContent:205,PartialContent:206,MultiStatus:207,AlreadyReported:208,ImUsed:226,MultipleChoices:300,MovedPermanently:301,Found:302,SeeOther:303,NotModified:304,UseProxy:305,Unused:306,TemporaryRedirect:307,PermanentRedirect:308,BadRequest:400,Unauthorized:401,PaymentRequired:402,Forbidden:403,NotFound:404,MethodNotAllowed:405,NotAcceptable:406,ProxyAuthenticationRequired:407,RequestTimeout:408,Conflict:409,Gone:410,LengthRequired:411,PreconditionFailed:412,PayloadTooLarge:413,UriTooLong:414,UnsupportedMediaType:415,RangeNotSatisfiable:416,ExpectationFailed:417,ImATeapot:418,MisdirectedRequest:421,UnprocessableEntity:422,Locked:423,FailedDependency:424,TooEarly:425,UpgradeRequired:426,PreconditionRequired:428,TooManyRequests:429,RequestHeaderFieldsTooLarge:431,UnavailableForLegalReasons:451,InternalServerError:500,NotImplemented:501,BadGateway:502,ServiceUnavailable:503,GatewayTimeout:504,HttpVersionNotSupported:505,VariantAlsoNegotiates:506,InsufficientStorage:507,LoopDetected:508,NotExtended:510,NetworkAuthenticationRequired:511};Object.entries(is).forEach(([e,t])=>{is[t]=e});function Vl(e){const t=new Gt(e),r=bl(Gt.prototype.request,t);return v.extend(r,Gt.prototype,t,{allOwnKeys:!0}),v.extend(r,t,null,{allOwnKeys:!0}),r.create=function(a){return Vl(Ht(e,a))},r}const ve=Vl(ln);ve.Axios=Gt;ve.CanceledError=Rr;ve.CancelToken=Mg;ve.isCancel=El;ve.VERSION=Bl;ve.toFormData=da;ve.AxiosError=J;ve.Cancel=ve.CanceledError;ve.all=function(t){return Promise.all(t)};ve.spread=kg;ve.isAxiosError=Ig;ve.mergeConfig=Ht;ve.AxiosHeaders=Fe;ve.formToJSON=e=>Ol(v.isHTMLForm(e)?new FormData(e):e);ve.getAdapter=Ul.getAdapter;ve.HttpStatusCode=is;ve.default=ve;const{Axios:ob,AxiosError:qo,CanceledError:ib,isCancel:lb,CancelToken:ub,VERSION:cb,all:mb,Cancel:db,isAxiosError:fb,spread:hb,toFormData:gb,AxiosHeaders:pb,HttpStatusCode:_b,formToJSON:yb,getAdapter:bb,mergeConfig:xb}=ve;function Tg(e){try{return JSON.stringify(e)}catch{return}}function Og(e){var t,r,n,a;return e instanceof qo&&e.code==="ERR_NETWORK"?"Failed to connect to the server. Please check your internet connection.":e instanceof qo&&e.response?`${(t=e.response)==null?void 0:t.status} ${(r=e.response)==null?void 0:r.statusText} from ${(n=e.response)==null?void 0:n.config.url}: ${JSON.stringify((a=e.response)==null?void 0:a.data)}`:e instanceof Error?e.message:`Unexpected error: ${Tg(e)||e}`}const ha=e=>{const t=e.softTimeout||3e3,[r,n]=Y.useState(!1);return Y.useEffect(()=>{const a=setTimeout(()=>{n(!0)},t);return()=>clearTimeout(a)}),o.jsx(T.Stack,{width:"100%",height:"100%",alignItems:"center",justifyContent:"center",children:e.error?o.jsx(Gl,{loadingMessage:e.message,error:e.error}):o.jsxs(o.Fragment,{children:[o.jsx(T.CircularProgress,{sx:{marginBottom:"24px"}}),!!e.message&&o.jsx("div",{children:e.message}),o.jsx(T.Stack,{sx:{visibility:r?"visible":"hidden",marginTop:"1rem",color:"gray"},children:"This is taking longer than expected..."})]})})},Gl=e=>{const t=Og(e.error),r=e.error instanceof Error?e.error.stack:null,n=T.useTheme();return o.jsxs(T.Stack,{sx:{maxHeight:"100%",maxWidth:"min(100%, 800px)",padding:2,overflow:"auto",color:n.palette.error.main,"& pre":{whiteSpace:"pre-wrap",wordBreak:"break-word",paddingBottom:"3rem"}},children:[(e.loadingMessage?`Error while ${Kn.lowerFirst(T.capitalize(e.loadingMessage))} - `:"")+t,o.jsx("br",{}),r&&o.jsx("pre",{children:r})]})},Eg=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:19,height:10,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"#fff",fillRule:"evenodd",d:"M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0",clipRule:"evenodd"})),Lg=Y.forwardRef(Eg),Ng=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:19,height:10,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"#fff",fillRule:"evenodd",d:"M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0",clipRule:"evenodd"})),$g=Y.forwardRef(Ng),Fg=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:10,height:19,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"#fff",fillRule:"evenodd",d:"M9.522 14.811A.899.899 0 1 0 8.25 13.54L6.19 15.601V3.16L8.25 5.221A.9.9 0 0 0 9.522 3.95L5.926.354a.9.9 0 0 0-1.272 0L1.058 3.95a.9.9 0 1 0 1.271 1.271L4.391 3.16v12.442L2.329 13.54a.899.899 0 1 0-1.271 1.271l3.596 3.597a.9.9 0 0 0 1.272 0z",clipRule:"evenodd"})),Dg=Y.forwardRef(Fg),Ug=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:25,height:24,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{stroke:"#fff",strokeLinecap:"round",strokeWidth:1.5,d:"M18.5 12a6 6 0 1 0-6 6"}),$.createElement("path",{stroke:"#fff",strokeLinecap:"round",strokeLinejoin:"round",strokeWidth:1.5,d:"m16.5 11 2 2.5 2-2.5"})),Bg=Y.forwardRef(Ug),Yo=e=>o.jsx(T.Stack,{position:"absolute",left:0,top:0,width:"100%",height:"100%",alignItems:"center",justifyContent:"center",sx:{backgroundColor:"rgba(0, 0, 0, 0.6)",backdropFilter:"blur(2px)",zIndex:100,...e.sx||{}},...Kn.omit(e,"sx")}),zl=Te.observer(({store:e,children:t})=>{const{t:r}=qt.useTranslation(),n=T.useTheme();function a(){var s,i;if(e.activationState==="inactive"&&!e.activationError)return o.jsx(Yo,{sx:{borderRadius:"6px",backgroundColor:`color-mix(in srgb, ${(s=n.palette.backgroundPaperElevation)==null?void 0:s[5]}, transparent)`},children:o.jsx(T.Button,{color:"primary",variant:"contained",onClick:()=>e.activate({manual:!0}),disabled:e.isLocked,children:r("Jogging.Activate.bt")})});if(e.activationState==="loading"||e.activationError)return o.jsx(Yo,{sx:{backgroundColor:`color-mix(in srgb, ${(i=n.palette.backgroundPaperElevation)==null?void 0:i[5]}, transparent)`},children:o.jsx(ha,{message:r("Jogging.Activating.lb"),error:e.activationError})})}return o.jsxs(T.Stack,{sx:{position:"relative",padding:"6px"},children:[a(),t]})}),Kl=Y.forwardRef(({label:e,value:t},r)=>o.jsxs(o.Fragment,{children:[e&&o.jsx(T.InputLabel,{children:e}),o.jsx(T.Chip,{ref:r,sx:{fontSize:"14px",opacity:.8,marginTop:"4px !important"},value:t})]})),Jg=Te.observer(({store:e})=>{const t=Y.useRef(null);function r(){const n=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose;return n?Lt.poseToWandelscriptString(n):""}return jr(()=>{t.current&&(t.current.textContent=r())}),o.jsx(T.Stack,{alignItems:"left",spacing:2,sx:{padding:"8px 16px",paddingTop:"16px","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:o.jsx(Kl,{label:"Pose",value:r(),ref:t})})});function Vg(){this.__data__=[],this.size=0}function Wl(e,t){return e===t||e!==e&&t!==t}function ga(e,t){for(var r=e.length;r--;)if(Wl(e[r][0],t))return r;return-1}var Gg=Array.prototype,zg=Gg.splice;function Kg(e){var t=this.__data__,r=ga(t,e);if(r<0)return!1;var n=t.length-1;return r==n?t.pop():zg.call(t,r,1),--this.size,!0}function Wg(e){var t=this.__data__,r=ga(t,e);return r<0?void 0:t[r][1]}function Hg(e){return ga(this.__data__,e)>-1}function Xg(e,t){var r=this.__data__,n=ga(r,e);return n<0?(++this.size,r.push([e,t])):r[n][1]=t,this}function wt(e){var t=-1,r=e==null?0:e.length;for(this.clear();++t<r;){var n=e[t];this.set(n[0],n[1])}}wt.prototype.clear=Vg;wt.prototype.delete=Kg;wt.prototype.get=Wg;wt.prototype.has=Hg;wt.prototype.set=Xg;function qg(){this.__data__=new wt,this.size=0}function Yg(e){var t=this.__data__,r=t.delete(e);return this.size=t.size,r}function Zg(e){return this.__data__.get(e)}function Qg(e){return this.__data__.has(e)}var ep="[object AsyncFunction]",tp="[object Function]",rp="[object GeneratorFunction]",np="[object Proxy]";function Hl(e){if(!Kt(e))return!1;var t=Yt(e);return t==tp||t==rp||t==ep||t==np}var Ua=_t["__core-js_shared__"],Zo=function(){var e=/[^.]+$/.exec(Ua&&Ua.keys&&Ua.keys.IE_PROTO||"");return e?"Symbol(src)_1."+e:""}();function ap(e){return!!Zo&&Zo in e}var sp=Function.prototype,op=sp.toString;function Zt(e){if(e!=null){try{return op.call(e)}catch{}try{return e+""}catch{}}return""}var ip=/[\\^$.*+?()[\]{}|]/g,lp=/^\[object .+?Constructor\]$/,up=Function.prototype,cp=Object.prototype,mp=up.toString,dp=cp.hasOwnProperty,fp=RegExp("^"+mp.call(dp).replace(ip,"\\$&").replace(/hasOwnProperty|(function).*?(?=\\\()| for .+?(?=\\\])/g,"$1.*?")+"$");function hp(e){if(!Kt(e)||ap(e))return!1;var t=Hl(e)?fp:lp;return t.test(Zt(e))}function gp(e,t){return e==null?void 0:e[t]}function Qt(e,t){var r=gp(e,t);return hp(r)?r:void 0}var qr=Qt(_t,"Map"),Yr=Qt(Object,"create");function pp(){this.__data__=Yr?Yr(null):{},this.size=0}function _p(e){var t=this.has(e)&&delete this.__data__[e];return this.size-=t?1:0,t}var yp="__lodash_hash_undefined__",bp=Object.prototype,xp=bp.hasOwnProperty;function vp(e){var t=this.__data__;if(Yr){var r=t[e];return r===yp?void 0:r}return xp.call(t,e)?t[e]:void 0}var jp=Object.prototype,Sp=jp.hasOwnProperty;function Rp(e){var t=this.__data__;return Yr?t[e]!==void 0:Sp.call(t,e)}var Ap="__lodash_hash_undefined__";function wp(e,t){var r=this.__data__;return this.size+=this.has(e)?0:1,r[e]=Yr&&t===void 0?Ap:t,this}function Xt(e){var t=-1,r=e==null?0:e.length;for(this.clear();++t<r;){var n=e[t];this.set(n[0],n[1])}}Xt.prototype.clear=pp;Xt.prototype.delete=_p;Xt.prototype.get=vp;Xt.prototype.has=Rp;Xt.prototype.set=wp;function Pp(){this.size=0,this.__data__={hash:new Xt,map:new(qr||wt),string:new Xt}}function Cp(e){var t=typeof e;return t=="string"||t=="number"||t=="symbol"||t=="boolean"?e!=="__proto__":e===null}function pa(e,t){var r=e.__data__;return Cp(t)?r[typeof t=="string"?"string":"hash"]:r.map}function Mp(e){var t=pa(this,e).delete(e);return this.size-=t?1:0,t}function kp(e){return pa(this,e).get(e)}function Ip(e){return pa(this,e).has(e)}function Tp(e,t){var r=pa(this,e),n=r.size;return r.set(e,t),this.size+=r.size==n?0:1,this}function Pt(e){var t=-1,r=e==null?0:e.length;for(this.clear();++t<r;){var n=e[t];this.set(n[0],n[1])}}Pt.prototype.clear=Pp;Pt.prototype.delete=Mp;Pt.prototype.get=kp;Pt.prototype.has=Ip;Pt.prototype.set=Tp;var Op=200;function Ep(e,t){var r=this.__data__;if(r instanceof wt){var n=r.__data__;if(!qr||n.length<Op-1)return n.push([e,t]),this.size=++r.size,this;r=this.__data__=new Pt(n)}return r.set(e,t),this.size=r.size,this}function St(e){var t=this.__data__=new wt(e);this.size=t.size}St.prototype.clear=qg;St.prototype.delete=Yg;St.prototype.get=Zg;St.prototype.has=Qg;St.prototype.set=Ep;var Lp="__lodash_hash_undefined__";function Np(e){return this.__data__.set(e,Lp),this}function $p(e){return this.__data__.has(e)}function Gn(e){var t=-1,r=e==null?0:e.length;for(this.__data__=new Pt;++t<r;)this.add(e[t])}Gn.prototype.add=Gn.prototype.push=Np;Gn.prototype.has=$p;function Fp(e,t){for(var r=-1,n=e==null?0:e.length;++r<n;)if(t(e[r],r,e))return!0;return!1}function Dp(e,t){return e.has(t)}var Up=1,Bp=2;function Xl(e,t,r,n,a,s){var i=r&Up,l=e.length,u=t.length;if(l!=u&&!(i&&u>l))return!1;var c=s.get(e),m=s.get(t);if(c&&m)return c==t&&m==e;var f=-1,d=!0,x=r&Bp?new Gn:void 0;for(s.set(e,t),s.set(t,e);++f<l;){var y=e[f],_=t[f];if(n)var p=i?n(_,y,f,t,e,s):n(y,_,f,e,t,s);if(p!==void 0){if(p)continue;d=!1;break}if(x){if(!Fp(t,function(j,R){if(!Dp(x,R)&&(y===j||a(y,j,r,n,s)))return x.push(R)})){d=!1;break}}else if(!(y===_||a(y,_,r,n,s))){d=!1;break}}return s.delete(e),s.delete(t),d}var Qo=_t.Uint8Array;function Jp(e){var t=-1,r=Array(e.size);return e.forEach(function(n,a){r[++t]=[a,n]}),r}function Vp(e){var t=-1,r=Array(e.size);return e.forEach(function(n){r[++t]=n}),r}var Gp=1,zp=2,Kp="[object Boolean]",Wp="[object Date]",Hp="[object Error]",Xp="[object Map]",qp="[object Number]",Yp="[object RegExp]",Zp="[object Set]",Qp="[object String]",e_="[object Symbol]",t_="[object ArrayBuffer]",r_="[object DataView]",ei=Nt?Nt.prototype:void 0,Ba=ei?ei.valueOf:void 0;function n_(e,t,r,n,a,s,i){switch(r){case r_:if(e.byteLength!=t.byteLength||e.byteOffset!=t.byteOffset)return!1;e=e.buffer,t=t.buffer;case t_:return!(e.byteLength!=t.byteLength||!s(new Qo(e),new Qo(t)));case Kp:case Wp:case qp:return Wl(+e,+t);case Hp:return e.name==t.name&&e.message==t.message;case Yp:case Qp:return e==t+"";case Xp:var l=Jp;case Zp:var u=n&Gp;if(l||(l=Vp),e.size!=t.size&&!u)return!1;var c=i.get(e);if(c)return c==t;n|=zp,i.set(e,t);var m=Xl(l(e),l(t),n,a,s,i);return i.delete(e),m;case e_:if(Ba)return Ba.call(e)==Ba.call(t)}return!1}function a_(e,t){for(var r=-1,n=t.length,a=e.length;++r<n;)e[a+r]=t[r];return e}var pt=Array.isArray;function s_(e,t,r){var n=t(e);return pt(e)?n:a_(n,r(e))}function o_(e,t){for(var r=-1,n=e==null?0:e.length,a=0,s=[];++r<n;){var i=e[r];t(i,r,e)&&(s[a++]=i)}return s}function i_(){return[]}var l_=Object.prototype,u_=l_.propertyIsEnumerable,ti=Object.getOwnPropertySymbols,c_=ti?function(e){return e==null?[]:(e=Object(e),o_(ti(e),function(t){return u_.call(e,t)}))}:i_;function m_(e,t){for(var r=-1,n=Array(e);++r<e;)n[r]=t(r);return n}var d_="[object Arguments]";function ri(e){return Wt(e)&&Yt(e)==d_}var ql=Object.prototype,f_=ql.hasOwnProperty,h_=ql.propertyIsEnumerable,Yl=ri(function(){return arguments}())?ri:function(e){return Wt(e)&&f_.call(e,"callee")&&!h_.call(e,"callee")};function g_(){return!1}var Zl=typeof exports=="object"&&exports&&!exports.nodeType&&exports,ni=Zl&&typeof module=="object"&&module&&!module.nodeType&&module,p_=ni&&ni.exports===Zl,ai=p_?_t.Buffer:void 0,__=ai?ai.isBuffer:void 0,ls=__||g_,y_=9007199254740991,b_=/^(?:0|[1-9]\d*)$/;function Ql(e,t){var r=typeof e;return t=t??y_,!!t&&(r=="number"||r!="symbol"&&b_.test(e))&&e>-1&&e%1==0&&e<t}var x_=9007199254740991;function $s(e){return typeof e=="number"&&e>-1&&e%1==0&&e<=x_}var v_="[object Arguments]",j_="[object Array]",S_="[object Boolean]",R_="[object Date]",A_="[object Error]",w_="[object Function]",P_="[object Map]",C_="[object Number]",M_="[object Object]",k_="[object RegExp]",I_="[object Set]",T_="[object String]",O_="[object WeakMap]",E_="[object ArrayBuffer]",L_="[object DataView]",N_="[object Float32Array]",$_="[object Float64Array]",F_="[object Int8Array]",D_="[object Int16Array]",U_="[object Int32Array]",B_="[object Uint8Array]",J_="[object Uint8ClampedArray]",V_="[object Uint16Array]",G_="[object Uint32Array]",me={};me[N_]=me[$_]=me[F_]=me[D_]=me[U_]=me[B_]=me[J_]=me[V_]=me[G_]=!0;me[v_]=me[j_]=me[E_]=me[S_]=me[L_]=me[R_]=me[A_]=me[w_]=me[P_]=me[C_]=me[M_]=me[k_]=me[I_]=me[T_]=me[O_]=!1;function z_(e){return Wt(e)&&$s(e.length)&&!!me[Yt(e)]}function K_(e){return function(t){return e(t)}}var eu=typeof exports=="object"&&exports&&!exports.nodeType&&exports,Vr=eu&&typeof module=="object"&&module&&!module.nodeType&&module,W_=Vr&&Vr.exports===eu,Ja=W_&&pl.process,si=function(){try{var e=Vr&&Vr.require&&Vr.require("util").types;return e||Ja&&Ja.binding&&Ja.binding("util")}catch{}}(),oi=si&&si.isTypedArray,tu=oi?K_(oi):z_,H_=Object.prototype,X_=H_.hasOwnProperty;function q_(e,t){var r=pt(e),n=!r&&Yl(e),a=!r&&!n&&ls(e),s=!r&&!n&&!a&&tu(e),i=r||n||a||s,l=i?m_(e.length,String):[],u=l.length;for(var c in e)X_.call(e,c)&&!(i&&(c=="length"||a&&(c=="offset"||c=="parent")||s&&(c=="buffer"||c=="byteLength"||c=="byteOffset")||Ql(c,u)))&&l.push(c);return l}var Y_=Object.prototype;function Z_(e){var t=e&&e.constructor,r=typeof t=="function"&&t.prototype||Y_;return e===r}function Q_(e,t){return function(r){return e(t(r))}}var ey=Q_(Object.keys,Object),ty=Object.prototype,ry=ty.hasOwnProperty;function ny(e){if(!Z_(e))return ey(e);var t=[];for(var r in Object(e))ry.call(e,r)&&r!="constructor"&&t.push(r);return t}function ru(e){return e!=null&&$s(e.length)&&!Hl(e)}function Fs(e){return ru(e)?q_(e):ny(e)}function ii(e){return s_(e,Fs,c_)}var ay=1,sy=Object.prototype,oy=sy.hasOwnProperty;function iy(e,t,r,n,a,s){var i=r&ay,l=ii(e),u=l.length,c=ii(t),m=c.length;if(u!=m&&!i)return!1;for(var f=u;f--;){var d=l[f];if(!(i?d in t:oy.call(t,d)))return!1}var x=s.get(e),y=s.get(t);if(x&&y)return x==t&&y==e;var _=!0;s.set(e,t),s.set(t,e);for(var p=i;++f<u;){d=l[f];var j=e[d],R=t[d];if(n)var C=i?n(R,j,d,t,e,s):n(j,R,d,e,t,s);if(!(C===void 0?j===R||a(j,R,r,n,s):C)){_=!1;break}p||(p=d=="constructor")}if(_&&!p){var w=e.constructor,S=t.constructor;w!=S&&"constructor"in e&&"constructor"in t&&!(typeof w=="function"&&w instanceof w&&typeof S=="function"&&S instanceof S)&&(_=!1)}return s.delete(e),s.delete(t),_}var us=Qt(_t,"DataView"),cs=Qt(_t,"Promise"),ms=Qt(_t,"Set"),ds=Qt(_t,"WeakMap"),li="[object Map]",ly="[object Object]",ui="[object Promise]",ci="[object Set]",mi="[object WeakMap]",di="[object DataView]",uy=Zt(us),cy=Zt(qr),my=Zt(cs),dy=Zt(ms),fy=Zt(ds),Et=Yt;(us&&Et(new us(new ArrayBuffer(1)))!=di||qr&&Et(new qr)!=li||cs&&Et(cs.resolve())!=ui||ms&&Et(new ms)!=ci||ds&&Et(new ds)!=mi)&&(Et=function(e){var t=Yt(e),r=t==ly?e.constructor:void 0,n=r?Zt(r):"";if(n)switch(n){case uy:return di;case cy:return li;case my:return ui;case dy:return ci;case fy:return mi}return t});var hy=1,fi="[object Arguments]",hi="[object Array]",pn="[object Object]",gy=Object.prototype,gi=gy.hasOwnProperty;function py(e,t,r,n,a,s){var i=pt(e),l=pt(t),u=i?hi:Et(e),c=l?hi:Et(t);u=u==fi?pn:u,c=c==fi?pn:c;var m=u==pn,f=c==pn,d=u==c;if(d&&ls(e)){if(!ls(t))return!1;i=!0,m=!1}if(d&&!m)return s||(s=new St),i||tu(e)?Xl(e,t,r,n,a,s):n_(e,t,u,r,n,a,s);if(!(r&hy)){var x=m&&gi.call(e,"__wrapped__"),y=f&&gi.call(t,"__wrapped__");if(x||y){var _=x?e.value():e,p=y?t.value():t;return s||(s=new St),a(_,p,r,n,s)}}return d?(s||(s=new St),iy(e,t,r,n,a,s)):!1}function _a(e,t,r,n,a){return e===t?!0:e==null||t==null||!Wt(e)&&!Wt(t)?e!==e&&t!==t:py(e,t,r,n,_a,a)}function _y(e,t){return _a(e,t)}const nu=({store:e})=>{const{t}=qt.useTranslation(),[r,n]=Y.useState(e.jogger.motionStream.rapidlyChangingMotionState.state.joint_limit_reached.limit_reached),a=Y.useRef(r);jr(()=>{const i=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_limit_reached.limit_reached;_y(a.current,i)||(a.current=i,n(i))});const s=[];for(const[i,l]of r.entries())l&&s.push(i);return o.jsx(T.Typography,{color:"error",sx:{margin:"0.5rem 1rem",textAlign:"center",visibility:s.length?"visible":"hidden"},children:t("Jogging.JointLimitsReached.lb",{jointNumbers:s.map(i=>i+1).join(", ")})})},yy=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:21,height:21,fill:"none",viewBox:"0 0 23 22",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"currentColor",d:"m21.71 16.262-1.09.346.66 2.071-2.923-1.461V9.857l-6.285-3.143V2.893L13.38 4.21l.812-.806-2.674-2.69-2.706 2.687.805.812L10.93 2.91v3.803L4.643 9.857v7.36l-2.914 1.458.657-2.067-1.09-.346-1.225 3.88 3.826 1.144.346-1.09-1.836-.583 2.874-1.436 6.22 3.109 6.217-3.11 2.877 1.439-1.831.581.345 1.09 3.82-1.143zM11.5 12.646l-4.94-2.47 4.94-2.47 4.94 2.47zm.572.993 5.143-2.572v6.083l-5.143 2.572zm-6.286-2.572 5.143 2.572v6.083L5.786 17.15z"})),by=Y.forwardRef(yy),xy=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:15,height:17,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"currentColor",d:"M12.9 7.667c-.133-.534-.533-1-1-1.134L10.367 6l-.4 1.267L11.5 7.8c.067 0 .133.067.133.2l1.067 4.867a.32.32 0 0 1-.133.4l-2.267 1.8c-.267.2-.333.666-.133.933s.666.333.933.133l2.267-1.8c.533-.4.733-1.133.6-1.733zM12.5 0H1.833A1.65 1.65 0 0 0 .167 1.667v1.4c0 .866.733 1.6 1.666 1.6h10.734c.866 0 1.6-.734 1.6-1.667V1.667A1.65 1.65 0 0 0 12.5 0M1.633 12.8 2.7 8c0-.067.067-.133.133-.2l1.534-.533-.4-1.2-1.534.466c-.533.2-.933.6-1 1.134L.367 12.533c-.134.667.066 1.334.6 1.734l2.266 1.8c.267.266.734.2.934-.067s.2-.733-.134-.933l-2.266-1.8c-.134-.134-.2-.267-.134-.467"})),vy=Y.forwardRef(xy),jy=Te.observer(({store:e})=>{var n;const{t}=qt.useTranslation();function r(a,s){(s==="coordsys"||s==="tool")&&e.setSelectedOrientation(s)}return o.jsxs(o.Fragment,{children:[o.jsxs(T.Stack,{direction:"row",alignItems:"center",spacing:2,sx:{padding:"6px 16px","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:[o.jsxs(T.Stack,{width:"50%",children:[o.jsx(T.InputLabel,{id:"jogging-coord-select",children:"Coordinate Sys."}),o.jsx(T.Select,{labelId:"jogging-coord-select",value:e.selectedCoordSystemId,size:"small",variant:"filled",displayEmpty:!0,onChange:a=>{e.setSelectedCoordSystemId(a.target.value)},disabled:e.isLocked,children:e.coordSystems.map(a=>o.jsx(T.MenuItem,{value:a.coordinate_system,children:a.name&&e.coordSystemCountByName[a.name]>1?`${a.name} / ${a.coordinate_system}`:a.name||a.coordinate_system},a.coordinate_system))})]}),o.jsxs(T.Stack,{width:"50%",children:[o.jsx(T.InputLabel,{id:"jogging-tcp-select",children:"TCP"}),o.jsx(T.Select,{labelId:"jogging-tcp-select",value:e.selectedTcpId,size:"small",variant:"filled",onChange:a=>{e.setSelectedTcpId(a.target.value)},disabled:e.isLocked,children:e.tcps.map(a=>o.jsx(T.MenuItem,{value:a.id,children:a.id},a.id))})]})]}),o.jsxs(T.Stack,{direction:"row",alignItems:"center",spacing:2,sx:{padding:"6px 16px","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:[o.jsxs(T.Stack,{width:"50%",children:[o.jsx(T.InputLabel,{id:"orientation-select",children:t("Jogging.Cartesian.Orientation.lb")}),o.jsxs(T.ToggleButtonGroup,{value:e.selectedOrientation,onChange:r,exclusive:!0,"aria-labelledby":"orientation-select",disabled:e.isLocked,children:[o.jsx(T.ToggleButton,{value:"coordsys",sx:{flexGrow:1},children:o.jsx(by,{})}),o.jsx(T.ToggleButton,{value:"tool",sx:{flexGrow:1},children:o.jsx(vy,{})})]})]}),o.jsxs(T.Stack,{width:"50%",children:[o.jsx(T.InputLabel,{id:"jogging-increment-select",children:"Increment"}),o.jsxs(T.Select,{labelId:"jogging-increment-select",size:"small",variant:"filled",value:((n=e.activeDiscreteIncrement)==null?void 0:n.id)||"continuous",onChange:a=>{e.setSelectedIncrementId(a.target.value)},disabled:e.isLocked,children:[o.jsx(T.MenuItem,{value:"continuous",children:t("Jogging.Increment.Continuous.dd")},"continuous"),e.selectedOrientation==="tool"?null:e.discreteIncrementOptions.map(a=>o.jsx(T.MenuItem,{value:a.id,children:e.currentMotionType==="translate"?`${a.mm}mm`:`${a.degrees}°`},a.id))]})]})]})]})});function Sy(e,t,r=(n,a)=>n===a){return e.length===t.length&&e.every((n,a)=>r(n,t[a]))}const Ry=2;function au(e,t){return e-t}function pi(e,t){var r;const{index:n}=(r=e.reduce((a,s,i)=>{const l=Math.abs(t-s);return a===null||l<a.distance||l===a.distance?{distance:l,index:i}:a},null))!=null?r:{};return n}function _n(e,t){if(t.current!==void 0&&e.changedTouches){const r=e;for(let n=0;n<r.changedTouches.length;n+=1){const a=r.changedTouches[n];if(a.identifier===t.current)return{x:a.clientX,y:a.clientY}}return!1}return{x:e.clientX,y:e.clientY}}function zn(e,t,r){return(e-t)*100/(r-t)}function Ay(e,t,r){return(r-t)*e+t}function wy(e){if(Math.abs(e)<1){const r=e.toExponential().split("e-"),n=r[0].split(".")[1];return(n?n.length:0)+parseInt(r[1],10)}const t=e.toString().split(".")[1];return t?t.length:0}function Py(e,t,r){const n=Math.round((e-r)/t)*t+r;return Number(n.toFixed(wy(t)))}function _i({values:e,newValue:t,index:r}){const n=e.slice();return n[r]=t,n.sort(au)}function yn({sliderRef:e,activeIndex:t,setActive:r}){var n,a;const s=pr(e.current);if(!((n=e.current)!=null&&n.contains(s.activeElement))||Number(s==null||(a=s.activeElement)==null?void 0:a.getAttribute("data-index"))!==t){var i;(i=e.current)==null||i.querySelector(`[type="range"][data-index="${t}"]`).focus()}r&&r(t)}function bn(e,t){return typeof e=="number"&&typeof t=="number"?e===t:typeof e=="object"&&typeof t=="object"?Sy(e,t):!1}const Cy={horizontal:{offset:e=>({left:`${e}%`}),leap:e=>({width:`${e}%`})},"horizontal-reverse":{offset:e=>({right:`${e}%`}),leap:e=>({width:`${e}%`})},vertical:{offset:e=>({bottom:`${e}%`}),leap:e=>({height:`${e}%`})}},My=e=>e;let xn;function yi(){return xn===void 0&&(typeof CSS<"u"&&typeof CSS.supports=="function"?xn=CSS.supports("touch-action","none"):xn=!0),xn}function ky(e){const{"aria-labelledby":t,defaultValue:r,disabled:n=!1,disableSwap:a=!1,isRtl:s=!1,marks:i=!1,max:l=100,min:u=0,name:c,onChange:m,onChangeCommitted:f,orientation:d="horizontal",rootRef:x,scale:y=My,step:_=1,shiftStep:p=10,tabIndex:j,value:R}=e,C=$.useRef(),[w,S]=$.useState(-1),[P,M]=$.useState(-1),[K,le]=$.useState(!1),ce=$.useRef(0),[D,q]=Qi({controlled:R,default:r??u,name:"Slider"}),G=m&&((I,L,F)=>{const W=I.nativeEvent||I,Q=new W.constructor(W.type,W);Object.defineProperty(Q,"target",{writable:!0,value:{value:L,name:c}}),m(Q,L,F)}),Z=Array.isArray(D);let X=Z?D.slice().sort(au):[D];X=X.map(I=>I==null?u:dr(I,u,l));const je=i===!0&&_!==null?[...Array(Math.floor((l-u)/_)+1)].map((I,L)=>({value:u+_*L})):i||[],ue=je.map(I=>I.value),{isFocusVisibleRef:ee,onBlur:Ae,onFocus:Oe,ref:nt}=el(),[yt,We]=$.useState(-1),Se=$.useRef(),Ct=Ln(nt,Se),lt=Ln(x,Ct),He=I=>L=>{var F;const W=Number(L.currentTarget.getAttribute("data-index"));Oe(L),ee.current===!0&&We(W),M(W),I==null||(F=I.onFocus)==null||F.call(I,L)},Be=I=>L=>{var F;Ae(L),ee.current===!1&&We(-1),M(-1),I==null||(F=I.onBlur)==null||F.call(I,L)},ut=(I,L)=>{const F=Number(I.currentTarget.getAttribute("data-index")),W=X[F],Q=ue.indexOf(W);let H=L;if(je&&_==null){const Ve=ue[ue.length-1];H>Ve?H=Ve:H<ue[0]?H=ue[0]:H=H<W?ue[Q-1]:ue[Q+1]}if(H=dr(H,u,l),Z){a&&(H=dr(H,X[F-1]||-1/0,X[F+1]||1/0));const Ve=H;H=_i({values:X,newValue:H,index:F});let Xe=F;a||(Xe=H.indexOf(Ve)),yn({sliderRef:Se,activeIndex:Xe})}q(H),We(F),G&&!bn(H,D)&&G(I,H,F),f&&f(I,H)},ct=I=>L=>{var F;if(_!==null){const W=Number(L.currentTarget.getAttribute("data-index")),Q=X[W];let H=null;(L.key==="ArrowLeft"||L.key==="ArrowDown")&&L.shiftKey||L.key==="PageDown"?H=Math.max(Q-p,u):((L.key==="ArrowRight"||L.key==="ArrowUp")&&L.shiftKey||L.key==="PageUp")&&(H=Math.min(Q+p,l)),H!==null&&(ut(L,H),L.preventDefault())}I==null||(F=I.onKeyDown)==null||F.call(I,L)};js(()=>{if(n&&Se.current.contains(document.activeElement)){var I;(I=document.activeElement)==null||I.blur()}},[n]),n&&w!==-1&&S(-1),n&&yt!==-1&&We(-1);const Ft=I=>L=>{var F;(F=I.onChange)==null||F.call(I,L),ut(L,L.target.valueAsNumber)},bt=$.useRef();let Je=d;s&&d==="horizontal"&&(Je+="-reverse");const O=({finger:I,move:L=!1})=>{const{current:F}=Se,{width:W,height:Q,bottom:H,left:Ve}=F.getBoundingClientRect();let Xe;Je.indexOf("vertical")===0?Xe=(H-I.y)/Q:Xe=(I.x-Ve)/W,Je.indexOf("-reverse")!==-1&&(Xe=1-Xe);let re;if(re=Ay(Xe,u,l),_)re=Py(re,_,u);else{const It=pi(ue,re);re=ue[It]}re=dr(re,u,l);let Ne=0;if(Z){L?Ne=bt.current:Ne=pi(X,re),a&&(re=dr(re,X[Ne-1]||-1/0,X[Ne+1]||1/0));const It=re;re=_i({values:X,newValue:re,index:Ne}),a&&L||(Ne=re.indexOf(It),bt.current=Ne)}return{newValue:re,activeIndex:Ne}},te=wn(I=>{const L=_n(I,C);if(!L)return;if(ce.current+=1,I.type==="mousemove"&&I.buttons===0){fe(I);return}const{newValue:F,activeIndex:W}=O({finger:L,move:!0});yn({sliderRef:Se,activeIndex:W,setActive:S}),q(F),!K&&ce.current>Ry&&le(!0),G&&!bn(F,D)&&G(I,F,W)}),fe=wn(I=>{const L=_n(I,C);if(le(!1),!L)return;const{newValue:F}=O({finger:L,move:!0});S(-1),I.type==="touchend"&&M(-1),f&&f(I,F),C.current=void 0,Le()}),Ee=wn(I=>{if(n)return;yi()||I.preventDefault();const L=I.changedTouches[0];L!=null&&(C.current=L.identifier);const F=_n(I,C);if(F!==!1){const{newValue:Q,activeIndex:H}=O({finger:F});yn({sliderRef:Se,activeIndex:H,setActive:S}),q(Q),G&&!bn(Q,D)&&G(I,Q,H)}ce.current=0;const W=pr(Se.current);W.addEventListener("touchmove",te,{passive:!0}),W.addEventListener("touchend",fe,{passive:!0})}),Le=$.useCallback(()=>{const I=pr(Se.current);I.removeEventListener("mousemove",te),I.removeEventListener("mouseup",fe),I.removeEventListener("touchmove",te),I.removeEventListener("touchend",fe)},[fe,te]);$.useEffect(()=>{const{current:I}=Se;return I.addEventListener("touchstart",Ee,{passive:yi()}),()=>{I.removeEventListener("touchstart",Ee),Le()}},[Le,Ee]),$.useEffect(()=>{n&&Le()},[n,Le]);const Mt=I=>L=>{var F;if((F=I.onMouseDown)==null||F.call(I,L),n||L.defaultPrevented||L.button!==0)return;L.preventDefault();const W=_n(L,C);if(W!==!1){const{newValue:H,activeIndex:Ve}=O({finger:W});yn({sliderRef:Se,activeIndex:Ve,setActive:S}),q(H),G&&!bn(H,D)&&G(L,H,Ve)}ce.current=0;const Q=pr(Se.current);Q.addEventListener("mousemove",te,{passive:!0}),Q.addEventListener("mouseup",fe)},Re=zn(Z?X[0]:u,u,l),kt=zn(X[X.length-1],u,l)-Re,Dt=(I={})=>{const L=Pn(I),F={onMouseDown:Mt(L||{})},W=k({},L,F);return k({},I,{ref:lt},W)},Ar=I=>L=>{var F;(F=I.onMouseOver)==null||F.call(I,L);const W=Number(L.currentTarget.getAttribute("data-index"));M(W)},wr=I=>L=>{var F;(F=I.onMouseLeave)==null||F.call(I,L),M(-1)};return{active:w,axis:Je,axisProps:Cy,dragging:K,focusedThumbIndex:yt,getHiddenInputProps:(I={})=>{var L;const F=Pn(I),W={onChange:Ft(F||{}),onFocus:He(F||{}),onBlur:Be(F||{}),onKeyDown:ct(F||{})},Q=k({},F,W);return k({tabIndex:j,"aria-labelledby":t,"aria-orientation":d,"aria-valuemax":y(l),"aria-valuemin":y(u),name:c,type:"range",min:e.min,max:e.max,step:e.step===null&&e.marks?"any":(L=e.step)!=null?L:void 0,disabled:n},I,Q,{style:k({},xd,{direction:s?"rtl":"ltr",width:"100%",height:"100%"})})},getRootProps:Dt,getThumbProps:(I={})=>{const L=Pn(I),F={onMouseOver:Ar(L||{}),onMouseLeave:wr(L||{})};return k({},I,L,F)},marks:je,open:P,range:Z,rootRef:lt,trackLeap:kt,trackOffset:Re,values:X,getThumbStyle:I=>({pointerEvents:w!==-1&&w!==I?"none":void 0})}}const Iy=e=>!e||!Br(e);function Ty(e){return nn("MuiSlider",e)}const Qe=Hi("MuiSlider",["root","active","colorPrimary","colorSecondary","colorError","colorInfo","colorSuccess","colorWarning","disabled","dragging","focusVisible","mark","markActive","marked","markLabel","markLabelActive","rail","sizeSmall","thumb","thumbColorPrimary","thumbColorSecondary","thumbColorError","thumbColorSuccess","thumbColorInfo","thumbColorWarning","track","trackInverted","trackFalse","thumbSizeSmall","valueLabel","valueLabelOpen","valueLabelCircle","valueLabelLabel","vertical"]),Oy=e=>{const{open:t}=e;return{offset:gt(t&&Qe.valueLabelOpen),circle:Qe.valueLabelCircle,label:Qe.valueLabelLabel}};function su(e){const{children:t,className:r,value:n}=e,a=Oy(e);return t?$.cloneElement(t,{className:gt(t.props.className)},o.jsxs($.Fragment,{children:[t.props.children,o.jsx("span",{className:gt(a.offset,r),"aria-hidden":!0,children:o.jsx("span",{className:a.circle,children:o.jsx("span",{className:a.label,children:n})})})]})):null}process.env.NODE_ENV!=="production"&&(su.propTypes={children:h.element.isRequired,className:h.string,value:h.node});const Ey=["aria-label","aria-valuetext","aria-labelledby","component","components","componentsProps","color","classes","className","disableSwap","disabled","getAriaLabel","getAriaValueText","marks","max","min","name","onChange","onChangeCommitted","orientation","shiftStep","size","step","scale","slotProps","slots","tabIndex","track","value","valueLabelDisplay","valueLabelFormat"];function bi(e){return e}const Ly=At("span",{name:"MuiSlider",slot:"Root",overridesResolver:(e,t)=>{const{ownerState:r}=e;return[t.root,t[`color${Pe(r.color)}`],r.size!=="medium"&&t[`size${Pe(r.size)}`],r.marked&&t.marked,r.orientation==="vertical"&&t.vertical,r.track==="inverted"&&t.trackInverted,r.track===!1&&t.trackFalse]}})(({theme:e})=>{var t;return{borderRadius:12,boxSizing:"content-box",display:"inline-block",position:"relative",cursor:"pointer",touchAction:"none",WebkitTapHighlightColor:"transparent","@media print":{colorAdjust:"exact"},[`&.${Qe.disabled}`]:{pointerEvents:"none",cursor:"default",color:(e.vars||e).palette.grey[400]},[`&.${Qe.dragging}`]:{[`& .${Qe.thumb}, & .${Qe.track}`]:{transition:"none"}},variants:[...Object.keys(((t=e.vars)!=null?t:e).palette).filter(r=>{var n;return((n=e.vars)!=null?n:e).palette[r].main}).map(r=>({props:{color:r},style:{color:(e.vars||e).palette[r].main}})),{props:{orientation:"horizontal"},style:{height:4,width:"100%",padding:"13px 0","@media (pointer: coarse)":{padding:"20px 0"}}},{props:{orientation:"horizontal",size:"small"},style:{height:2}},{props:{orientation:"horizontal",marked:!0},style:{marginBottom:20}},{props:{orientation:"vertical"},style:{height:"100%",width:4,padding:"0 13px","@media (pointer: coarse)":{padding:"0 20px"}}},{props:{orientation:"vertical",size:"small"},style:{width:2}},{props:{orientation:"vertical",marked:!0},style:{marginRight:44}}]}}),Ny=At("span",{name:"MuiSlider",slot:"Rail",overridesResolver:(e,t)=>t.rail})({display:"block",position:"absolute",borderRadius:"inherit",backgroundColor:"currentColor",opacity:.38,variants:[{props:{orientation:"horizontal"},style:{width:"100%",height:"inherit",top:"50%",transform:"translateY(-50%)"}},{props:{orientation:"vertical"},style:{height:"100%",width:"inherit",left:"50%",transform:"translateX(-50%)"}},{props:{track:"inverted"},style:{opacity:1}}]}),$y=At("span",{name:"MuiSlider",slot:"Track",overridesResolver:(e,t)=>t.track})(({theme:e})=>{var t;return{display:"block",position:"absolute",borderRadius:"inherit",border:"1px solid currentColor",backgroundColor:"currentColor",transition:e.transitions.create(["left","width","bottom","height"],{duration:e.transitions.duration.shortest}),variants:[{props:{size:"small"},style:{border:"none"}},{props:{orientation:"horizontal"},style:{height:"inherit",top:"50%",transform:"translateY(-50%)"}},{props:{orientation:"vertical"},style:{width:"inherit",left:"50%",transform:"translateX(-50%)"}},{props:{track:!1},style:{display:"none"}},...Object.keys(((t=e.vars)!=null?t:e).palette).filter(r=>{var n;return((n=e.vars)!=null?n:e).palette[r].main}).map(r=>({props:{color:r,track:"inverted"},style:k({},e.vars?{backgroundColor:e.vars.palette.Slider[`${r}Track`],borderColor:e.vars.palette.Slider[`${r}Track`]}:k({backgroundColor:Za(e.palette[r].main,.62),borderColor:Za(e.palette[r].main,.62)},e.applyStyles("dark",{backgroundColor:Ya(e.palette[r].main,.5)}),e.applyStyles("dark",{borderColor:Ya(e.palette[r].main,.5)})))}))]}}),Fy=At("span",{name:"MuiSlider",slot:"Thumb",overridesResolver:(e,t)=>{const{ownerState:r}=e;return[t.thumb,t[`thumbColor${Pe(r.color)}`],r.size!=="medium"&&t[`thumbSize${Pe(r.size)}`]]}})(({theme:e})=>{var t;return{position:"absolute",width:20,height:20,boxSizing:"border-box",borderRadius:"50%",outline:0,backgroundColor:"currentColor",display:"flex",alignItems:"center",justifyContent:"center",transition:e.transitions.create(["box-shadow","left","bottom"],{duration:e.transitions.duration.shortest}),"&::before":{position:"absolute",content:'""',borderRadius:"inherit",width:"100%",height:"100%",boxShadow:(e.vars||e).shadows[2]},"&::after":{position:"absolute",content:'""',borderRadius:"50%",width:42,height:42,top:"50%",left:"50%",transform:"translate(-50%, -50%)"},[`&.${Qe.disabled}`]:{"&:hover":{boxShadow:"none"}},variants:[{props:{size:"small"},style:{width:12,height:12,"&::before":{boxShadow:"none"}}},{props:{orientation:"horizontal"},style:{top:"50%",transform:"translate(-50%, -50%)"}},{props:{orientation:"vertical"},style:{left:"50%",transform:"translate(-50%, 50%)"}},...Object.keys(((t=e.vars)!=null?t:e).palette).filter(r=>{var n;return((n=e.vars)!=null?n:e).palette[r].main}).map(r=>({props:{color:r},style:{[`&:hover, &.${Qe.focusVisible}`]:k({},e.vars?{boxShadow:`0px 0px 0px 8px rgba(${e.vars.palette[r].mainChannel} / 0.16)`}:{boxShadow:`0px 0px 0px 8px ${fo(e.palette[r].main,.16)}`},{"@media (hover: none)":{boxShadow:"none"}}),[`&.${Qe.active}`]:k({},e.vars?{boxShadow:`0px 0px 0px 14px rgba(${e.vars.palette[r].mainChannel} / 0.16)`}:{boxShadow:`0px 0px 0px 14px ${fo(e.palette[r].main,.16)}`})}}))]}}),Dy=At(su,{name:"MuiSlider",slot:"ValueLabel",overridesResolver:(e,t)=>t.valueLabel})(({theme:e})=>k({zIndex:1,whiteSpace:"nowrap"},e.typography.body2,{fontWeight:500,transition:e.transitions.create(["transform"],{duration:e.transitions.duration.shortest}),position:"absolute",backgroundColor:(e.vars||e).palette.grey[600],borderRadius:2,color:(e.vars||e).palette.common.white,display:"flex",alignItems:"center",justifyContent:"center",padding:"0.25rem 0.75rem",variants:[{props:{orientation:"horizontal"},style:{transform:"translateY(-100%) scale(0)",top:"-10px",transformOrigin:"bottom center","&::before":{position:"absolute",content:'""',width:8,height:8,transform:"translate(-50%, 50%) rotate(45deg)",backgroundColor:"inherit",bottom:0,left:"50%"},[`&.${Qe.valueLabelOpen}`]:{transform:"translateY(-100%) scale(1)"}}},{props:{orientation:"vertical"},style:{transform:"translateY(-50%) scale(0)",right:"30px",top:"50%",transformOrigin:"right center","&::before":{position:"absolute",content:'""',width:8,height:8,transform:"translate(-50%, -50%) rotate(45deg)",backgroundColor:"inherit",right:-8,top:"50%"},[`&.${Qe.valueLabelOpen}`]:{transform:"translateY(-50%) scale(1)"}}},{props:{size:"small"},style:{fontSize:e.typography.pxToRem(12),padding:"0.25rem 0.5rem"}},{props:{orientation:"vertical",size:"small"},style:{right:"20px"}}]})),Uy=At("span",{name:"MuiSlider",slot:"Mark",shouldForwardProp:e=>Cs(e)&&e!=="markActive",overridesResolver:(e,t)=>{const{markActive:r}=e;return[t.mark,r&&t.markActive]}})(({theme:e})=>({position:"absolute",width:2,height:2,borderRadius:1,backgroundColor:"currentColor",variants:[{props:{orientation:"horizontal"},style:{top:"50%",transform:"translate(-1px, -50%)"}},{props:{orientation:"vertical"},style:{left:"50%",transform:"translate(-50%, 1px)"}},{props:{markActive:!0},style:{backgroundColor:(e.vars||e).palette.background.paper,opacity:.8}}]})),By=At("span",{name:"MuiSlider",slot:"MarkLabel",shouldForwardProp:e=>Cs(e)&&e!=="markLabelActive",overridesResolver:(e,t)=>t.markLabel})(({theme:e})=>k({},e.typography.body2,{color:(e.vars||e).palette.text.secondary,position:"absolute",whiteSpace:"nowrap",variants:[{props:{orientation:"horizontal"},style:{top:30,transform:"translateX(-50%)","@media (pointer: coarse)":{top:40}}},{props:{orientation:"vertical"},style:{left:36,transform:"translateY(50%)","@media (pointer: coarse)":{left:44}}},{props:{markLabelActive:!0},style:{color:(e.vars||e).palette.text.primary}}]})),Jy=e=>{const{disabled:t,dragging:r,marked:n,orientation:a,track:s,classes:i,color:l,size:u}=e,c={root:["root",t&&"disabled",r&&"dragging",n&&"marked",a==="vertical"&&"vertical",s==="inverted"&&"trackInverted",s===!1&&"trackFalse",l&&`color${Pe(l)}`,u&&`size${Pe(u)}`],rail:["rail"],track:["track"],mark:["mark"],markActive:["markActive"],markLabel:["markLabel"],markLabelActive:["markLabelActive"],valueLabel:["valueLabel"],thumb:["thumb",t&&"disabled",u&&`thumbSize${Pe(u)}`,l&&`thumbColor${Pe(l)}`],active:["active"],disabled:["disabled"],focusVisible:["focusVisible"]};return Rs(c,Ty,i)},Vy=({children:e})=>e,ou=$.forwardRef(function(t,r){var n,a,s,i,l,u,c,m,f,d,x,y,_,p,j,R,C,w,S,P,M,K,le,ce;const D=Ms({props:t,name:"MuiSlider"}),q=wd(),{"aria-label":G,"aria-valuetext":Z,"aria-labelledby":X,component:je="span",components:ue={},componentsProps:ee={},color:Ae="primary",classes:Oe,className:nt,disableSwap:yt=!1,disabled:We=!1,getAriaLabel:Se,getAriaValueText:Ct,marks:lt=!1,max:He=100,min:Be=0,orientation:ut="horizontal",shiftStep:ct=10,size:Ft="medium",step:bt=1,scale:Je=bi,slotProps:O,slots:te,track:fe="normal",valueLabelDisplay:Ee="off",valueLabelFormat:Le=bi}=D,Mt=Ue(D,Ey),Re=k({},D,{isRtl:q,max:He,min:Be,classes:Oe,disabled:We,disableSwap:yt,orientation:ut,marks:lt,color:Ae,size:Ft,step:bt,shiftStep:ct,scale:Je,track:fe,valueLabelDisplay:Ee,valueLabelFormat:Le}),{axisProps:kt,getRootProps:Dt,getHiddenInputProps:Ar,getThumbProps:wr,open:Pr,active:er,axis:at,focusedThumbIndex:I,range:L,dragging:F,marks:W,values:Q,trackOffset:H,trackLeap:Ve,getThumbStyle:Xe}=ky(k({},Re,{rootRef:r}));Re.marked=W.length>0&&W.some(N=>N.label),Re.dragging=F,Re.focusedThumbIndex=I;const re=Jy(Re),Ne=(n=(a=te==null?void 0:te.root)!=null?a:ue.Root)!=null?n:Ly,It=(s=(i=te==null?void 0:te.rail)!=null?i:ue.Rail)!=null?s:Ny,tr=(l=(u=te==null?void 0:te.track)!=null?u:ue.Track)!=null?l:$y,Cr=(c=(m=te==null?void 0:te.thumb)!=null?m:ue.Thumb)!=null?c:Fy,xt=(f=(d=te==null?void 0:te.valueLabel)!=null?d:ue.ValueLabel)!=null?f:Dy,Ut=(x=(y=te==null?void 0:te.mark)!=null?y:ue.Mark)!=null?x:Uy,Bt=(_=(p=te==null?void 0:te.markLabel)!=null?p:ue.MarkLabel)!=null?_:By,Mr=(j=(R=te==null?void 0:te.input)!=null?R:ue.Input)!=null?j:"input",kr=(C=O==null?void 0:O.root)!=null?C:ee.root,un=(w=O==null?void 0:O.rail)!=null?w:ee.rail,Ir=(S=O==null?void 0:O.track)!=null?S:ee.track,rr=(P=O==null?void 0:O.thumb)!=null?P:ee.thumb,nr=(M=O==null?void 0:O.valueLabel)!=null?M:ee.valueLabel,ba=(K=O==null?void 0:O.mark)!=null?K:ee.mark,xa=(le=O==null?void 0:O.markLabel)!=null?le:ee.markLabel,cn=(ce=O==null?void 0:O.input)!=null?ce:ee.input,mn=Tt({elementType:Ne,getSlotProps:Dt,externalSlotProps:kr,externalForwardedProps:Mt,additionalProps:k({},Iy(Ne)&&{as:je}),ownerState:k({},Re,kr==null?void 0:kr.ownerState),className:[re.root,nt]}),va=Tt({elementType:It,externalSlotProps:un,ownerState:Re,className:re.rail}),ja=Tt({elementType:tr,externalSlotProps:Ir,additionalProps:{style:k({},kt[at].offset(H),kt[at].leap(Ve))},ownerState:k({},Re,Ir==null?void 0:Ir.ownerState),className:re.track}),Tr=Tt({elementType:Cr,getSlotProps:wr,externalSlotProps:rr,ownerState:k({},Re,rr==null?void 0:rr.ownerState),className:re.thumb}),Sa=Tt({elementType:xt,externalSlotProps:nr,ownerState:k({},Re,nr==null?void 0:nr.ownerState),className:re.valueLabel}),g=Tt({elementType:Ut,externalSlotProps:ba,ownerState:Re,className:re.mark}),A=Tt({elementType:Bt,externalSlotProps:xa,ownerState:Re,className:re.markLabel}),E=Tt({elementType:Mr,getSlotProps:Ar,externalSlotProps:cn,ownerState:Re});return o.jsxs(Ne,k({},mn,{children:[o.jsx(It,k({},va)),o.jsx(tr,k({},ja)),W.filter(N=>N.value>=Be&&N.value<=He).map((N,U)=>{const ne=zn(N.value,Be,He),V=kt[at].offset(ne);let B;return fe===!1?B=Q.indexOf(N.value)!==-1:B=fe==="normal"&&(L?N.value>=Q[0]&&N.value<=Q[Q.length-1]:N.value<=Q[0])||fe==="inverted"&&(L?N.value<=Q[0]||N.value>=Q[Q.length-1]:N.value>=Q[0]),o.jsxs($.Fragment,{children:[o.jsx(Ut,k({"data-index":U},g,!Br(Ut)&&{markActive:B},{style:k({},V,g.style),className:gt(g.className,B&&re.markActive)})),N.label!=null?o.jsx(Bt,k({"aria-hidden":!0,"data-index":U},A,!Br(Bt)&&{markLabelActive:B},{style:k({},V,A.style),className:gt(re.markLabel,A.className,B&&re.markLabelActive),children:N.label})):null]},U)}),Q.map((N,U)=>{const ne=zn(N,Be,He),V=kt[at].offset(ne),B=Ee==="off"?Vy:xt;return o.jsx(B,k({},!Br(B)&&{valueLabelFormat:Le,valueLabelDisplay:Ee,value:typeof Le=="function"?Le(Je(N),U):Le,index:U,open:Pr===U||er===U||Ee==="on",disabled:We},Sa,{children:o.jsx(Cr,k({"data-index":U},Tr,{className:gt(re.thumb,Tr.className,er===U&&re.active,I===U&&re.focusVisible),style:k({},V,Xe(U),Tr.style),children:o.jsx(Mr,k({"data-index":U,"aria-label":Se?Se(U):G,"aria-valuenow":Je(N),"aria-labelledby":X,"aria-valuetext":Ct?Ct(Je(N),U):Z,value:Q[U]},E))}))}),U)})]}))});process.env.NODE_ENV!=="production"&&(ou.propTypes={"aria-label":ao(h.string,e=>Array.isArray(e.value||e.defaultValue)&&e["aria-label"]!=null?new Error("MUI: You need to use the `getAriaLabel` prop instead of `aria-label` when using a range slider."):null),"aria-labelledby":h.string,"aria-valuetext":ao(h.string,e=>Array.isArray(e.value||e.defaultValue)&&e["aria-valuetext"]!=null?new Error("MUI: You need to use the `getAriaValueText` prop instead of `aria-valuetext` when using a range slider."):null),children:h.node,classes:h.object,className:h.string,color:h.oneOfType([h.oneOf(["primary","secondary","error","info","success","warning"]),h.string]),components:h.shape({Input:h.elementType,Mark:h.elementType,MarkLabel:h.elementType,Rail:h.elementType,Root:h.elementType,Thumb:h.elementType,Track:h.elementType,ValueLabel:h.elementType}),componentsProps:h.shape({input:h.oneOfType([h.func,h.object]),mark:h.oneOfType([h.func,h.object]),markLabel:h.oneOfType([h.func,h.object]),rail:h.oneOfType([h.func,h.object]),root:h.oneOfType([h.func,h.object]),thumb:h.oneOfType([h.func,h.object]),track:h.oneOfType([h.func,h.object]),valueLabel:h.oneOfType([h.func,h.shape({children:h.element,className:h.string,open:h.bool,style:h.object,value:h.number,valueLabelDisplay:h.oneOf(["auto","off","on"])})])}),defaultValue:h.oneOfType([h.arrayOf(h.number),h.number]),disabled:h.bool,disableSwap:h.bool,getAriaLabel:h.func,getAriaValueText:h.func,marks:h.oneOfType([h.arrayOf(h.shape({label:h.node,value:h.number.isRequired})),h.bool]),max:h.number,min:h.number,name:h.string,onChange:h.func,onChangeCommitted:h.func,orientation:h.oneOf(["horizontal","vertical"]),scale:h.func,shiftStep:h.number,size:h.oneOfType([h.oneOf(["small","medium"]),h.string]),slotProps:h.shape({input:h.oneOfType([h.func,h.object]),mark:h.oneOfType([h.func,h.object]),markLabel:h.oneOfType([h.func,h.object]),rail:h.oneOfType([h.func,h.object]),root:h.oneOfType([h.func,h.object]),thumb:h.oneOfType([h.func,h.object]),track:h.oneOfType([h.func,h.object]),valueLabel:h.oneOfType([h.func,h.shape({children:h.element,className:h.string,open:h.bool,style:h.object,value:h.number,valueLabelDisplay:h.oneOf(["auto","off","on"])})])}),slots:h.shape({input:h.elementType,mark:h.elementType,markLabel:h.elementType,rail:h.elementType,root:h.elementType,thumb:h.elementType,track:h.elementType,valueLabel:h.elementType}),step:h.number,sx:h.oneOfType([h.arrayOf(h.oneOfType([h.func,h.object,h.bool])),h.func,h.object]),tabIndex:h.number,track:h.oneOf(["inverted","normal",!1]),value:h.oneOfType([h.arrayOf(h.number),h.number]),valueLabelDisplay:h.oneOf(["auto","off","on"]),valueLabelFormat:h.oneOfType([h.func,h.string])});var Gy="[object Number]";function zy(e){return typeof e=="number"||Wt(e)&&Yt(e)==Gy}const iu=Te.observer(e=>{const t=T.useTheme(),r=e.valueLabelFormat||(a=>`${a}`);function n(a,s){s===e.velocity||!zy(s)||e.onVelocityChange(s)}return o.jsxs(o.Fragment,{children:[o.jsx(T.Typography,{sx:{textAlign:"center",fontSize:"14px",opacity:.8,lineHeight:1,color:t.palette.text.primary},children:r(e.velocity)}),o.jsx(ou,{value:e.velocity,color:"secondary",onChange:n,min:e.min,max:e.max,"aria-labelledby":"input-slider",disabled:e.disabled,sx:{"& .MuiSlider-valueLabelOpen":{zIndex:100,backgroundColor:"transparent",top:"0px"}}})]})}),lu=Te.observer(({store:e})=>{const{t}=qt.useTranslation(),r=Te.useLocalObservable(()=>({get valueLabelFormat(){return e.currentMotionType==="translate"?n=>`v=${t("Jogging.Cartesian.Translation.velocityMmPerSec.lb",{amount:n})}`:n=>`v=${t("Jogging.Cartesian.Rotation.velocityDegPerSec.lb",{amount:n})}`}}));return o.jsx(T.Stack,{sx:{margin:"0px 20px",marginBottom:"6px"},children:o.jsx(T.Stack,{sx:{width:"380px",maxWidth:"90%",margin:"auto"},children:o.jsx(iu,{velocity:e.velocityInCurrentUnits,min:e.minVelocityInCurrentUnits,max:e.maxVelocityInCurrentUnits,onVelocityChange:e.setVelocityFromSlider,disabled:e.isLocked,valueLabelFormat:r.valueLabelFormat})})})}),Ky=Te.observer(({store:e,children:t})=>{var f,d,x,y,_,p,j,R,C;const{t:r}=qt.useTranslation(),n=T.useTheme();function a(w,S){(S==="translate"||S==="rotate")&&e.setSelectedCartesianMotionType(S)}ks(()=>[e.selectedCoordSystemId,e.selectedTcpId],()=>{e.jogger.motionStream.motionStateSocket.changeUrl(e.jogger.nova.makeWebsocketURL(`/motion-groups/${e.jogger.motionGroupId}/state-stream?tcp=${e.selectedTcpId}&response_coordinate_system=${e.selectedCoordSystemId}`))},{fireImmediately:!0});async function s(w,S){const P=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose,M=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_position;P&&await e.withMotionLock(async()=>{await e.jogger.runIncrementalCartesianMotion({currentTcpPose:P,currentJoints:M,coordSystemId:e.activeCoordSystemId,velocityInRelevantUnits:e.velocityInCurrentUnits,axis:w.axis,direction:w.direction,motion:e.selectedCartesianMotionType==="translate"?{type:"translate",distanceMm:S.mm}:{type:"rotate",distanceRads:Lt.degreesToRadians(S.degrees)}})})}async function i(w){if(!e.isLocked){if(e.activeDiscreteIncrement)return s(w,e.activeDiscreteIncrement);w.motionType==="translate"?await e.jogger.startTCPTranslation({axis:w.axis,direction:w.direction,velocityMmPerSec:e.translationVelocityMmPerSec}):await e.jogger.startTCPRotation({axis:w.axis,direction:w.direction,velocityRadsPerSec:e.rotationVelocityRadsPerSec})}}async function l(){e.isLocked||e.activeDiscreteIncrement||await e.jogger.stop()}const u=[{id:"x",colors:(x=(d=(f=n.componentsExt)==null?void 0:f.JoggingCartesian)==null?void 0:d.Axis)==null?void 0:x.X,icon:o.jsx(Lg,{})},{id:"y",colors:(p=(_=(y=n.componentsExt)==null?void 0:y.JoggingCartesian)==null?void 0:_.Axis)==null?void 0:p.Y,icon:o.jsx($g,{})},{id:"z",colors:(C=(R=(j=n.componentsExt)==null?void 0:j.JoggingCartesian)==null?void 0:R.Axis)==null?void 0:C.Z,icon:o.jsx(Dg,{})}];function c(w){return r("General.mm.variable",{amount:w.toFixed(1)})}function m(w){return r("General.degree.variable",{amount:Lt.radiansToDegrees(w).toFixed(1)})}return o.jsxs(T.Stack,{flexGrow:1,gap:4,children:[o.jsxs(T.Stack,{children:[o.jsx(Jg,{store:e}),o.jsx(jy,{store:e})]}),o.jsx(T.Stack,{width:"80%",maxWidth:"296px",marginLeft:"auto",marginRight:"auto",marginTop:"8px",marginBottom:"8px",gap:"12px",children:o.jsxs(T.ToggleButtonGroup,{value:e.selectedCartesianMotionType,onChange:a,exclusive:!0,"aria-label":r("Jogging.Cartesian.MotionType.lb"),sx:{justifyContent:"center"},children:[o.jsx(T.ToggleButton,{value:"translate",children:r("Jogging.Cartesian.Translation.bt")}),o.jsx(T.ToggleButton,{value:"rotate",children:r("Jogging.Cartesian.Rotation.bt")})]})}),o.jsx(zl,{store:e,children:o.jsxs(T.Stack,{width:"80%",maxWidth:"296px",marginLeft:"auto",marginRight:"auto",marginTop:"8px",marginBottom:"8px",gap:"12px",children:[e.selectedCartesianMotionType==="translate"&&u.map(w=>o.jsx(es,{colors:w.colors,disabled:e.isLocked,label:o.jsxs(o.Fragment,{children:[w.icon,o.jsx(T.Typography,{sx:{fontSize:"24px",color:"white"},children:w.id.toUpperCase()})]}),getDisplayedValue:()=>{var S;return c(((S=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:S.position[w.id])||0)},startJogging:S=>i({axis:w.id,motionType:"translate",direction:S}),stopJogging:l},w.id)),e.selectedCartesianMotionType==="rotate"&&u.map(w=>o.jsx(es,{colors:w.colors,disabled:e.isLocked,label:o.jsxs(o.Fragment,{children:[o.jsx(Bg,{}),o.jsx(T.Typography,{sx:{fontSize:"24px",color:"white"},children:w.id.toUpperCase()})]}),getDisplayedValue:()=>{var S,P;return m(((P=(S=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:S.orientation)==null?void 0:P[w.id])||0)},startJogging:S=>i({axis:w.id,motionType:"rotate",direction:S}),stopJogging:l},w.id))]})}),o.jsxs(T.Stack,{children:[o.jsx(nu,{store:e}),o.jsx(lu,{store:e}),t]})]})}),Wy=Te.observer(({store:e})=>{const t=Y.useRef(null);function r(){const{joints:n}=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_position;return`[${n.map(a=>parseFloat(a.toFixed(4))).join(", ")}]`}return jr(()=>{t.current&&(t.current.textContent=r())}),o.jsx(T.Stack,{alignItems:"left",spacing:2,sx:{padding:"16px","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:o.jsx(Kl,{value:r(),ref:t})})}),Hy=Te.observer(({store:e,children:t})=>{async function r(a){await e.jogger.startJointRotation({joint:a.joint,direction:a.direction,velocityRadsPerSec:e.rotationVelocityRadsPerSec})}async function n(){await e.jogger.stop()}return o.jsxs(T.Stack,{flexGrow:1,justifyContent:"space-between",children:[o.jsx(Wy,{store:e}),o.jsx(zl,{store:e,children:o.jsx(T.Stack,{gap:"0.8rem",children:e.jogger.motionStream.joints.map(a=>{var u;const s=(u=e.motionGroupSpec.mechanical_joint_limits)==null?void 0:u[a.index],i=(s==null?void 0:s.lower_limit)!==void 0?Lt.radiansToDegrees(s.lower_limit):void 0,l=(s==null?void 0:s.upper_limit)!==void 0?Lt.radiansToDegrees(s.upper_limit):void 0;return o.jsxs(T.Stack,{direction:"row",alignItems:"center",gap:2,children:[o.jsx(T.Typography,{sx:{flexGrow:1,textAlign:"right"},children:`J${a.index+1}`}),o.jsx(yl,{disabled:e.isLocked,lowerLimitDegs:i,upperLimitDegs:l,getValueDegs:()=>{const c=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_position.joints[a.index];return c!==void 0?Lt.radiansToDegrees(c):void 0},startJogging:c=>r({joint:a.index,direction:c}),stopJogging:n},a.index),o.jsx(T.Typography,{sx:{flexGrow:1}})]},`joint-${a.index}`)})})}),o.jsx(nu,{store:e}),o.jsx(lu,{store:e}),t]})});var xi=function(){try{var e=Qt(Object,"defineProperty");return e({},"",{}),e}catch{}}();function Xy(e,t,r){t=="__proto__"&&xi?xi(e,t,{configurable:!0,enumerable:!0,value:r,writable:!0}):e[t]=r}function qy(e,t,r,n){for(var a=-1,s=e==null?0:e.length;++a<s;){var i=e[a];t(n,i,r(i),e)}return n}function Yy(e){return function(t,r,n){for(var a=-1,s=Object(t),i=n(t),l=i.length;l--;){var u=i[++a];if(r(s[u],u,s)===!1)break}return t}}var Zy=Yy();function Qy(e,t){return e&&Zy(e,t,Fs)}function e1(e,t){return function(r,n){if(r==null)return r;if(!ru(r))return e(r,n);for(var a=r.length,s=-1,i=Object(r);++s<a&&n(i[s],s,i)!==!1;);return r}}var t1=e1(Qy);function r1(e,t,r,n){return t1(e,function(a,s,i){t(n,a,r(a),i)}),n}var n1=1,a1=2;function s1(e,t,r,n){var a=r.length,s=a;if(e==null)return!s;for(e=Object(e);a--;){var i=r[a];if(i[2]?i[1]!==e[i[0]]:!(i[0]in e))return!1}for(;++a<s;){i=r[a];var l=i[0],u=e[l],c=i[1];if(i[2]){if(u===void 0&&!(l in e))return!1}else{var m=new St,f;if(!(f===void 0?_a(c,u,n1|a1,n,m):f))return!1}}return!0}function uu(e){return e===e&&!Kt(e)}function o1(e){for(var t=Fs(e),r=t.length;r--;){var n=t[r],a=e[n];t[r]=[n,a,uu(a)]}return t}function cu(e,t){return function(r){return r==null?!1:r[e]===t&&(t!==void 0||e in Object(r))}}function i1(e){var t=o1(e);return t.length==1&&t[0][2]?cu(t[0][0],t[0][1]):function(r){return r===e||s1(r,e,t)}}var l1=/\.|\[(?:[^[\]]*|(["'])(?:(?!\1)[^\\]|\\.)*?\1)\]/,u1=/^\w*$/;function Ds(e,t){if(pt(e))return!1;var r=typeof e;return r=="number"||r=="symbol"||r=="boolean"||e==null||la(e)?!0:u1.test(e)||!l1.test(e)||t!=null&&e in Object(t)}var c1="Expected a function";function Us(e,t){if(typeof e!="function"||t!=null&&typeof t!="function")throw new TypeError(c1);var r=function(){var n=arguments,a=t?t.apply(this,n):n[0],s=r.cache;if(s.has(a))return s.get(a);var i=e.apply(this,n);return r.cache=s.set(a,i)||s,i};return r.cache=new(Us.Cache||Pt),r}Us.Cache=Pt;var m1=500;function d1(e){var t=Us(e,function(n){return r.size===m1&&r.clear(),n}),r=t.cache;return t}var f1=/[^.[\]]+|\[(?:(-?\d+(?:\.\d+)?)|(["'])((?:(?!\2)[^\\]|\\.)*?)\2)\]|(?=(?:\.|\[\])(?:\.|\[\]|$))/g,h1=/\\(\\)?/g,g1=d1(function(e){var t=[];return e.charCodeAt(0)===46&&t.push(""),e.replace(f1,function(r,n,a,s){t.push(a?s.replace(h1,"$1"):n||r)}),t});function p1(e,t){for(var r=-1,n=e==null?0:e.length,a=Array(n);++r<n;)a[r]=t(e[r],r,e);return a}var _1=1/0,vi=Nt?Nt.prototype:void 0,ji=vi?vi.toString:void 0;function mu(e){if(typeof e=="string")return e;if(pt(e))return p1(e,mu)+"";if(la(e))return ji?ji.call(e):"";var t=e+"";return t=="0"&&1/e==-_1?"-0":t}function du(e){return e==null?"":mu(e)}function fu(e,t){return pt(e)?e:Ds(e,t)?[e]:g1(du(e))}var y1=1/0;function ya(e){if(typeof e=="string"||la(e))return e;var t=e+"";return t=="0"&&1/e==-y1?"-0":t}function hu(e,t){t=fu(t,e);for(var r=0,n=t.length;e!=null&&r<n;)e=e[ya(t[r++])];return r&&r==n?e:void 0}function b1(e,t,r){var n=e==null?void 0:hu(e,t);return n===void 0?r:n}function x1(e,t){return e!=null&&t in Object(e)}function v1(e,t,r){t=fu(t,e);for(var n=-1,a=t.length,s=!1;++n<a;){var i=ya(t[n]);if(!(s=e!=null&&r(e,i)))break;e=e[i]}return s||++n!=a?s:(a=e==null?0:e.length,!!a&&$s(a)&&Ql(i,a)&&(pt(e)||Yl(e)))}function j1(e,t){return e!=null&&v1(e,t,x1)}var S1=1,R1=2;function A1(e,t){return Ds(e)&&uu(t)?cu(ya(e),t):function(r){var n=b1(r,e);return n===void 0&&n===t?j1(r,e):_a(t,n,S1|R1)}}function w1(e){return e}function P1(e){return function(t){return t==null?void 0:t[e]}}function C1(e){return function(t){return hu(t,e)}}function M1(e){return Ds(e)?P1(ya(e)):C1(e)}function k1(e){return typeof e=="function"?e:e==null?w1:typeof e=="object"?pt(e)?A1(e[0],e[1]):i1(e):M1(e)}function I1(e,t){return function(r,n){var a=pt(r)?qy:r1,s={};return a(r,e,k1(n),s)}}var vn=I1(function(e,t,r){Xy(e,r,t)}),T1=0;function O1(e){var t=++T1;return du(e)+t}const fs=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],E1=[{id:"continuous"},...fs];class Bs{constructor(t,r,n,a){var s,i;this.jogger=t,this.motionGroupSpec=r,this.coordSystems=n,this.tcps=a,this.selectedTabId="cartesian",this.manualActivationRequired=!0,this.activationState="inactive",this.activationError=null,this.activationCounter=0,this.locks=new Set,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJoggingInProgress=!1,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.disposers=[];for(const l of n)if(l.coordinate_system===""){l.coordinate_system="world";break}this.selectedCoordSystemId=((s=n[0])==null?void 0:s.coordinate_system)||"world",this.selectedTcpId=((i=a[0])==null?void 0:i.id)||"",mt.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(mt.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:a},{tcps:s}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Bs(t,n,a||[],s||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return Kn.countBy(this.coordSystems,t=>t.name)}async deactivate(t={}){if(this.activationState==="inactive")return;const r=this.jogger.activeWebsocket;this.activationState="inactive",this.jogger.setJoggingMode("increment"),r&&await r.closed();try{await this.jogger.nova.api.motionGroupJogging.stopJogging(this.jogger.motionGroupId)}catch(n){console.error(n)}t.requireManualReactivation&&mt.runInAction(()=>{this.manualActivationRequired=!0})}async activate(t={}){if(!(this.manualActivationRequired&&!t.manual)){mt.runInAction(()=>{this.activationState="loading",this.activationError=null});try{await this.jogger.nova.api.controller.setDefaultMode(this.jogger.motionStream.controllerId,"MODE_CONTROL")}catch(r){console.error(r)}if(this.currentTab.id==="cartesian"){const r={tcpId:this.selectedTcpId,coordSystemId:this.activeCoordSystemId};this.activeDiscreteIncrement?this.jogger.setJoggingMode("increment",r):this.jogger.setJoggingMode("cartesian",r)}else this.jogger.setJoggingMode("joint");if(this.jogger.activeWebsocket)try{this.jogger.stop(),await this.jogger.activeWebsocket.nextMessage()}catch(r){mt.runInAction(()=>{this.activationState="inactive",this.activationError=r});return}mt.runInAction(()=>{this.activationState="active",t.manual&&(this.manualActivationRequired=!1)})}}loadFromLocalStorage(){const t=Lt.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){return[{id:"cartesian",label:"Cartesian"},{id:"joint",label:"Joint"}]}get incrementOptions(){return E1}get discreteIncrementOptions(){return fs}get incrementOptionsById(){return vn(this.incrementOptions,t=>t.id)}get tabsById(){return vn(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return vn(this.coordSystems,t=>t.coordinate_system)}get selectedCoordSystem(){return this.coordSystemsById[this.selectedCoordSystemId]}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return vn(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:fs.find(t=>t.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}get velocityInCurrentUnits(){return this.currentMotionType==="translate"?this.translationVelocityMmPerSec:this.rotationVelocityDegPerSec}get minVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.minTranslationVelocityMmPerSec:this.minRotationVelocityDegPerSec}get maxVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.maxTranslationVelocityMmPerSec:this.maxRotationVelocityDegPerSec}get currentMotionType(){return this.selectedTabId==="cartesian"&&this.selectedCartesianMotionType==="translate"?"translate":"rotate"}onTabChange(t,r){const n=this.tabs[r]||this.tabs[0];this.selectedTabId=n.id}setSelectedCoordSystemId(t){this.selectedCoordSystemId=t}setSelectedTcpId(t){this.selectedTcpId=t}setSelectedOrientation(t){this.selectedOrientation=t}setSelectedIncrementId(t){this.selectedIncrementId=t}setIncrementJoggingInProgress(t){this.incrementJoggingInProgress=t}setVelocityFromSlider(t){this.currentMotionType==="translate"?this.translationVelocityMmPerSec=t:this.rotationVelocityDegPerSec=t}setSelectedCartesianMotionType(t){this.selectedCartesianMotionType=t}async withMotionLock(t){const r=O1();this.locks.add(r);try{return await t()}finally{this.locks.delete(r)}}}const L1=sn(Te.observer(e=>{const t=Kn.isString(e.nova)?new Lt.NovaClient({instanceUrl:e.nova}):e.nova,r=Te.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){mt.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{const a=await t.connectJogger(e.motionGroupId),s=await Bs.loadFor(a);mt.runInAction(()=>{r.joggingStore=s}),e.onSetup&&e.onSetup(s)}catch(a){r.loadingError=a}}return Y.useEffect(()=>(n(),()=>{var a;(a=r.joggingStore)==null||a.dispose()}),[e.nova,e.motionGroupId]),Y.useEffect(()=>{const a=r.joggingStore;a&&(e.locked?a.locks.add("external"):a.locks.delete("external"))},[e.locked]),o.jsx(T.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:r.joggingStore?o.jsx(N1,{store:r.joggingStore,children:e.children}):o.jsx(ha,{message:"Loading jogging",error:r.loadingError})})})),N1=Te.observer(({store:e,children:t})=>{Y.useEffect(()=>{function n(){e.deactivate()}function a(){e.activate()}return window.addEventListener("blur",n),window.addEventListener("focus",a),()=>{window.removeEventListener("blur",n),window.removeEventListener("focus",a)}}),ks(()=>[e.currentTab.id,e.selectedTcpId,e.activeCoordSystemId,e.activeDiscreteIncrement],()=>{e.activationState!=="inactive"&&e.activate()});function r(){if(e.currentTab.id==="cartesian")return o.jsx(o.Fragment,{children:o.jsx(Ky,{store:e,children:t})});if(e.currentTab.id==="joint")return o.jsx(o.Fragment,{children:o.jsx(Hy,{store:e,children:t})})}return o.jsxs(T.Stack,{flexGrow:1,height:"100%",children:[o.jsx(T.Tabs,{value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(n=>o.jsx(T.Tab,{label:n.label,id:`jogging-tab-${n.id}`,"aria-controls":`jogging-tab-${n.id}`},n.id))}),o.jsx(T.Stack,{flexGrow:1,position:"relative",children:r()})]})});function $1(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function F1({baseUrl:e=$1(),...t}){return o.jsxs(T.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[o.jsx(T.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),o.jsxs(T.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[o.jsx(T.Typography,{color:"#fff",children:"Found no devices to connect to."}),o.jsx(T.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),o.jsx(T.DialogActions,{children:o.jsxs(T.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[o.jsx(T.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),o.jsx(T.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const D1=Array(6).fill(2*Math.PI);gu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function gu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Empty",children:[o.jsxs("group",{name:"visuals",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.abb_white})]}),o.jsxs(b.animated.group,{name:"ABB_IRB1200_J00",children:[o.jsxs("group",{name:"ABB_IRB1200_J01",position:[0,.399,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1200_J02",position:[.35,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1200_J03",position:[.042,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1200_J04",position:[0,.351,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1200_J05",rotation:[Math.PI/2,0,-Math.PI],children:[o.jsx("group",{ref:t,name:"ABB_IRB1200_FLG",position:[0,.082,0]}),o.jsx("mesh",{name:"visuals006",geometry:a.visuals006.geometry,material:s.abb_metal_black,position:[.791,-.351,0],rotation:[0,0,Math.PI/2]})]}),o.jsxs("group",{name:"visuals005",position:[-.791,0,.351],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals005_1",geometry:a.visuals005_1.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals005_2",geometry:a.visuals005_2.geometry,material:s.abb_white})]})]}),o.jsxs("group",{name:"visuals004",position:[-.791,0,0],rotation:[-Math.PI,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals004_1",geometry:a.visuals004_1.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals004_2",geometry:a.visuals004_2.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals004_3",geometry:a.visuals004_3.geometry,material:s.abb_red})]})]}),o.jsxs("group",{name:"visuals003",position:[-.749,0,0],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals003_1",geometry:a.visuals003_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals003_2",geometry:a.visuals003_2.geometry,material:s.abb_red}),o.jsx("mesh",{name:"visuals003_3",geometry:a.visuals003_3.geometry,material:s.abb_metal_polished})]})]}),o.jsxs("group",{name:"visuals002",position:[-.399,0,0],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals002_1",geometry:a.visuals002_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals002_2",geometry:a.visuals002_2.geometry,material:s.abb_metal_polished})]})]}),o.jsxs("group",{name:"visuals001",children:[o.jsx("mesh",{name:"visuals001_1",geometry:a.visuals001_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals001_2",geometry:a.visuals001_2.geometry,material:s.abb_metal_polished})]})]})]})})}pu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function pu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:a.visuals_0.geometry,material:s.abb_metal_black}),o.jsx("mesh",{name:"visuals_0_1",geometry:a.visuals_0_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_0_2",geometry:a.visuals_0_2.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals_0_3",geometry:a.visuals_0_3.geometry,material:s.abb_red})]}),o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J00",children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J01",position:[.15,.544,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J02",position:[.575,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J03",position:[.04,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J04",position:[0,.425,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J05",rotation:[Math.PI/2,0,-Math.PI],children:[o.jsx("group",{ref:t,name:"ABB_IRB1300_115_10_FLG",position:[0,.092,0]}),o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.abb_metal_polished,position:[1.159,-.575,0],rotation:[0,0,Math.PI/2]})]}),o.jsxs("group",{name:"link_5",position:[-1.159,0,.575],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.abb_metal_black})]})]}),o.jsxs("group",{name:"link_4",position:[-1.159,-.15,0],rotation:[-Math.PI,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.abb_red}),o.jsx("mesh",{name:"visuals_4_3",geometry:a.visuals_4_3.geometry,material:s.abb_metal_black})]})]}),o.jsxs("group",{name:"link_3",position:[-1.119,0,.15],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.abb_red}),o.jsx("mesh",{name:"visuals_3_2",geometry:a.visuals_3_2.geometry,material:s.abb_metal_black})]})]}),o.jsxs("group",{name:"link_2",position:[-.544,0,.15],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_2_1",geometry:a.visuals_2_1.geometry,material:s.abb_metal_black})]})]}),o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.abb_metal_black})]})]})]})})}_u.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function _u({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"M10iD",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J02",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J03",position:[.64,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J04",position:[.195,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J05",position:[0,-.7,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J06",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"M10iD_FLG",position:[0,-.075,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"M10iD_L06",geometry:a.M10iD_L06.geometry,material:s.Fanuc_BlackMetal_AO,position:[-.835,.775,0],rotation:[0,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"M10iD_L05",geometry:a.M10iD_L05.geometry,material:s.Fanuc_BlackMetal_AO,position:[-.835,0,-.775],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"M10iD_L04",position:[-.835,.075,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"Mesh_654",geometry:a.Mesh_654.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_654_1",geometry:a.Mesh_654_1.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsxs("group",{name:"M10iD_L03",position:[-.64,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"Mesh_378",geometry:a.Mesh_378.geometry,material:s.Material_1_AO}),o.jsx("mesh",{name:"Mesh_378_1",geometry:a.Mesh_378_1.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_378_2",geometry:a.Mesh_378_2.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsxs("group",{name:"M10iD_L02",position:[0,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"Mesh_358",geometry:a.Mesh_358.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_358_1",geometry:a.Mesh_358_1.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsxs("group",{name:"M10iD_L01",children:[o.jsx("mesh",{name:"Mesh_356",geometry:a.Mesh_356.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_356_1",geometry:a.Mesh_356_1.geometry,material:s.Material_1_AO}),o.jsx("mesh",{name:"Mesh_356_2",geometry:a.Mesh_356_2.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsx("mesh",{name:"M10iD_L00",geometry:a.M10iD_L00.geometry,material:s.Fanuc_BlackMetal_AO,rotation:[-Math.PI/2,0,0]})]})})})})}hs.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function hs({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"M10iD",rotation:[0,0,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J00",children:[o.jsxs(b.animated.group,{name:"M20iD25_J01",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J02",position:[.84,0,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J03",position:[.215,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J04",position:[0,-.89,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"M20iD25_FLG",position:[0,-.09,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"M20iD25_L06",geometry:a.M20iD25_L06.geometry,material:s.Fanuc_BlackMetal_AO,position:[0,-.09,0],rotation:[Math.PI/2,0,Math.PI]})]}),o.jsx("mesh",{name:"M20iD25_L05",geometry:a.M20iD25_L05.geometry,material:s.Fanuc_BlackMetal_AO,rotation:[Math.PI,Math.PI/2,0]})]}),o.jsxs("group",{name:"M20iD25_L04",position:[0,-.286,0],rotation:[-Math.PI/2,Math.PI/2,0],children:[o.jsx("mesh",{name:"Mesh_2",geometry:a.Mesh_2.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_2_1",geometry:a.Mesh_2_1.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsxs("group",{name:"M20iD25_L03",position:[0,.406,0],rotation:[Math.PI,Math.PI/2,0],children:[o.jsx("mesh",{name:"Mesh_15",geometry:a.Mesh_15.geometry,material:s.Fanuc_BlackMetal_AO}),o.jsx("mesh",{name:"Mesh_15_1",geometry:a.Mesh_15_1.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_15_2",geometry:a.Mesh_15_2.geometry,material:s.Material_9_AO})]})]}),o.jsxs("group",{name:"M20iD25_L02",position:[0,.505,-.055],rotation:[-Math.PI,Math.PI/2,0],children:[o.jsx("mesh",{name:"Mesh_37",geometry:a.Mesh_37.geometry,material:s.Fanuc_BlackMetal_AO}),o.jsx("mesh",{name:"Mesh_37_1",geometry:a.Mesh_37_1.geometry,material:s.Fanuc_Yellow_Textured_AO})]})]}),o.jsxs("group",{name:"M20iD25_L01",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"Mesh_45",geometry:a.Mesh_45.geometry,material:s.Material_9_AO}),o.jsx("mesh",{name:"Mesh_45_1",geometry:a.Mesh_45_1.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_45_2",geometry:a.Mesh_45_2.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsx("mesh",{name:"M20iD25_L00",geometry:a.M20iD25_L00.geometry,material:s.Fanuc_BlackMetal_AO,position:[0,-.425,0],rotation:[-Math.PI/2,0,0]})]})})})})}yu.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function yu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"CRX10iA_J00",children:[o.jsxs(b.animated.group,{name:"CRX10iA_J01",rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J02",position:[.54,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J04",position:[0,-.54,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J05",position:[0,.15,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"CRX10iA_FLG",position:[0,-.16,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"CRX10iA_L06",geometry:a.CRX10iA_L06.geometry,material:s.Fanuc_BlackMetal,position:[0,-.16,0],rotation:[0,0,-Math.PI/2]})]}),o.jsxs("group",{name:"CRX10iA_L05",position:[0,.15,0],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"J5CASING_UNIT001",geometry:a.J5CASING_UNIT001.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J5CASING_UNIT001_1",geometry:a.J5CASING_UNIT001_1.geometry,material:s.Fanuc_Green})]})]}),o.jsxs("group",{name:"CRX10iA_L04",position:[0,-.54,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA",geometry:a.NAME_LABEL_CRX_10iA.geometry,material:s.Fanuc_RedPlastic}),o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_1",geometry:a.NAME_LABEL_CRX_10iA_1.geometry,material:s.Fanuc_BlackPlastic}),o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_2",geometry:a.NAME_LABEL_CRX_10iA_2.geometry,material:s.Fanuc_WhitePlastic})]})]}),o.jsx("mesh",{name:"CRX10iA_L03",geometry:a.CRX10iA_L03.geometry,material:s.Fanuc_WhitePlastic,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"CRX10iA_L02",geometry:a.CRX10iA_L02.geometry,material:s.Fanuc_WhitePlastic,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"CRX10iA_L01",position:[0,-.117,0],children:[o.jsx("mesh",{name:"J2BASE_UNIT001",geometry:a.J2BASE_UNIT001.geometry,material:s.Fanuc_Green}),o.jsx("mesh",{name:"J2BASE_UNIT001_1",geometry:a.J2BASE_UNIT001_1.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J2BASE_UNIT001_2",geometry:a.J2BASE_UNIT001_2.geometry,material:s.Fanuc_GreenLED})]})]}),o.jsx("mesh",{name:"CRX10iA_L00",geometry:a.CRX10iA_L00.geometry,material:s.Fanuc_BlackMetal,position:[0,-.245,0]})]})})})}bu.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function bu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsx("mesh",{name:"link_0",geometry:a.link_0.geometry,material:s.fanuc_metal_black}),o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J00",position:[0,-.245,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J01",position:[0,.245,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J02",position:[.71,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J04",position:[0,-.54,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J05",position:[0,.15,0],rotation:[-Math.PI/2,0,0],children:[o.jsx(b.animated.group,{ref:t,name:"FANUC_CRX20iAL_FLG",position:[0,-.16,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.fanuc_metal_black,position:[-.71,.54,-.15],rotation:[0,0,-Math.PI/2]})]}),o.jsxs(b.animated.group,{name:"link_5",position:[-.71,0,-.54],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape053",geometry:a.shape053.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"shape053_1",geometry:a.shape053_1.geometry,material:s.fanuc_green})]})]}),o.jsxs(b.animated.group,{name:"link_4",position:[-.71,0,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape054",geometry:a.shape054.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"shape054_1",geometry:a.shape054_1.geometry,material:s.fanuc_red}),o.jsx("mesh",{name:"shape054_2",geometry:a.shape054_2.geometry,material:s.fanuc_metal_black})]})]}),o.jsxs(b.animated.group,{name:"link_3",position:[-.71,0,0],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape009",geometry:a.shape009.geometry,material:s.fanuc_green}),o.jsx("mesh",{name:"shape009_1",geometry:a.shape009_1.geometry,material:s.fanuc_white})]})]}),o.jsx("mesh",{name:"link_2",geometry:a.link_2.geometry,material:s.fanuc_white,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_1",position:[0,.245,0],children:[o.jsx("mesh",{name:"shape005",geometry:a.shape005.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"shape005_1",geometry:a.shape005_1.geometry,material:s.fanuc_green})]})]})]})})})}xu.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function xu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",position:[0,-.37,0],children:[o.jsxs("group",{name:"CRX25iA_L00",children:[o.jsx("mesh",{name:"J1BASE_NetGen_Coarse",geometry:a.J1BASE_NetGen_Coarse.geometry,material:s.Fanuc_BlackMetal}),o.jsx("mesh",{name:"J1BASE_NetGen_Coarse_1",geometry:a.J1BASE_NetGen_Coarse_1.geometry,material:s.Fanuc_GreenPlastic})]}),o.jsxs(b.animated.group,{name:"CRX25iA_J00",children:[o.jsxs(b.animated.group,{name:"CRX25iA_J01",position:[0,.37,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"CRX25iA_J02",position:[.95,0,0],children:[o.jsxs(b.animated.group,{name:"CRX25iA_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX25iA_J04",position:[0,-.75,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX25iA_J05",position:[0,.185,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"CRX25iA_FLG",position:[0,-.18,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"CRX25iA_L06",geometry:a.CRX25iA_L06.geometry,material:s.Fanuc_BlackMetal,position:[0,-.18,0]})]}),o.jsxs("group",{name:"CRX25iA_L05",position:[0,.185,0],children:[o.jsx("mesh",{name:"J6CASING_NetGen_Coarse",geometry:a.J6CASING_NetGen_Coarse.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J6CASING_NetGen_Coarse_1",geometry:a.J6CASING_NetGen_Coarse_1.geometry,material:s.Fanuc_GreenPlastic})]})]}),o.jsxs("group",{name:"CRX25iA_L04",position:[0,-.75,0],children:[o.jsx("mesh",{name:"J3ARM_NetGen_Coarse",geometry:a.J3ARM_NetGen_Coarse.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J3ARM_NetGen_Coarse_1",geometry:a.J3ARM_NetGen_Coarse_1.geometry,material:s.Fanuc_RedPlastic}),o.jsx("mesh",{name:"J3ARM_NetGen_Coarse_2",geometry:a.J3ARM_NetGen_Coarse_2.geometry,material:s.Fanuc_BlackPlastic})]})]}),o.jsxs("group",{name:"CRX25iA_L03",children:[o.jsx("mesh",{name:"J3CASING_NetGen_Coarse",geometry:a.J3CASING_NetGen_Coarse.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J3CASING_NetGen_Coarse_1",geometry:a.J3CASING_NetGen_Coarse_1.geometry,material:s.Fanuc_GreenPlastic})]})]}),o.jsx("mesh",{name:"CRX25iA_L02",geometry:a.CRX25iA_L02.geometry,material:s.Fanuc_WhitePlastic})]}),o.jsxs("group",{name:"CRX25iA_L01",position:[0,.18,0],children:[o.jsx("mesh",{name:"J2BASE_NetGen_Coarse",geometry:a.J2BASE_NetGen_Coarse.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J2BASE_NetGen_Coarse_1",geometry:a.J2BASE_NetGen_Coarse_1.geometry,material:s.Fanuc_GreenLED})]})]})]})})})}vu.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function vu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"CRX10iA_J00",children:[o.jsxs(b.animated.group,{name:"CRX10iA_J01",position:[0,.245,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J02",position:[.71,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J04",position:[0,-.54,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J05",position:[0,.15,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"CRX10iA_FLG",position:[0,-.16,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"CRX10iA_L06",geometry:a.CRX10iA_L06.geometry,material:s["Fanuc_BlackMetal.001"],position:[0,-.16,0],rotation:[0,0,-Math.PI/2]})]}),o.jsxs("group",{name:"CRX10iA_L05",position:[0,.15,0],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"J5CASING_UNIT001",geometry:a.J5CASING_UNIT001.geometry,material:s["Fanuc_WhitePlastic.001"]}),o.jsx("mesh",{name:"J5CASING_UNIT001_1",geometry:a.J5CASING_UNIT001_1.geometry,material:s["Fanuc_Green.001"]})]})]}),o.jsxs("group",{name:"CRX10iA_L04",position:[0,-.54,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_L001",geometry:a.NAME_LABEL_CRX_10iA_L001.geometry,material:s["Fanuc_WhitePlastic.001"]}),o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_L001_1",geometry:a.NAME_LABEL_CRX_10iA_L001_1.geometry,material:s["Fanuc_RedPlastic.001"]}),o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_L001_2",geometry:a.NAME_LABEL_CRX_10iA_L001_2.geometry,material:s["Fanuc_BlackPlastic.001"]})]})]}),o.jsxs("group",{name:"CRX10iA_L03",rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"J3CASING_UNIT001",geometry:a.J3CASING_UNIT001.geometry,material:s["Fanuc_WhitePlastic.001"]}),o.jsx("mesh",{name:"J3CASING_UNIT001_1",geometry:a.J3CASING_UNIT001_1.geometry,material:s["Fanuc_Green.001"]})]})]}),o.jsx("mesh",{name:"CRX10iA_L02",geometry:a.CRX10iA_L02.geometry,material:s["Fanuc_WhitePlastic.001"],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"CRX10iA_L01",position:[0,.128,0],children:[o.jsx("mesh",{name:"J2BASE_UNIT001",geometry:a.J2BASE_UNIT001.geometry,material:s["Fanuc_WhitePlastic.001"]}),o.jsx("mesh",{name:"J2BASE_UNIT001_1",geometry:a.J2BASE_UNIT001_1.geometry,material:s["Fanuc_Green.001"]}),o.jsx("mesh",{name:"J2BASE_UNIT001_2",geometry:a.J2BASE_UNIT001_2.geometry,material:s["Fanuc_GreenLED.001"]})]})]}),o.jsx("mesh",{name:"CRX10iA_L00",geometry:a.CRX10iA_L00.geometry,material:s["Fanuc_BlackMetal.001"]})]})})})}ju.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function ju({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Empty",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"shape002",geometry:n.shape002.geometry,material:a.fanuc_metal_black_AO}),o.jsx("mesh",{name:"shape002_1",geometry:n.shape002_1.geometry,material:a.fanuc_stainless_steel_AO})]}),o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J00",children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J01",position:[.05,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J02",position:[.33,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J03",position:[.035,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J04",position:[0,-.335,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"FANUC_LRMATE-200ID_FLG",position:[0,-.08,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.fanuc_metal_black_AO,position:[-.365,.385,0],rotation:[0,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_5",geometry:n.link_5.geometry,material:a.fanuc_yellow_AO,position:[-.365,0,-.385],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_4",position:[-.365,.05,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape010",geometry:n.shape010.geometry,material:a.fanuc_yellow_AO}),o.jsx("mesh",{name:"shape010_1",geometry:n.shape010_1.geometry,material:a.fanuc_aluminium_black_AO})]})]}),o.jsx("mesh",{name:"link_3",geometry:n.link_3.geometry,material:a.fanuc_yellow_AO,position:[-.33,0,-.05],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_2",geometry:n.link_2.geometry,material:a.fanuc_yellow_AO,position:[0,0,-.05],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_1",geometry:n.link_1.geometry,material:a.fanuc_yellow_AO})]})]})})}Su.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function Su({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Empty",children:[o.jsx("mesh",{name:"link_0",geometry:n.link_0.geometry,material:a.fanuc_metal_black}),o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J00",children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J01",rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J02",position:[.26,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J03",position:[.02,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J04",position:[0,-.29,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{name:"FANUC_LRMATE200ID4S_FLG",position:[0,-.07,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.fanuc_metal_black,position:[-.28,.29,0],rotation:[0,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_5",geometry:n.link_5.geometry,material:a.fanuc_yellow,position:[-.28,0,-.29],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_4",position:[-.28,0,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"J3ARM_UNIT",geometry:n.J3ARM_UNIT.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"J3ARM_UNIT_1",geometry:n.J3ARM_UNIT_1.geometry,material:a.fanuc_aluminium_black})]})]}),o.jsx("mesh",{name:"link_3",geometry:n.link_3.geometry,material:a.fanuc_yellow,position:[-.26,0,0],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_2",geometry:n.link_2.geometry,material:a.fanuc_yellow,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_1",geometry:n.link_1.geometry,material:a.fanuc_yellow})]})]})})}Ru.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function Ru({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:n.visuals_0.geometry,material:a.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_0_1",geometry:n.visuals_0_1.geometry,material:a.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_0_2",geometry:n.visuals_0_2.geometry,material:a.fanuc_aluminium_black})]}),o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J00",children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J01",position:[.05,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J02",position:[.44,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J03",position:[.035,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J04",position:[0,-.42,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx(b.animated.group,{ref:t,name:"FANUC_LRMATE200ID7L_FLG",position:[0,-.08,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.fanuc_metal_black,position:[-.475,.47,0],rotation:[0,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_5",position:[-.475,0,-.47],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_5",geometry:n.visuals_5.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"visuals_5_1",geometry:n.visuals_5_1.geometry,material:a.fanuc_stainless_steel}),o.jsx("mesh",{name:"visuals_5_2",geometry:n.visuals_5_2.geometry,material:a.fanuc_metal_black})]})]}),o.jsxs("group",{name:"link_4",position:[-.475,.05,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_4",geometry:n.visuals_4.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"visuals_4_1",geometry:n.visuals_4_1.geometry,material:a.fanuc_aluminium_black})]})]}),o.jsxs("group",{name:"link_3",position:[-.44,0,-.05],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_3",geometry:n.visuals_3.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"visuals_3_1",geometry:n.visuals_3_1.geometry,material:a.fanuc_stainless_steel})]})]}),o.jsx("mesh",{name:"link_2",geometry:n.link_2.geometry,material:a.fanuc_yellow,position:[0,0,-.05],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:n.visuals_1.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"visuals_1_1",geometry:n.visuals_1_1.geometry,material:a.fanuc_stainless_steel})]})]})]})})}Au.config={rotationOffsets:[0,0,-Math.PI/2,0,0,0]};function Au({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:n.visuals_0.geometry,material:a.material_Material_Metall}),o.jsx("mesh",{name:"visuals_0_1",geometry:n.visuals_0_1.geometry,material:a.material_Material_Farbe__2_}),o.jsx("mesh",{name:"visuals_0_2",geometry:n.visuals_0_2.geometry,material:a.material_Material_Metall})]}),o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J00",children:[o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J01",position:[.16,.52,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J02",position:[.98,0,0],rotation:[0,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J03",position:[.15,0,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J04",position:[0,-.86,0],rotation:[-Math.PI/2,0,0],children:[o.jsx(b.animated.group,{ref:t,name:"KUKA_KR16R2010_2_J05",rotation:[-Math.PI/2,0,-Math.PI],children:o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.material_Material_Farbe__2_,position:[.67,2,0],rotation:[-Math.PI,0,Math.PI/2]})}),o.jsx("mesh",{name:"link_5",geometry:n.link_5.geometry,material:a.material_Material_Farbe,position:[-.67,0,2],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_4",geometry:n.link_4.geometry,material:a.material_Material_Farbe,position:[-.67,1.14,0],rotation:[0,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_3",position:[-.52,0,1.14],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_3",geometry:n.visuals_3.geometry,material:a.material_Material_Farbe}),o.jsx("mesh",{name:"visuals_3_1",geometry:n.visuals_3_1.geometry,material:a.material_Material_Metall}),o.jsx("mesh",{name:"visuals_3_2",geometry:n.visuals_3_2.geometry,material:a.material_Material_Farbe__2_})]})]}),o.jsxs("group",{name:"link_2",position:[-.16,0,-.52],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:n.visuals_2.geometry,material:a.material_Material_Farbe}),o.jsx("mesh",{name:"visuals_2_1",geometry:n.visuals_2_1.geometry,material:a.material_Material_Metall})]})]}),o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:n.visuals_1.geometry,material:a.material_Material_Farbe}),o.jsx("mesh",{name:"visuals_1_1",geometry:n.visuals_1_1.geometry,material:a.material_Material_Farbe__2_}),o.jsx("mesh",{name:"visuals_1_2",geometry:n.visuals_1_2.geometry,material:a.material_Material_Metall})]})]})]})})})}wu.config={rotationOffsets:[0,0,-Math.PI/2,0,0,0]};function wu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"kuka_kr210_2700",children:[o.jsxs(b.animated.group,{name:"joint_01",children:[o.jsxs(b.animated.group,{name:"joint_02",position:[.33,.645,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_03",position:[1.15,0,0],rotation:[0,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"joint_04",position:[.115,0,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_05",position:[0,-1.22,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_06",rotation:[Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"flange",position:[0,-.215,0],rotation:[-Math.PI,0,0]}),o.jsx("group",{name:"link_6",position:[0,-.17,0],rotation:[0,0,-Math.PI/2],children:o.jsx("mesh",{name:"visuals006",geometry:a.visuals006.geometry,material:s.material_Material_Metall_black})})]}),o.jsx("group",{name:"link_5",position:[0,.059,0],rotation:[Math.PI/2,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals005",children:[o.jsx("mesh",{name:"visuals005_1",geometry:a.visuals005_1.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals005_2",geometry:a.visuals005_2.geometry,material:s.material_Material_kuka_orange})]})})]}),o.jsx("group",{name:"link_4",position:[0,-.869,0],rotation:[0,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals004",children:[o.jsx("mesh",{name:"visuals004_1",geometry:a.visuals004_1.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals004_2",geometry:a.visuals004_2.geometry,material:s.material_Material_kuka_orange})]})})]}),o.jsx("group",{name:"link_3",position:[0,-.105,0],rotation:[Math.PI/2,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals003",children:[o.jsx("mesh",{name:"visuals003_1",geometry:a.visuals003_1.geometry,material:s.material_Material_rubber}),o.jsx("mesh",{name:"visuals003_2",geometry:a.visuals003_2.geometry,material:s.material_Material_aluminium}),o.jsx("mesh",{name:"visuals003_3",geometry:a.visuals003_3.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals003_4",geometry:a.visuals003_4.geometry,material:s.material_Material_kuka_black}),o.jsx("mesh",{name:"visuals003_5",geometry:a.visuals003_5.geometry,material:s.material_Material_Rubber_black}),o.jsx("mesh",{name:"visuals003_6",geometry:a.visuals003_6.geometry,material:s.material_Material_kuka_orange}),o.jsx("mesh",{name:"visuals003_7",geometry:a.visuals003_7.geometry,material:s.material_Material_stainless_steel})]})})]}),o.jsx("group",{name:"link_2",position:[0,.009,0],rotation:[Math.PI/2,0,0],children:o.jsxs("group",{name:"visuals002",children:[o.jsx("mesh",{name:"visuals002_1",geometry:a.visuals002_1.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals002_2",geometry:a.visuals002_2.geometry,material:s.material_Material_Rubber_black}),o.jsx("mesh",{name:"visuals002_3",geometry:a.visuals002_3.geometry,material:s.material_Material_kuka_orange})]})})]}),o.jsx("group",{name:"link_1",position:[0,.236,0],children:o.jsxs("group",{name:"visuals001",children:[o.jsx("mesh",{name:"visuals001_1",geometry:a.visuals001_1.geometry,material:s.material_Material_kuka_black}),o.jsx("mesh",{name:"visuals001_2",geometry:a.visuals001_2.geometry,material:s.material_Material_kuka_orange}),o.jsx("mesh",{name:"visuals001_3",geometry:a.visuals001_3.geometry,material:s.material_Material_rubber}),o.jsx("mesh",{name:"visuals001_4",geometry:a.visuals001_4.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals001_5",geometry:a.visuals001_5.geometry,material:s.material_Material_aluminium}),o.jsx("mesh",{name:"visuals001_6",geometry:a.visuals001_6.geometry,material:s.material_Material_rubber_black}),o.jsx("mesh",{name:"visuals001_7",geometry:a.visuals001_7.geometry,material:s.material_Material_stainless_steel})]})})]}),o.jsx("group",{name:"link_0",children:o.jsxs("group",{name:"visuals",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.material_Material_kuka_black}),o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.material_Material_metal_black})]})})]})})})})}Pu.config={rotationOffsets:[0,0,-Math.PI/2,0,0,0]};function Pu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"joint_01",children:[o.jsxs(b.animated.group,{name:"joint_02",position:[.35,.675,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_03",position:[1.15,0,0],rotation:[0,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"joint_04",position:[-.041,0,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_05",position:[0,-1.2,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_06",rotation:[Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"flange",position:[0,-.24,0],rotation:[-Math.PI,0,0]}),o.jsx("group",{name:"link_6",position:[0,-.213,0],rotation:[0,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals006",children:[o.jsx("mesh",{name:"visuals006_1",geometry:a.visuals006_1.geometry,material:s.material_Material_Farbe__1_}),o.jsx("mesh",{name:"visuals006_2",geometry:a.visuals006_2.geometry,material:s.material_Material_Metall})]})})]}),o.jsx("group",{name:"link_5",position:[0,.044,0],rotation:[Math.PI/2,0,-Math.PI/2],children:o.jsx("mesh",{name:"visuals005",geometry:a.visuals005.geometry,material:s.material_Material_Farbe})})]}),o.jsx("group",{name:"link_4",position:[0,-.954,0],rotation:[0,0,-Math.PI/2],children:o.jsx("mesh",{name:"visuals004",geometry:a.visuals004.geometry,material:s.material_Material_Farbe})})]}),o.jsx("group",{name:"link_3",position:[0,-.178,0],rotation:[Math.PI/2,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals003",children:[o.jsx("mesh",{name:"visuals003_1",geometry:a.visuals003_1.geometry,material:s.material_Material_Farbe__1_}),o.jsx("mesh",{name:"visuals003_2",geometry:a.visuals003_2.geometry,material:s.material_Material_Farbe__2_}),o.jsx("mesh",{name:"visuals003_3",geometry:a.visuals003_3.geometry,material:s.material_Material_Metall}),o.jsx("mesh",{name:"visuals003_4",geometry:a.visuals003_4.geometry,material:s.material_Material_Farbe})]})})]}),o.jsx("group",{name:"link_2",rotation:[Math.PI/2,0,0],children:o.jsxs("group",{name:"visuals002",children:[o.jsx("mesh",{name:"visuals002_1",geometry:a.visuals002_1.geometry,material:s.material_Material_Farbe}),o.jsx("mesh",{name:"visuals002_2",geometry:a.visuals002_2.geometry,material:s.material_Material_Farbe__1_}),o.jsx("mesh",{name:"visuals002_3",geometry:a.visuals002_3.geometry,material:s.material_Material_Metall}),o.jsx("mesh",{name:"visuals002_4",geometry:a.visuals002_4.geometry,material:s.material_Material_Farbe__2_})]})})]}),o.jsx("group",{name:"link_1",position:[0,.226,0],children:o.jsxs("group",{name:"visuals001",children:[o.jsx("mesh",{name:"visuals001_1",geometry:a.visuals001_1.geometry,material:s.material_Material_Metall}),o.jsx("mesh",{name:"visuals001_2",geometry:a.visuals001_2.geometry,material:s.material_Material_Farbe__1_}),o.jsx("mesh",{name:"visuals001_3",geometry:a.visuals001_3.geometry,material:s.material_Material_Farbe__2_}),o.jsx("mesh",{name:"visuals001_4",geometry:a.visuals001_4.geometry,material:s.material_Material_Farbe})]})})]}),o.jsx("group",{name:"link_0-base",children:o.jsxs("group",{name:"visuals",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.material_Material_Metall}),o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.material_Material_Farbe__1_})]})})]})})})}Cu.config={rotationOffsets:[0,0,-Math.PI/2,0,0,0],rotationSign:[-1,1,1,1,1,1]};function Cu({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:n.visuals_0.geometry,material:a.kuka_metal}),o.jsx("mesh",{name:"visuals_0_1",geometry:n.visuals_0_1.geometry,material:a.kuka_black})]}),o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J00",children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J01",position:[.025,.4,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J02",position:[.335,0,0],rotation:[0,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J03",position:[.025,0,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J04",position:[0,-.365,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J05",rotation:[-Math.PI/2,0,-Math.PI],children:[o.jsx("group",{ref:t,name:"KUKA_KR6R700-2_FLG",position:[0,-.09,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.kuka_black,position:[.425,.725,0],rotation:[-Math.PI,0,Math.PI/2]})]}),o.jsx("mesh",{name:"link_5",geometry:n.link_5.geometry,material:a.kuka_white,position:[-.425,0,.725],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_4",position:[-.425,.36,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_4",geometry:n.visuals_4.geometry,material:a.kuka_white}),o.jsx("mesh",{name:"visuals_4_1",geometry:n.visuals_4_1.geometry,material:a.kuka_orange})]})]}),o.jsx("mesh",{name:"link_3",geometry:n.link_3.geometry,material:a.kuka_white,position:[-.4,0,.36],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_2",position:[-.025,0,-.4],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:n.visuals_2.geometry,material:a.kuka_white}),o.jsx("mesh",{name:"visuals_2_1",geometry:n.visuals_2_1.geometry,material:a.kuka_orange})]})]}),o.jsx("mesh",{name:"link_1",geometry:n.link_1.geometry,material:a.kuka_white})]})]})})}function U1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J00",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:a.visuals_0.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_0_1",geometry:a.visuals_0_1.geometry,material:s.universalrobots_aluminum})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J01",position:[0,.127,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_1",position:[0,0,.127],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_1_2",geometry:a.visuals_1_2.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_1_3",geometry:a.visuals_1_3.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_1_4",geometry:a.visuals_1_4.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_1_5",geometry:a.visuals_1_5.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J02",position:[-.612,0,0],children:[o.jsxs("group",{name:"link_2",position:[.612,0,.127],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_2_1",geometry:a.visuals_2_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_2_2",geometry:a.visuals_2_2.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_2_3",geometry:a.visuals_2_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_2_4",geometry:a.visuals_2_4.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_2_5",geometry:a.visuals_2_5.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J03",position:[-.572,0,0],children:[o.jsxs("group",{name:"link_3",position:[1.184,0,.127],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_3_2",geometry:a.visuals_3_2.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_3_3",geometry:a.visuals_3_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_3_4",geometry:a.visuals_3_4.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J04",position:[0,.164,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_4",position:[1.184,.127,.164],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_4_3",geometry:a.visuals_4_3.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_4_4",geometry:a.visuals_4_4.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J05",position:[0,.116,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_5",position:[1.184,-.164,.012],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_5_2",geometry:a.visuals_5_2.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_5_3",geometry:a.visuals_5_3.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_5_4",geometry:a.visuals_5_4.geometry,material:s.universalrobots_lightblue})]}),o.jsx("group",{ref:t,name:"UNIVERSALROBOTS_UR10CB_FLG",position:[0,.116,0],rotation:[-Math.PI/2,0,0],children:o.jsxs("group",{name:"link_6",position:[1.184,-.012,-.28],children:[o.jsx("mesh",{name:"visuals_6",geometry:a.visuals_6.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_6_1",geometry:a.visuals_6_1.geometry,material:s.universalrobots_aluminum})]})})]})]})]})]})]})]})})})}function B1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"UR10e",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J02",position:[0,.181,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J03",position:[-.613,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J04",position:[-.572,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J05",position:[0,.174,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J06",position:[0,.12,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{ref:t,name:"UR10e_FLG",position:[1.184,-.174,.061],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000493",geometry:a["C-1000493"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000493_1",geometry:a["C-1000493_1"].geometry,material:s.Metal})]}),o.jsx("group",{name:"UR10e_L07",position:[0,.117,0]})]}),o.jsxs("group",{name:"UR10e_L06",position:[1.184,.181,.174],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"C-1000492",geometry:a["C-1000492"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000492_1",geometry:a["C-1000492_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000492_2",geometry:a["C-1000492_2"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000492_3",geometry:a["C-1000492_3"].geometry,material:s.Screw})]})]}),o.jsxs("group",{name:"UR10e_L05",position:[1.184,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000491",geometry:a["C-1000491"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000491_1",geometry:a["C-1000491_1"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000491_2",geometry:a["C-1000491_2"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000491_3",geometry:a["C-1000491_3"].geometry,material:s.Screw})]})]}),o.jsxs("group",{name:"UR10e_L04",position:[.613,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000490",geometry:a["C-1000490"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000490_1",geometry:a["C-1000490_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000490_2",geometry:a["C-1000490_2"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000490_3",geometry:a["C-1000490_3"].geometry,material:s.Blue})]})]}),o.jsxs(b.animated.group,{name:"UR10e_L03",position:[0,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000489",geometry:a["C-1000489"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000489_1",geometry:a["C-1000489_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000489_2",geometry:a["C-1000489_2"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000489_3",geometry:a["C-1000489_3"].geometry,material:s.Screw}),o.jsx("mesh",{name:"C-1000489_4",geometry:a["C-1000489_4"].geometry,material:s.Metal})]})]}),o.jsxs("group",{name:"UR10e_L02",children:[o.jsx("mesh",{name:"C-1000488",geometry:a["C-1000488"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000488_1",geometry:a["C-1000488_1"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000488_2",geometry:a["C-1000488_2"].geometry,material:s.Screw}),o.jsx("mesh",{name:"C-1000488_3",geometry:a["C-1000488_3"].geometry,material:s.DarkGray})]})]}),o.jsxs("group",{name:"UR10e_L01",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000487",geometry:a["C-1000487"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000487_1",geometry:a["C-1000487_1"].geometry,material:s.Metal})]})]})})})})}function J1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"UR3",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J02",position:[0,.152,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J03",position:[-.244,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J04",position:[-.213,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J05",position:[0,.112,0],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"UR3_05",geometry:a.UR3_05.geometry,material:s.Standard}),o.jsxs(b.animated.group,{name:"UR3_J06",position:[0,.085,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"UR3_FLG",position:[0,.082,0]}),o.jsx("mesh",{name:"UR3_L06",geometry:a.UR3_L06.geometry,material:s.Standard})]})]}),o.jsx("mesh",{name:"UR3_L04",geometry:a.UR3_L04.geometry,material:s.Standard})]}),o.jsx("mesh",{name:"UR3_L03",geometry:a.UR3_L03.geometry,material:s.Standard})]}),o.jsx("mesh",{name:"UR3_L02",geometry:a.UR3_L02.geometry,material:s.Standard})]}),o.jsx("mesh",{name:"UR3_L01",geometry:a.UR3_L01.geometry,material:s.Standard})]}),o.jsx("mesh",{name:"UR3_L00",geometry:a.UR3_L00.geometry,material:s.Standard,rotation:[-Math.PI/2,0,0]})]})})})})}function V1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Empty",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:a.visuals_0.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_0_1",geometry:a.visuals_0_1.geometry,material:s.universalrobots_aluminum})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J00",children:[o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_1_2",geometry:a.visuals_1_2.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_1_3",geometry:a.visuals_1_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_1_4",geometry:a.visuals_1_4.geometry,material:s.universalrobots_stainlesssteel})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J01",position:[0,.152,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_2",position:[0,0,.152],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_2_1",geometry:a.visuals_2_1.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_2_2",geometry:a.visuals_2_2.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_2_3",geometry:a.visuals_2_3.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J02",position:[-.244,0,0],children:[o.jsxs("group",{name:"link_3",position:[.244,0,.152],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_3_2",geometry:a.visuals_3_2.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_3_3",geometry:a.visuals_3_3.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J03",position:[-.213,0,0],children:[o.jsxs("group",{name:"link_4",position:[.457,0,.152],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J04",position:[0,.131,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_5",position:[.457,.152,.131],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_5_2",geometry:a.visuals_5_2.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J05",position:[0,.085,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_6",position:[.457,-.131,.067],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_6",geometry:a.visuals_6.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_6_1",geometry:a.visuals_6_1.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_6_2",geometry:a.visuals_6_2.geometry,material:s.universalrobots_aluminum})]}),o.jsx("group",{ref:t,name:"UNIVERSALROBOTS_UR3E_FLG",position:[0,.092,0]})]})]})]})]})]})]})]})})}function Si({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J00",children:[o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_1_2",geometry:a.visuals_1_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_1_3",geometry:a.visuals_1_3.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J01",position:[0,.089,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_2",position:[0,0,.089],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_2_1",geometry:a.visuals_2_1.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_2_2",geometry:a.visuals_2_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_2_3",geometry:a.visuals_2_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_2_4",geometry:a.visuals_2_4.geometry,material:s.universalrobots_darkgrey})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J02",position:[-.425,0,0],children:[o.jsxs("group",{name:"link_3",position:[.425,0,.089],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_3_2",geometry:a.visuals_3_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_3_3",geometry:a.visuals_3_3.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_3_4",geometry:a.visuals_3_4.geometry,material:s.universalrobots_stainlesssteel})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J03",position:[-.392,0,0],children:[o.jsxs("group",{name:"link_4",position:[.817,0,.089],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_4_3",geometry:a.visuals_4_3.geometry,material:s.universalrobots_black})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J04",position:[0,.109,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_5",position:[.817,.089,.109],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_5_2",geometry:a.visuals_5_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_5_3",geometry:a.visuals_5_3.geometry,material:s.universalrobots_black})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J05",position:[0,.095,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.universalrobots_stainlesssteel,position:[.817,-.109,-.005],rotation:[-Math.PI/2,0,0]}),o.jsx("group",{ref:t,name:"UNIVERSALROBOTS_UR5CB_FLG",position:[0,.082,0]})]})]})]})]})]})]}),o.jsx("mesh",{name:"link_0",geometry:a.link_0.geometry,material:s.universalrobots_aluminum})]})})}function G1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"UR5e",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J02",position:[0,.162,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J03",position:[-.425,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J04",position:[-.392,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J05",position:[0,.133,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J06",position:[0,.1,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"UR5e_FLG",position:[0,.1,0]}),o.jsx("group",{name:"UR5e_L06",position:[0,.1,0],rotation:[0,0,-Math.PI],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000255",geometry:a["C-1000255"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000255_1",geometry:a["C-1000255_1"].geometry,material:s.Metal})]})})]}),o.jsx("group",{name:"UR5e_L05",rotation:[-Math.PI/2,-Math.PI/3,0],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000253",geometry:a["C-1000253"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000253_1",geometry:a["C-1000253_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000253_2",geometry:a["C-1000253_2"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000253_3",geometry:a["C-1000253_3"].geometry,material:s.DarkGray})]})})]}),o.jsx("group",{name:"UR5e_L04",rotation:[0,-Math.PI/3,0],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000251",geometry:a["C-1000251"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000251_1",geometry:a["C-1000251_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000251_2",geometry:a["C-1000251_2"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000251_3",geometry:a["C-1000251_3"].geometry,material:s.DarkGray})]})})]}),o.jsx("group",{name:"UR5e_L03",children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000250",geometry:a["C-1000250"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000250_1",geometry:a["C-1000250_1"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000250_2",geometry:a["C-1000250_2"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000250_3",geometry:a["C-1000250_3"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000250_4",geometry:a["C-1000250_4"].geometry,material:s.Metal})]})})]}),o.jsx("group",{name:"UR5e_L02",rotation:[0,-Math.PI/2,0],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000249",geometry:a["C-1000249"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000249_1",geometry:a["C-1000249_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000249_2",geometry:a["C-1000249_2"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000249_3",geometry:a["C-1000249_3"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000249_4",geometry:a["C-1000249_4"].geometry,material:s.Metal})]})})]}),o.jsx("group",{name:"UR5e_L01",rotation:[Math.PI/2,0,0],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000248",geometry:a["C-1000248"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000248_1",geometry:a["C-1000248_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000248_2",geometry:a["C-1000248_2"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000248_3",geometry:a["C-1000248_3"].geometry,material:s.Metal})]})})]}),o.jsx("group",{name:"UR5e_L00",children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000257",geometry:a["C-1000257"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000257_1",geometry:a["C-1000257_1"].geometry,material:s.Metal})]})})]})})})})}Mu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0],rotationSign:[1,-1,1,1,1,1]};function Mu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"AR1440",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J02",position:[.155,0,0],rotation:[Math.PI/2,0,Math.PI],children:[o.jsxs(b.animated.group,{name:"AR1440_J03",position:[.614,0,0],rotation:[Math.PI,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J04",position:[.2,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J05",position:[0,-.64,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J06",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"AR1440_FLG",position:[0,-.1,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"AR1440_L06_CAD",geometry:a.AR1440_L06_CAD.geometry,material:s.metall})]}),o.jsx("mesh",{name:"AR1440_L05_CAD",geometry:a.AR1440_L05_CAD.geometry,material:s.yaskawaBlueMetall})]}),o.jsxs("group",{name:"AR1440_L04_CAD",children:[o.jsx("mesh",{name:"AR1440_L04_CAD001",geometry:a.AR1440_L04_CAD001.geometry,material:s.yaskawaBlueMetall}),o.jsx("mesh",{name:"AR1440_L04_CAD001_1",geometry:a.AR1440_L04_CAD001_1.geometry,material:s.white})]})]}),o.jsxs("group",{name:"AR1440_L03_CAD",children:[o.jsx("mesh",{name:"AR1440_L03_CAD001",geometry:a.AR1440_L03_CAD001.geometry,material:s.yaskawaBlueMetall}),o.jsx("mesh",{name:"AR1440_L03_CAD001_1",geometry:a.AR1440_L03_CAD001_1.geometry,material:s.blackMetall})]})]}),o.jsx("mesh",{name:"AR1440_L02_CAD",geometry:a.AR1440_L02_CAD.geometry,material:s.yaskawaBlueMetall})]}),o.jsxs("group",{name:"AR1440_L01_CAD",children:[o.jsx("mesh",{name:"AR1440_L01_CAD001",geometry:a.AR1440_L01_CAD001.geometry,material:s.yaskawaBlueMetall}),o.jsx("mesh",{name:"AR1440_L01_CAD001_1",geometry:a.AR1440_L01_CAD001_1.geometry,material:s.blackMetall})]})]}),o.jsx("mesh",{name:"AR1440_L00_CAD",geometry:a.AR1440_L00_CAD.geometry,material:s.yaskawaBlueMetall,position:[0,0,.45],rotation:[-Math.PI/2,0,0]})]})})})})}ku.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0],rotationSign:[1,-1,1,1,1,1]};function ku({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"AR1730_J00",children:[o.jsxs(b.animated.group,{name:"AR1730_J01",position:[.15,0,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"AR1730_J02",position:[.76,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs(b.animated.group,{name:"AR1730_J03",position:[.2,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1730_J04",position:[0,-.795,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1730_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"AR1730_FLG",position:[0,-.1,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"AR1730_L06",geometry:a.AR1730_L06.geometry,material:s.Metal,rotation:[Math.PI/2,-Math.PI/2,0]})]}),o.jsx("mesh",{name:"AR1730_L05",geometry:a.AR1730_L05.geometry,material:s.Blue,rotation:[Math.PI/2,0,Math.PI/2]})]}),o.jsxs("group",{name:"AR1730_L04",position:[0,-.302,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"_R_AXIS_SW0001002",geometry:a._R_AXIS_SW0001002.geometry,material:s.Blue}),o.jsx("mesh",{name:"_R_AXIS_SW0001002_1",geometry:a._R_AXIS_SW0001002_1.geometry,material:s.White})]})]}),o.jsxs("group",{name:"AR1730_L03",rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"_U_AXIS_SW0001002",geometry:a._U_AXIS_SW0001002.geometry,material:s.Blue}),o.jsx("mesh",{name:"_U_AXIS_SW0001002_1",geometry:a._U_AXIS_SW0001002_1.geometry,material:s.Black})]})]}),o.jsx("mesh",{name:"AR1730_L02",geometry:a.AR1730_L02.geometry,material:s.Blue,position:[0,-.157,0],rotation:[-Math.PI,-1.571,0]})]}),o.jsxs("group",{name:"AR1730_L01",position:[0,-.336,0],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"_S_AXIS_SW0001002",geometry:a._S_AXIS_SW0001002.geometry,material:s.Blue}),o.jsx("mesh",{name:"_S_AXIS_SW0001002_1",geometry:a._S_AXIS_SW0001002_1.geometry,material:s.Black})]})]}),o.jsx("mesh",{name:"AR1730_L00",geometry:a.AR1730_L00.geometry,material:s.Blue,position:[0,-.505,0],rotation:[Math.PI/2,0,-Math.PI/2]})]})})})}Iu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function Iu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"shape",geometry:a.shape.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape_1",geometry:a.shape_1.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape_2",geometry:a.shape_2.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape_3",geometry:a.shape_3.geometry,material:s.yaskawa_metalsilver})]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J00",children:[o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"shape001",geometry:a.shape001.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape001_1",geometry:a.shape001_1.geometry,material:s.yaskawa_blue})]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J01",position:[.15,0,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsx("mesh",{name:"link_2",geometry:a.link_2.geometry,material:s.yaskawa_blue,position:[0,0,.15],rotation:[Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J02",position:[.76,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs("group",{name:"link_3",position:[-.76,0,-.15],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape003",geometry:a.shape003.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape003_1",geometry:a.shape003_1.geometry,material:s.yaskawa_blue})]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J03",position:[.2,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_4",geometry:a.link_4.geometry,material:s.yaskawa_blue,position:[-.96,.15,0],rotation:[0,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J04",position:[0,-1.082,0],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_5",geometry:a.link_5.geometry,material:s.yaskawa_blue,position:[-.96,0,-1.232],rotation:[-Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.yaskawa_metalsilver,position:[-.96,1.232,0],rotation:[0,0,-Math.PI/2]}),o.jsx("group",{ref:t,name:"YASKAWA_AR2010_FLG",position:[0,-.1,0],rotation:[-Math.PI,0,0]})]})]})]})]})]})]})]})})}Tu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0],rotationSign:[1,-1,1,1,1,1]};function Tu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"AR3120_J00",children:[o.jsxs(b.animated.group,{name:"AR3120_J01",position:[.145,0,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"AR3120_J02",position:[1.15,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs(b.animated.group,{name:"AR3120_J03",position:[.25,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR3120_J04",position:[0,-1.812,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR3120_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"AR3120_FLG",position:[0,-.1,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"AR3120_L06",geometry:a.AR3120_L06.geometry,material:s["Metal.001"],rotation:[Math.PI/2,-Math.PI/2,0]})]}),o.jsx("mesh",{name:"AR3120_L05",geometry:a.AR3120_L05.geometry,material:s["Blue.001"],rotation:[Math.PI/2,0,Math.PI/2]})]}),o.jsxs("group",{name:"AR3120_L04",rotation:[Math.PI/2,-Math.PI/2,0],children:[o.jsx("mesh",{name:"R_AXIS_GP20HL001",geometry:a.R_AXIS_GP20HL001.geometry,material:s["Blue.001"]}),o.jsx("mesh",{name:"R_AXIS_GP20HL001_1",geometry:a.R_AXIS_GP20HL001_1.geometry,material:s["White.001"]})]})]}),o.jsxs("group",{name:"AR3120_L03",rotation:[Math.PI,0,-Math.PI/2],children:[o.jsx("mesh",{name:"Mesh_3001",geometry:a.Mesh_3001.geometry,material:s["Blue.001"]}),o.jsx("mesh",{name:"Mesh_3001_1",geometry:a.Mesh_3001_1.geometry,material:s["Black.001"]})]})]}),o.jsx("mesh",{name:"AR3120_L02",geometry:a.AR3120_L02.geometry,material:s["Blue.001"],position:[0,-.146,0],rotation:[Math.PI,0,0]})]}),o.jsxs("group",{name:"AR3120_L01",position:[0,-.228,0],rotation:[0,-1.571,0],children:[o.jsx("mesh",{name:"S_AXIS_GP20HL001",geometry:a.S_AXIS_GP20HL001.geometry,material:s["Blue.001"]}),o.jsx("mesh",{name:"S_AXIS_GP20HL001_1",geometry:a.S_AXIS_GP20HL001_1.geometry,material:s["Black.001"]})]})]}),o.jsx("mesh",{name:"AR3120_L00",geometry:a.AR3120_L00.geometry,material:s["Blue.001"],position:[0,-.54,0]})]})})})}gs.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function gs({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals",geometry:a.visuals.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.yaskawa_metalsilver})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J00",children:[o.jsx("mesh",{name:"link_1",geometry:a.link_1.geometry,material:s.yaskawa_blue}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J01",position:[.04,0,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsx("mesh",{name:"link_2",geometry:a.link_2.geometry,material:s.yaskawa_blue,position:[0,0,.04],rotation:[Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J02",position:[.445,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs("group",{name:"link_3",position:[-.445,0,-.04],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals003",geometry:a.visuals003.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"visuals003_1",geometry:a.visuals003_1.geometry,material:s.material_Material_Metall__1_}),o.jsx("mesh",{name:"visuals003_2",geometry:a.visuals003_2.geometry,material:s.yaskawa_black})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J03",position:[.04,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_4",position:[-.485,.04,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals004",geometry:a.visuals004.geometry,material:s.yaskawa_white}),o.jsx("mesh",{name:"visuals004_1",geometry:a.visuals004_1.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"visuals004_2",geometry:a.visuals004_2.geometry,material:s.yaskawa_blue})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J04",position:[0,-.44,0],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_5",geometry:a.link_5.geometry,material:s.yaskawa_blue,position:[-.485,0,-.48],rotation:[-Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.yaskawa_metalgold,position:[-.485,.48,0],rotation:[0,0,-Math.PI/2]}),o.jsx("group",{ref:t,name:"YASKAWA_GP7_FLG",position:[0,-.08,0],rotation:[-Math.PI,0,0]})]})]})]})]})]})]})]})})})}Ou.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function Ou({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"shape439",geometry:a.shape439.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape439_1",geometry:a.shape439_1.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape439_2",geometry:a.shape439_2.geometry,material:s.yaskawa_black})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J00",position:[0,-.54,0],children:[o.jsxs("group",{name:"link_1",position:[0,.54,0],children:[o.jsx("mesh",{name:"shape320",geometry:a.shape320.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape320_1",geometry:a.shape320_1.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape320_2",geometry:a.shape320_2.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape320_3",geometry:a.shape320_3.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape320_4",geometry:a.shape320_4.geometry,material:s.yaskawa_white}),o.jsx("mesh",{name:"shape320_5",geometry:a.shape320_5.geometry,material:s.yaskawa_black})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J01",position:[.145,.54,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs("group",{name:"link_2",position:[0,0,.145],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape440",geometry:a.shape440.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape440_1",geometry:a.shape440_1.geometry,material:s.yaskawa_white}),o.jsx("mesh",{name:"shape440_2",geometry:a.shape440_2.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape440_3",geometry:a.shape440_3.geometry,material:s.yaskawa_black})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J02",position:[.87,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs("group",{name:"link_3",position:[-.87,0,-.145],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape341",geometry:a.shape341.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape341_1",geometry:a.shape341_1.geometry,material:s.yaskawa_white}),o.jsx("mesh",{name:"shape341_2",geometry:a.shape341_2.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape341_3",geometry:a.shape341_3.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape341_4",geometry:a.shape341_4.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape341_5",geometry:a.shape341_5.geometry,material:s.yaskawa_metalsilver})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J03",position:[.21,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_4",geometry:a.link_4.geometry,material:s.yaskawa_blue,position:[-1.08,.145,0],rotation:[0,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J04",position:[0,-1.025,0],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_5",geometry:a.link_5.geometry,material:s.yaskawa_blue,position:[-1.08,0,-1.17],rotation:[-Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.yaskawa_metalsilver,position:[-1.08,1.17,0],rotation:[0,0,-Math.PI/2]}),o.jsx("group",{ref:t,name:"YASKAWA_GP50_FLG",position:[0,-.175,0],rotation:[-Math.PI,0,0]})]})]})]})]})]})]})]})})})}const z1="(^joint_[0-9]+$)|(_J[0-9]+$)";function Eu(e){return e.children.length===0?[e]:[e,...e.children.flatMap(t=>Eu(t))]}function K1(e,t){return new RegExp(t??z1).test(e)}function Lu(e,t){return Eu(e).filter(r=>K1(r.name,t))}function Nu({rapidlyChangingMotionState:e,jointCollector:t,onRotationChanged:r,robotConfig:n,children:a}){b.Globals.assign({frameLoop:"always"});const s=Y.useRef([]),i=Y.useRef([]),{invalidate:l}=Xu.useThree();function u(_){_&&(i.current=t?t(_):Lu(_),d(),l())}function c(_){s.current=_,y.start(Object.assign({},s.current))}const m=(n==null?void 0:n.rotationSign)||[1,1,1,1,1,1],f=(n==null?void 0:n.rotationOffsets)||[0,0,0,0,0,0];function d(){const _=i.current.map((p,j)=>x[j].get());if(r)r(i.current,_);else for(const[p,j]of i.current.entries())j.rotation.y=m[p]*_[p]+f[p]}dl(()=>{const _=e.state.joint_position.joints.filter(p=>p!==void 0);requestAnimationFrame(()=>c(_))});const[x,y]=b.useSpring(()=>({...Object.assign({},e.state.joint_position.joints),onChange:()=>{d(),l()},onResolve:()=>{d()}}));return o.jsx("group",{ref:u,children:a})}const Ri="line",Ai="mesh";function Va({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new vt.Matrix4;function a(u,c){const m=new vt.Vector3,f=new vt.Quaternion,d=new vt.Vector3;n.decompose(m,f,d);const x=m.clone(),y=new vt.Matrix4().makeRotationY(u.theta+c*(u.reverse_rotation_direction?-1:1)).multiply(new vt.Matrix4().makeTranslation(0,u.d/1e3,0)).multiply(new vt.Matrix4().makeTranslation(u.a/1e3,0,0)).multiply(new vt.Matrix4().makeRotationX(u.alpha));return n.multiply(y),n.decompose(m,f,d),{a:x,b:m}}function s(u,c,m,f){if(!t)return;const d=t[u];if(!d)return;const{a:x,b:y}=a(d,f);c.geometry.setPositions([x.toArray(),y.toArray()].flat()),m.position.set(y.x,y.y,y.z)}function i(u,c){n.identity(),u.forEach((m,f)=>{s(f,m.getObjectByName(Ri),m.getObjectByName(Ai),c[f])})}function l(u){return Lu(u,"^group_[0-9]+$")}return o.jsx(o.Fragment,{children:o.jsx(Nu,{rapidlyChangingMotionState:e,jointCollector:l,onRotationChanged:i,children:o.jsxs("group",{...r,name:"Scene",children:[o.jsxs("mesh",{children:[o.jsx("sphereGeometry",{args:[.01,32,32]}),o.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),t.map((u,c)=>{const{a:m,b:f}=a(u,e.state.joint_position.joints[c]??0);return o.jsxs("group",{name:`group_${c}`,children:[o.jsx(z.Line,{name:Ri,points:[m,f],color:"white",lineWidth:5}),o.jsxs("mesh",{name:Ai,position:f,children:[o.jsx("sphereGeometry",{args:[.01,32,32]}),o.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+c)]},"group_"+c)})]})})})}const W1=console.warn;function H1(){return Y.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&W1(e)}},[]),o.jsx(o.Fragment,{})}$u.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function $u({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:a.visuals_0.geometry,material:s.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_0_1",geometry:a.visuals_0_1.geometry,material:s.fanuc_stainless_steel}),o.jsx("mesh",{name:"visuals_0_2",geometry:a.visuals_0_2.geometry,material:s.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_0_3",geometry:a.visuals_0_3.geometry,material:s.fanuc_stainless_steel}),o.jsx("mesh",{name:"visuals_0_4",geometry:a.visuals_0_4.geometry,material:s.fanuc_aluminium_black}),o.jsx("mesh",{name:"visuals_0_5",geometry:a.visuals_0_5.geometry,material:s.fanuc_aluminium_black}),o.jsx("mesh",{name:"visuals_0_6",geometry:a.visuals_0_6.geometry,material:s.fanuc_rubber})]}),o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J00",children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J01",rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J02",position:[.71,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J04",position:[0,-.54,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J05",position:[0,.15,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"FANUC_CRX10IAL_FLG",position:[0,-.16,0],rotation:[-Math.PI,0,0]}),o.jsxs("group",{name:"link_6",position:[-.71,.54,-.15],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_6",geometry:a.visuals_6.geometry,material:s.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_6_1",geometry:a.visuals_6_1.geometry,material:s.fanuc_stainless_steel}),o.jsx("mesh",{name:"visuals_6_2",geometry:a.visuals_6_2.geometry,material:s.fanuc_aluminium_black}),o.jsx("mesh",{name:"visuals_6_3",geometry:a.visuals_6_3.geometry,material:s.fanuc_aluminium_black})]})]}),o.jsxs("group",{name:"link_5",position:[-.71,0,-.54],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.fanuc_green}),o.jsx("mesh",{name:"visuals_5_2",geometry:a.visuals_5_2.geometry,material:s.fanuc_stainless_steel})]})]}),o.jsxs("group",{name:"link_4",position:[-.71,0,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_4_3",geometry:a.visuals_4_3.geometry,material:s.fanuc_red})]})]}),o.jsxs("group",{name:"link_3",position:[-.71,0,0],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.fanuc_green})]})]}),o.jsx("mesh",{name:"link_2",geometry:a.link_2.geometry,material:s.fanuc_white,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.fanuc_green}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_1_2",geometry:a.visuals_1_2.geometry,material:s.fanuc_green})]})]})]})})}function Js(e){return`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${e}.glb`}const Fu=sn(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=Js,isGhost:a=!1,flangeRef:s,...i})=>{let l=null;const u=Y.useRef(),c=Y.useCallback(d=>{d&&(u.current=d,a&&m())},[a]),m=()=>{!u.current||u.current.userData.isGhost||(u.current.traverse(d=>{if(d instanceof Me.Mesh){d.material instanceof Me.Material&&(d.material.colorWrite=!0);const x=d.clone(),y=d.clone();x.material=new Me.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:1}),x.userData.isGhost=!0,y.material=new Me.MeshStandardMaterial({color:"#D91433",opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-1}),y.userData.isGhost=!0,d.parent&&(d.parent.add(x),d.parent.add(y))}}),u.current.userData.isGhost=!0)},f=()=>{if(!u.current||!u.current.userData.isGhost)return;const d=[];u.current.traverse(x=>{var y;x instanceof Me.Mesh&&((y=x.userData)!=null&&y.isGhost?d.push(x):x.material instanceof Me.Material&&(x.material.colorWrite=!0))}),d.forEach(x=>{x.parent&&x.parent.remove(x)}),u.current.userData.isGhost=!0};switch(Y.useEffect(()=>{a?m():f()},[a]),t){case"UniversalRobots_UR3CB":l=J1;break;case"UniversalRobots_UR3e":l=V1;break;case"UniversalRobots_UR5":l=Si;break;case"UniversalRobots_UR5CB":l=Si;break;case"UniversalRobots_UR5e":l=G1;break;case"UniversalRobots_UR10CB":l=U1;break;case"UniversalRobots_UR10e":l=B1;break;case"Yaskawa_AR900":l=gs;break;case"Yaskawa_GP7":l=gs;break;case"Yaskawa_AR1440":l=Mu;break;case"Yaskawa_AR1730":l=ku;break;case"Yaskawa_AR2010":l=Iu;break;case"Yaskawa_AR3120":l=Tu;break;case"Yaskawa_GP50":l=Ou;break;case"FANUC_CRX10iA":l=yu;break;case"FANUC_CRX10iAL":l=$u;break;case"FANUC_CRX20iAL":l=bu;break;case"FANUC_CRX25iA":l=xu;break;case"FANUC_CRX25iAL":l=vu;break;case"FANUC_LR_Mate_200iD":l=ju;break;case"FANUC_LR_Mate_200iD4S":l=Su;break;case"FANUC_LR_Mate_200iD7L":l=Ru;break;case"FANUC_ARC_Mate_120iD":l=hs;break;case"FANUC_ARC_Mate_120iD35":l=hs;break;case"FANUC_ARC_Mate_100iD":l=_u;break;case"KUKA_KR210_R2700":l=wu;break;case"KUKA_KR270_R2700":l=Pu;break;case"KUKA_KR16_R2010_2":l=Au;break;case"KUKA_KR6_R700_2":l=Cu;break;case"ABB_1200_07_7":l=gu;break;case"ABB_1300_115_10":l=pu;break;default:console.warn(`Unknown robot type: ${t}`),l=null}return o.jsxs(Zu.ErrorBoundary,{fallback:o.jsx(Va,{rapidlyChangingMotionState:e,dhParameters:r,...i}),children:[o.jsx(Y.Suspense,{fallback:o.jsx(Va,{rapidlyChangingMotionState:e,dhParameters:r,...i}),children:o.jsx("group",{ref:c,children:l?o.jsx(Nu,{rapidlyChangingMotionState:e,robotConfig:l.config,children:o.jsx(l,{modelURL:n(t),flangeRef:s,...i})}):o.jsx(Va,{rapidlyChangingMotionState:e,dhParameters:r})})}),o.jsx(H1,{})]})});function X1({connectedMotionGroup:e,getModel:t=Js,isGhost:r=!1,flangeRef:n,...a}){return e.dhParameters?o.jsx(Fu,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:e.modelFromController||"",dhParameters:e.dhParameters,getModel:t,isGhost:r,flangeRef:n,...a}):null}const q1=T.styled(T.Fab,{shouldForwardProp:e=>e!=="selected"})(({theme:e})=>{var t,r,n;return{borderRadius:"20px","&:hover":{background:(t=e.palette.backgroundPaperElevation)==null?void 0:t[7]},variants:[{props:({selected:a})=>!a,style:{background:(r=e.palette.backgroundPaperElevation)==null?void 0:r[0],color:e.palette.action.disabled,"> img":{opacity:.4}}},{props:({selected:a})=>a,style:{background:(n=e.palette.backgroundPaperElevation)==null?void 0:n[11],border:`1px solid ${e.palette.divider}`,color:e.palette.primary.contrastText}}]}}),Y1=Y.forwardRef((e,t)=>o.jsx(q1,{ref:t,selected:e.selected,...e,color:"secondary",variant:"circular"})),Z1={$schema:"https://raw.githubusercontent.com/martinring/tmlanguage/master/tmlanguage.json",name:"wandelscript",patterns:[{include:"#keywords"},{include:"#strings"},{include:"#comments"},{include:"#functions"}],repository:{keywords:{patterns:[{name:"keyword.control.flow.wandelscript",match:"\\b(move|via|to|interrupt|def|False|True|for|if|else|elif|while|return|switch|activate|deactivate|print)\\b"}]},strings:{name:"string.quoted.double.wandelscript",begin:'"',end:'"',patterns:[{name:"constant.character.escape.wandelscript",match:"\\\\."}]},comments:{patterns:[{begin:"#",beginCaptures:{0:{name:"punctuation.definition.comment.wandelscript"}},end:"$",name:"comment.line.number-sign.wandelscript"}]},functions:{patterns:[{match:"[a-zA-Z_-]+\\(",name:"entity.name.function.wandelscript"}]}},scopeName:"source.wandelscript"},Q1=Y.lazy(()=>import("@monaco-editor/react")),eb=sn(e=>{const t=T.useTheme(),r=Y.useRef(null),[n,a]=Y.useState("dark-plus"),s=t.palette.mode==="dark"?"dark-plus":"light-plus";async function i(l){const[{createHighlighter:u},{shikiToMonaco:c}]=await Promise.all([import("shiki"),import("@shikijs/monaco")]);l.languages.register({id:"wandelscript"}),l.languages.setLanguageConfiguration("wandelscript",{comments:{lineComment:"#"},brackets:[["(",")"],["[","]"]],autoClosingPairs:[{open:"[",close:"]"},{open:"(",close:")"}],surroundingPairs:[{open:"[",close:"]"},{open:"(",close:")"}]}),r.current||(r.current=await u({langs:[Z1],themes:["dark-plus","light-plus"]})),c(r.current,l),l.editor.defineTheme(s,{base:t.palette.mode==="dark"?"vs-dark":"vs",inherit:!0,rules:[],colors:t.palette.mode==="dark"?{"editor.background":"#262F42","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#494949"}:{}}),e.monacoSetup&&e.monacoSetup(l),a(s)}return o.jsx(Y.Suspense,{fallback:o.jsx(ha,{}),children:o.jsx(Q1,{value:e.code,onMount:(l,u)=>{i(u)},onChange:e.onChange,defaultLanguage:"wandelscript",theme:n,options:{minimap:{enabled:!1},wordWrap:"on",automaticLayout:!0,...e.monacoOptions}})})});function Du(){var t,r,n,a,s,i;const e=T.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(n=(r=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:r.tonal)==null?void 0:n.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${e.palette.divider}`}}]},MuiDivider:{styleOverrides:{root:{border:"1px solid"}}},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(a=e.palette.backgroundPaperElevation)==null?void 0:a[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiFab:{styleOverrides:{root:{background:(i=(s=e.paletteExt)==null?void 0:s.secondary)==null?void 0:i.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:"rgba(241, 77, 66, 1)",color:"rgba(255, 255, 255, 1)"},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:"rgba(28, 188, 135, 1)",color:"rgba(255, 255, 255, 1)"},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:"rgba(2, 136, 209, 1)",color:"rgba(255, 255, 255, 1)"}}}}}}function tb(){const e=Du();return e.palette.mode="light",e}function rb(e){var r,n,a,s;let t=!0;return((r=e.palette)==null?void 0:r.mode)==="light"?t=!1:((n=e.palette)==null?void 0:n.mode)!=="dark"&&(t=!(typeof window<"u"&&((s=(a=window.matchMedia)==null?void 0:a.call(window,"(prefers-color-scheme: light)"))==null?void 0:s.matches))),t?Du():tb()}exports.JoggingCartesianAxisControl=es;exports.JoggingJointRotationControl=yl;exports.JoggingPanel=L1;exports.LoadingCover=ha;exports.LoadingErrorMessage=Gl;exports.NoMotionGroupModal=F1;exports.PresetEnvironment=tc;exports.Robot=X1;exports.SafetyZonesRenderer=ac;exports.SelectableFab=Y1;exports.SupportedRobot=Fu;exports.VelocitySlider=iu;exports.WandelscriptEditor=eb;exports.createNovaMuiTheme=rb;exports.defaultAxisConfig=D1;exports.defaultGetModel=Js;exports.useAnimationFrame=jr;exports.useAutorun=dl;exports.useMounted=ia;exports.useReaction=ks;
+`+s):n.stack=s}catch{}}throw n}}_request(t,r){typeof t=="string"?(r=r||{},r.url=t):r=t||{},r=Ht(this.defaults,r);const{transitional:n,paramsSerializer:a,headers:s}=r;n!==void 0&&os.assertOptions(n,{silentJSONParsing:Ot.transitional(Ot.boolean),forcedJSONParsing:Ot.transitional(Ot.boolean),clarifyTimeoutError:Ot.transitional(Ot.boolean)},!1),a!=null&&(v.isFunction(a)?r.paramsSerializer={serialize:a}:os.assertOptions(a,{encode:Ot.function,serialize:Ot.function},!0)),r.method=(r.method||this.defaults.method||"get").toLowerCase();let i=s&&v.merge(s.common,s[r.method]);s&&v.forEach(["delete","get","head","post","put","patch","common"],y=>{delete s[y]}),r.headers=Fe.concat(i,s);const l=[];let u=!0;this.interceptors.request.forEach(function(_){typeof _.runWhen=="function"&&_.runWhen(r)===!1||(u=u&&_.synchronous,l.unshift(_.fulfilled,_.rejected))});const c=[];this.interceptors.response.forEach(function(_){c.push(_.fulfilled,_.rejected)});let m,f=0,d;if(!u){const y=[Ho.bind(this),void 0];for(y.unshift.apply(y,l),y.push.apply(y,c),d=y.length,m=Promise.resolve(r);f<d;)m=m.then(y[f++],y[f++]);return m}d=l.length;let x=r;for(f=0;f<d;){const y=l[f++],_=l[f++];try{x=y(x)}catch(p){_.call(this,p);break}}try{m=Ho.call(this,x)}catch(y){return Promise.reject(y)}for(f=0,d=c.length;f<d;)m=m.then(c[f++],c[f++]);return m}getUri(t){t=Ht(this.defaults,t);const r=Nl(t.baseURL,t.url);return Il(r,t.params,t.paramsSerializer)}};v.forEach(["delete","get","head","options"],function(t){Gt.prototype[t]=function(r,n){return this.request(Ht(n||{},{method:t,url:r,data:(n||{}).data}))}});v.forEach(["post","put","patch"],function(t){function r(n){return function(s,i,l){return this.request(Ht(l||{},{method:t,headers:n?{"Content-Type":"multipart/form-data"}:{},url:s,data:i}))}}Gt.prototype[t]=r(),Gt.prototype[t+"Form"]=r(!0)});let Mg=class Jl{constructor(t){if(typeof t!="function")throw new TypeError("executor must be a function.");let r;this.promise=new Promise(function(s){r=s});const n=this;this.promise.then(a=>{if(!n._listeners)return;let s=n._listeners.length;for(;s-- >0;)n._listeners[s](a);n._listeners=null}),this.promise.then=a=>{let s;const i=new Promise(l=>{n.subscribe(l),s=l}).then(a);return i.cancel=function(){n.unsubscribe(s)},i},t(function(s,i,l){n.reason||(n.reason=new Rr(s,i,l),r(n.reason))})}throwIfRequested(){if(this.reason)throw this.reason}subscribe(t){if(this.reason){t(this.reason);return}this._listeners?this._listeners.push(t):this._listeners=[t]}unsubscribe(t){if(!this._listeners)return;const r=this._listeners.indexOf(t);r!==-1&&this._listeners.splice(r,1)}static source(){let t;return{token:new Jl(function(a){t=a}),cancel:t}}};function kg(e){return function(r){return e.apply(null,r)}}function Ig(e){return v.isObject(e)&&e.isAxiosError===!0}const is={Continue:100,SwitchingProtocols:101,Processing:102,EarlyHints:103,Ok:200,Created:201,Accepted:202,NonAuthoritativeInformation:203,NoContent:204,ResetContent:205,PartialContent:206,MultiStatus:207,AlreadyReported:208,ImUsed:226,MultipleChoices:300,MovedPermanently:301,Found:302,SeeOther:303,NotModified:304,UseProxy:305,Unused:306,TemporaryRedirect:307,PermanentRedirect:308,BadRequest:400,Unauthorized:401,PaymentRequired:402,Forbidden:403,NotFound:404,MethodNotAllowed:405,NotAcceptable:406,ProxyAuthenticationRequired:407,RequestTimeout:408,Conflict:409,Gone:410,LengthRequired:411,PreconditionFailed:412,PayloadTooLarge:413,UriTooLong:414,UnsupportedMediaType:415,RangeNotSatisfiable:416,ExpectationFailed:417,ImATeapot:418,MisdirectedRequest:421,UnprocessableEntity:422,Locked:423,FailedDependency:424,TooEarly:425,UpgradeRequired:426,PreconditionRequired:428,TooManyRequests:429,RequestHeaderFieldsTooLarge:431,UnavailableForLegalReasons:451,InternalServerError:500,NotImplemented:501,BadGateway:502,ServiceUnavailable:503,GatewayTimeout:504,HttpVersionNotSupported:505,VariantAlsoNegotiates:506,InsufficientStorage:507,LoopDetected:508,NotExtended:510,NetworkAuthenticationRequired:511};Object.entries(is).forEach(([e,t])=>{is[t]=e});function Vl(e){const t=new Gt(e),r=bl(Gt.prototype.request,t);return v.extend(r,Gt.prototype,t,{allOwnKeys:!0}),v.extend(r,t,null,{allOwnKeys:!0}),r.create=function(a){return Vl(Ht(e,a))},r}const ve=Vl(ln);ve.Axios=Gt;ve.CanceledError=Rr;ve.CancelToken=Mg;ve.isCancel=El;ve.VERSION=Bl;ve.toFormData=da;ve.AxiosError=J;ve.Cancel=ve.CanceledError;ve.all=function(t){return Promise.all(t)};ve.spread=kg;ve.isAxiosError=Ig;ve.mergeConfig=Ht;ve.AxiosHeaders=Fe;ve.formToJSON=e=>Ol(v.isHTMLForm(e)?new FormData(e):e);ve.getAdapter=Ul.getAdapter;ve.HttpStatusCode=is;ve.default=ve;const{Axios:ob,AxiosError:qo,CanceledError:ib,isCancel:lb,CancelToken:ub,VERSION:cb,all:mb,Cancel:db,isAxiosError:fb,spread:hb,toFormData:gb,AxiosHeaders:pb,HttpStatusCode:_b,formToJSON:yb,getAdapter:bb,mergeConfig:xb}=ve;function Tg(e){try{return JSON.stringify(e)}catch{return}}function Og(e){var t,r,n,a;return e instanceof qo&&e.code==="ERR_NETWORK"?"Failed to connect to the server. Please check your internet connection.":e instanceof qo&&e.response?`${(t=e.response)==null?void 0:t.status} ${(r=e.response)==null?void 0:r.statusText} from ${(n=e.response)==null?void 0:n.config.url}: ${JSON.stringify((a=e.response)==null?void 0:a.data)}`:e instanceof Error?e.message:`Unexpected error: ${Tg(e)||e}`}const ha=e=>{const t=e.softTimeout||3e3,[r,n]=Y.useState(!1);return Y.useEffect(()=>{const a=setTimeout(()=>{n(!0)},t);return()=>clearTimeout(a)}),o.jsx(T.Stack,{width:"100%",height:"100%",alignItems:"center",justifyContent:"center",children:e.error?o.jsx(Gl,{loadingMessage:e.message,error:e.error}):o.jsxs(o.Fragment,{children:[o.jsx(T.CircularProgress,{sx:{marginBottom:"24px"}}),!!e.message&&o.jsx("div",{children:e.message}),o.jsx(T.Stack,{sx:{visibility:r?"visible":"hidden",marginTop:"1rem",color:"gray"},children:"This is taking longer than expected..."})]})})},Gl=e=>{const t=Og(e.error),r=e.error instanceof Error?e.error.stack:null,n=T.useTheme();return o.jsxs(T.Stack,{sx:{maxHeight:"100%",maxWidth:"min(100%, 800px)",padding:2,overflow:"auto",color:n.palette.error.main,"& pre":{whiteSpace:"pre-wrap",wordBreak:"break-word",paddingBottom:"3rem"}},children:[(e.loadingMessage?`Error while ${Kn.lowerFirst(T.capitalize(e.loadingMessage))} - `:"")+t,o.jsx("br",{}),r&&o.jsx("pre",{children:r})]})},Eg=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:19,height:10,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"#fff",fillRule:"evenodd",d:"M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0",clipRule:"evenodd"})),Lg=Y.forwardRef(Eg),Ng=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:19,height:10,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"#fff",fillRule:"evenodd",d:"M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0",clipRule:"evenodd"})),$g=Y.forwardRef(Ng),Fg=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:10,height:19,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"#fff",fillRule:"evenodd",d:"M9.522 14.811A.899.899 0 1 0 8.25 13.54L6.19 15.601V3.16L8.25 5.221A.9.9 0 0 0 9.522 3.95L5.926.354a.9.9 0 0 0-1.272 0L1.058 3.95a.9.9 0 1 0 1.271 1.271L4.391 3.16v12.442L2.329 13.54a.899.899 0 1 0-1.271 1.271l3.596 3.597a.9.9 0 0 0 1.272 0z",clipRule:"evenodd"})),Dg=Y.forwardRef(Fg),Ug=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:25,height:24,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{stroke:"#fff",strokeLinecap:"round",strokeWidth:1.5,d:"M18.5 12a6 6 0 1 0-6 6"}),$.createElement("path",{stroke:"#fff",strokeLinecap:"round",strokeLinejoin:"round",strokeWidth:1.5,d:"m16.5 11 2 2.5 2-2.5"})),Bg=Y.forwardRef(Ug),Yo=e=>o.jsx(T.Stack,{position:"absolute",left:0,top:0,width:"100%",height:"100%",alignItems:"center",justifyContent:"center",sx:{backgroundColor:"rgba(0, 0, 0, 0.6)",backdropFilter:"blur(2px)",zIndex:100,...e.sx||{}},...Kn.omit(e,"sx")}),zl=Te.observer(({store:e,children:t})=>{const{t:r}=qt.useTranslation(),n=T.useTheme();function a(){var s,i;if(e.activationState==="inactive"&&!e.activationError)return o.jsx(Yo,{sx:{borderRadius:"6px",backgroundColor:`color-mix(in srgb, ${(s=n.palette.backgroundPaperElevation)==null?void 0:s[5]}, transparent)`},children:o.jsx(T.Button,{color:"primary",variant:"contained",onClick:()=>e.activate({manual:!0}),disabled:e.isLocked,children:r("Jogging.Activate.bt")})});if(e.activationState==="loading"||e.activationError)return o.jsx(Yo,{sx:{backgroundColor:`color-mix(in srgb, ${(i=n.palette.backgroundPaperElevation)==null?void 0:i[5]}, transparent)`},children:o.jsx(ha,{message:r("Jogging.Activating.lb"),error:e.activationError})})}return o.jsxs(T.Stack,{sx:{position:"relative",padding:"6px"},children:[a(),t]})}),Kl=Y.forwardRef(({label:e,value:t},r)=>o.jsxs(o.Fragment,{children:[e&&o.jsx(T.InputLabel,{children:e}),o.jsx(T.Chip,{ref:r,sx:{fontSize:"14px",opacity:.8,marginTop:"4px !important"},value:t})]})),Jg=Te.observer(({store:e})=>{const t=Y.useRef(null);function r(){const n=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose;return n?Lt.poseToWandelscriptString(n):""}return jr(()=>{t.current&&(t.current.textContent=r())}),o.jsx(T.Stack,{alignItems:"left",spacing:2,sx:{padding:"8px 16px",paddingTop:"16px","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:o.jsx(Kl,{label:"Pose",value:r(),ref:t})})});function Vg(){this.__data__=[],this.size=0}function Wl(e,t){return e===t||e!==e&&t!==t}function ga(e,t){for(var r=e.length;r--;)if(Wl(e[r][0],t))return r;return-1}var Gg=Array.prototype,zg=Gg.splice;function Kg(e){var t=this.__data__,r=ga(t,e);if(r<0)return!1;var n=t.length-1;return r==n?t.pop():zg.call(t,r,1),--this.size,!0}function Wg(e){var t=this.__data__,r=ga(t,e);return r<0?void 0:t[r][1]}function Hg(e){return ga(this.__data__,e)>-1}function Xg(e,t){var r=this.__data__,n=ga(r,e);return n<0?(++this.size,r.push([e,t])):r[n][1]=t,this}function wt(e){var t=-1,r=e==null?0:e.length;for(this.clear();++t<r;){var n=e[t];this.set(n[0],n[1])}}wt.prototype.clear=Vg;wt.prototype.delete=Kg;wt.prototype.get=Wg;wt.prototype.has=Hg;wt.prototype.set=Xg;function qg(){this.__data__=new wt,this.size=0}function Yg(e){var t=this.__data__,r=t.delete(e);return this.size=t.size,r}function Zg(e){return this.__data__.get(e)}function Qg(e){return this.__data__.has(e)}var ep="[object AsyncFunction]",tp="[object Function]",rp="[object GeneratorFunction]",np="[object Proxy]";function Hl(e){if(!Kt(e))return!1;var t=Yt(e);return t==tp||t==rp||t==ep||t==np}var Ua=_t["__core-js_shared__"],Zo=function(){var e=/[^.]+$/.exec(Ua&&Ua.keys&&Ua.keys.IE_PROTO||"");return e?"Symbol(src)_1."+e:""}();function ap(e){return!!Zo&&Zo in e}var sp=Function.prototype,op=sp.toString;function Zt(e){if(e!=null){try{return op.call(e)}catch{}try{return e+""}catch{}}return""}var ip=/[\\^$.*+?()[\]{}|]/g,lp=/^\[object .+?Constructor\]$/,up=Function.prototype,cp=Object.prototype,mp=up.toString,dp=cp.hasOwnProperty,fp=RegExp("^"+mp.call(dp).replace(ip,"\\$&").replace(/hasOwnProperty|(function).*?(?=\\\()| for .+?(?=\\\])/g,"$1.*?")+"$");function hp(e){if(!Kt(e)||ap(e))return!1;var t=Hl(e)?fp:lp;return t.test(Zt(e))}function gp(e,t){return e==null?void 0:e[t]}function Qt(e,t){var r=gp(e,t);return hp(r)?r:void 0}var qr=Qt(_t,"Map"),Yr=Qt(Object,"create");function pp(){this.__data__=Yr?Yr(null):{},this.size=0}function _p(e){var t=this.has(e)&&delete this.__data__[e];return this.size-=t?1:0,t}var yp="__lodash_hash_undefined__",bp=Object.prototype,xp=bp.hasOwnProperty;function vp(e){var t=this.__data__;if(Yr){var r=t[e];return r===yp?void 0:r}return xp.call(t,e)?t[e]:void 0}var jp=Object.prototype,Sp=jp.hasOwnProperty;function Rp(e){var t=this.__data__;return Yr?t[e]!==void 0:Sp.call(t,e)}var Ap="__lodash_hash_undefined__";function wp(e,t){var r=this.__data__;return this.size+=this.has(e)?0:1,r[e]=Yr&&t===void 0?Ap:t,this}function Xt(e){var t=-1,r=e==null?0:e.length;for(this.clear();++t<r;){var n=e[t];this.set(n[0],n[1])}}Xt.prototype.clear=pp;Xt.prototype.delete=_p;Xt.prototype.get=vp;Xt.prototype.has=Rp;Xt.prototype.set=wp;function Pp(){this.size=0,this.__data__={hash:new Xt,map:new(qr||wt),string:new Xt}}function Cp(e){var t=typeof e;return t=="string"||t=="number"||t=="symbol"||t=="boolean"?e!=="__proto__":e===null}function pa(e,t){var r=e.__data__;return Cp(t)?r[typeof t=="string"?"string":"hash"]:r.map}function Mp(e){var t=pa(this,e).delete(e);return this.size-=t?1:0,t}function kp(e){return pa(this,e).get(e)}function Ip(e){return pa(this,e).has(e)}function Tp(e,t){var r=pa(this,e),n=r.size;return r.set(e,t),this.size+=r.size==n?0:1,this}function Pt(e){var t=-1,r=e==null?0:e.length;for(this.clear();++t<r;){var n=e[t];this.set(n[0],n[1])}}Pt.prototype.clear=Pp;Pt.prototype.delete=Mp;Pt.prototype.get=kp;Pt.prototype.has=Ip;Pt.prototype.set=Tp;var Op=200;function Ep(e,t){var r=this.__data__;if(r instanceof wt){var n=r.__data__;if(!qr||n.length<Op-1)return n.push([e,t]),this.size=++r.size,this;r=this.__data__=new Pt(n)}return r.set(e,t),this.size=r.size,this}function St(e){var t=this.__data__=new wt(e);this.size=t.size}St.prototype.clear=qg;St.prototype.delete=Yg;St.prototype.get=Zg;St.prototype.has=Qg;St.prototype.set=Ep;var Lp="__lodash_hash_undefined__";function Np(e){return this.__data__.set(e,Lp),this}function $p(e){return this.__data__.has(e)}function Gn(e){var t=-1,r=e==null?0:e.length;for(this.__data__=new Pt;++t<r;)this.add(e[t])}Gn.prototype.add=Gn.prototype.push=Np;Gn.prototype.has=$p;function Fp(e,t){for(var r=-1,n=e==null?0:e.length;++r<n;)if(t(e[r],r,e))return!0;return!1}function Dp(e,t){return e.has(t)}var Up=1,Bp=2;function Xl(e,t,r,n,a,s){var i=r&Up,l=e.length,u=t.length;if(l!=u&&!(i&&u>l))return!1;var c=s.get(e),m=s.get(t);if(c&&m)return c==t&&m==e;var f=-1,d=!0,x=r&Bp?new Gn:void 0;for(s.set(e,t),s.set(t,e);++f<l;){var y=e[f],_=t[f];if(n)var p=i?n(_,y,f,t,e,s):n(y,_,f,e,t,s);if(p!==void 0){if(p)continue;d=!1;break}if(x){if(!Fp(t,function(j,R){if(!Dp(x,R)&&(y===j||a(y,j,r,n,s)))return x.push(R)})){d=!1;break}}else if(!(y===_||a(y,_,r,n,s))){d=!1;break}}return s.delete(e),s.delete(t),d}var Qo=_t.Uint8Array;function Jp(e){var t=-1,r=Array(e.size);return e.forEach(function(n,a){r[++t]=[a,n]}),r}function Vp(e){var t=-1,r=Array(e.size);return e.forEach(function(n){r[++t]=n}),r}var Gp=1,zp=2,Kp="[object Boolean]",Wp="[object Date]",Hp="[object Error]",Xp="[object Map]",qp="[object Number]",Yp="[object RegExp]",Zp="[object Set]",Qp="[object String]",e_="[object Symbol]",t_="[object ArrayBuffer]",r_="[object DataView]",ei=Nt?Nt.prototype:void 0,Ba=ei?ei.valueOf:void 0;function n_(e,t,r,n,a,s,i){switch(r){case r_:if(e.byteLength!=t.byteLength||e.byteOffset!=t.byteOffset)return!1;e=e.buffer,t=t.buffer;case t_:return!(e.byteLength!=t.byteLength||!s(new Qo(e),new Qo(t)));case Kp:case Wp:case qp:return Wl(+e,+t);case Hp:return e.name==t.name&&e.message==t.message;case Yp:case Qp:return e==t+"";case Xp:var l=Jp;case Zp:var u=n&Gp;if(l||(l=Vp),e.size!=t.size&&!u)return!1;var c=i.get(e);if(c)return c==t;n|=zp,i.set(e,t);var m=Xl(l(e),l(t),n,a,s,i);return i.delete(e),m;case e_:if(Ba)return Ba.call(e)==Ba.call(t)}return!1}function a_(e,t){for(var r=-1,n=t.length,a=e.length;++r<n;)e[a+r]=t[r];return e}var pt=Array.isArray;function s_(e,t,r){var n=t(e);return pt(e)?n:a_(n,r(e))}function o_(e,t){for(var r=-1,n=e==null?0:e.length,a=0,s=[];++r<n;){var i=e[r];t(i,r,e)&&(s[a++]=i)}return s}function i_(){return[]}var l_=Object.prototype,u_=l_.propertyIsEnumerable,ti=Object.getOwnPropertySymbols,c_=ti?function(e){return e==null?[]:(e=Object(e),o_(ti(e),function(t){return u_.call(e,t)}))}:i_;function m_(e,t){for(var r=-1,n=Array(e);++r<e;)n[r]=t(r);return n}var d_="[object Arguments]";function ri(e){return Wt(e)&&Yt(e)==d_}var ql=Object.prototype,f_=ql.hasOwnProperty,h_=ql.propertyIsEnumerable,Yl=ri(function(){return arguments}())?ri:function(e){return Wt(e)&&f_.call(e,"callee")&&!h_.call(e,"callee")};function g_(){return!1}var Zl=typeof exports=="object"&&exports&&!exports.nodeType&&exports,ni=Zl&&typeof module=="object"&&module&&!module.nodeType&&module,p_=ni&&ni.exports===Zl,ai=p_?_t.Buffer:void 0,__=ai?ai.isBuffer:void 0,ls=__||g_,y_=9007199254740991,b_=/^(?:0|[1-9]\d*)$/;function Ql(e,t){var r=typeof e;return t=t??y_,!!t&&(r=="number"||r!="symbol"&&b_.test(e))&&e>-1&&e%1==0&&e<t}var x_=9007199254740991;function $s(e){return typeof e=="number"&&e>-1&&e%1==0&&e<=x_}var v_="[object Arguments]",j_="[object Array]",S_="[object Boolean]",R_="[object Date]",A_="[object Error]",w_="[object Function]",P_="[object Map]",C_="[object Number]",M_="[object Object]",k_="[object RegExp]",I_="[object Set]",T_="[object String]",O_="[object WeakMap]",E_="[object ArrayBuffer]",L_="[object DataView]",N_="[object Float32Array]",$_="[object Float64Array]",F_="[object Int8Array]",D_="[object Int16Array]",U_="[object Int32Array]",B_="[object Uint8Array]",J_="[object Uint8ClampedArray]",V_="[object Uint16Array]",G_="[object Uint32Array]",me={};me[N_]=me[$_]=me[F_]=me[D_]=me[U_]=me[B_]=me[J_]=me[V_]=me[G_]=!0;me[v_]=me[j_]=me[E_]=me[S_]=me[L_]=me[R_]=me[A_]=me[w_]=me[P_]=me[C_]=me[M_]=me[k_]=me[I_]=me[T_]=me[O_]=!1;function z_(e){return Wt(e)&&$s(e.length)&&!!me[Yt(e)]}function K_(e){return function(t){return e(t)}}var eu=typeof exports=="object"&&exports&&!exports.nodeType&&exports,Vr=eu&&typeof module=="object"&&module&&!module.nodeType&&module,W_=Vr&&Vr.exports===eu,Ja=W_&&pl.process,si=function(){try{var e=Vr&&Vr.require&&Vr.require("util").types;return e||Ja&&Ja.binding&&Ja.binding("util")}catch{}}(),oi=si&&si.isTypedArray,tu=oi?K_(oi):z_,H_=Object.prototype,X_=H_.hasOwnProperty;function q_(e,t){var r=pt(e),n=!r&&Yl(e),a=!r&&!n&&ls(e),s=!r&&!n&&!a&&tu(e),i=r||n||a||s,l=i?m_(e.length,String):[],u=l.length;for(var c in e)X_.call(e,c)&&!(i&&(c=="length"||a&&(c=="offset"||c=="parent")||s&&(c=="buffer"||c=="byteLength"||c=="byteOffset")||Ql(c,u)))&&l.push(c);return l}var Y_=Object.prototype;function Z_(e){var t=e&&e.constructor,r=typeof t=="function"&&t.prototype||Y_;return e===r}function Q_(e,t){return function(r){return e(t(r))}}var ey=Q_(Object.keys,Object),ty=Object.prototype,ry=ty.hasOwnProperty;function ny(e){if(!Z_(e))return ey(e);var t=[];for(var r in Object(e))ry.call(e,r)&&r!="constructor"&&t.push(r);return t}function ru(e){return e!=null&&$s(e.length)&&!Hl(e)}function Fs(e){return ru(e)?q_(e):ny(e)}function ii(e){return s_(e,Fs,c_)}var ay=1,sy=Object.prototype,oy=sy.hasOwnProperty;function iy(e,t,r,n,a,s){var i=r&ay,l=ii(e),u=l.length,c=ii(t),m=c.length;if(u!=m&&!i)return!1;for(var f=u;f--;){var d=l[f];if(!(i?d in t:oy.call(t,d)))return!1}var x=s.get(e),y=s.get(t);if(x&&y)return x==t&&y==e;var _=!0;s.set(e,t),s.set(t,e);for(var p=i;++f<u;){d=l[f];var j=e[d],R=t[d];if(n)var C=i?n(R,j,d,t,e,s):n(j,R,d,e,t,s);if(!(C===void 0?j===R||a(j,R,r,n,s):C)){_=!1;break}p||(p=d=="constructor")}if(_&&!p){var w=e.constructor,S=t.constructor;w!=S&&"constructor"in e&&"constructor"in t&&!(typeof w=="function"&&w instanceof w&&typeof S=="function"&&S instanceof S)&&(_=!1)}return s.delete(e),s.delete(t),_}var us=Qt(_t,"DataView"),cs=Qt(_t,"Promise"),ms=Qt(_t,"Set"),ds=Qt(_t,"WeakMap"),li="[object Map]",ly="[object Object]",ui="[object Promise]",ci="[object Set]",mi="[object WeakMap]",di="[object DataView]",uy=Zt(us),cy=Zt(qr),my=Zt(cs),dy=Zt(ms),fy=Zt(ds),Et=Yt;(us&&Et(new us(new ArrayBuffer(1)))!=di||qr&&Et(new qr)!=li||cs&&Et(cs.resolve())!=ui||ms&&Et(new ms)!=ci||ds&&Et(new ds)!=mi)&&(Et=function(e){var t=Yt(e),r=t==ly?e.constructor:void 0,n=r?Zt(r):"";if(n)switch(n){case uy:return di;case cy:return li;case my:return ui;case dy:return ci;case fy:return mi}return t});var hy=1,fi="[object Arguments]",hi="[object Array]",pn="[object Object]",gy=Object.prototype,gi=gy.hasOwnProperty;function py(e,t,r,n,a,s){var i=pt(e),l=pt(t),u=i?hi:Et(e),c=l?hi:Et(t);u=u==fi?pn:u,c=c==fi?pn:c;var m=u==pn,f=c==pn,d=u==c;if(d&&ls(e)){if(!ls(t))return!1;i=!0,m=!1}if(d&&!m)return s||(s=new St),i||tu(e)?Xl(e,t,r,n,a,s):n_(e,t,u,r,n,a,s);if(!(r&hy)){var x=m&&gi.call(e,"__wrapped__"),y=f&&gi.call(t,"__wrapped__");if(x||y){var _=x?e.value():e,p=y?t.value():t;return s||(s=new St),a(_,p,r,n,s)}}return d?(s||(s=new St),iy(e,t,r,n,a,s)):!1}function _a(e,t,r,n,a){return e===t?!0:e==null||t==null||!Wt(e)&&!Wt(t)?e!==e&&t!==t:py(e,t,r,n,_a,a)}function _y(e,t){return _a(e,t)}const nu=({store:e})=>{const{t}=qt.useTranslation(),[r,n]=Y.useState(e.jogger.motionStream.rapidlyChangingMotionState.state.joint_limit_reached.limit_reached),a=Y.useRef(r);jr(()=>{const i=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_limit_reached.limit_reached;_y(a.current,i)||(a.current=i,n(i))});const s=[];for(const[i,l]of r.entries())l&&s.push(i);return o.jsx(T.Typography,{color:"error",sx:{margin:"0.5rem 1rem",textAlign:"center",visibility:s.length?"visible":"hidden"},children:t("Jogging.JointLimitsReached.lb",{jointNumbers:s.map(i=>i+1).join(", ")})})},yy=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:21,height:21,fill:"none",viewBox:"0 0 23 22",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"currentColor",d:"m21.71 16.262-1.09.346.66 2.071-2.923-1.461V9.857l-6.285-3.143V2.893L13.38 4.21l.812-.806-2.674-2.69-2.706 2.687.805.812L10.93 2.91v3.803L4.643 9.857v7.36l-2.914 1.458.657-2.067-1.09-.346-1.225 3.88 3.826 1.144.346-1.09-1.836-.583 2.874-1.436 6.22 3.109 6.217-3.11 2.877 1.439-1.831.581.345 1.09 3.82-1.143zM11.5 12.646l-4.94-2.47 4.94-2.47 4.94 2.47zm.572.993 5.143-2.572v6.083l-5.143 2.572zm-6.286-2.572 5.143 2.572v6.083L5.786 17.15z"})),by=Y.forwardRef(yy),xy=({title:e,titleId:t,...r},n)=>$.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:15,height:17,fill:"none",ref:n,"aria-labelledby":t,...r},e?$.createElement("title",{id:t},e):null,$.createElement("path",{fill:"currentColor",d:"M12.9 7.667c-.133-.534-.533-1-1-1.134L10.367 6l-.4 1.267L11.5 7.8c.067 0 .133.067.133.2l1.067 4.867a.32.32 0 0 1-.133.4l-2.267 1.8c-.267.2-.333.666-.133.933s.666.333.933.133l2.267-1.8c.533-.4.733-1.133.6-1.733zM12.5 0H1.833A1.65 1.65 0 0 0 .167 1.667v1.4c0 .866.733 1.6 1.666 1.6h10.734c.866 0 1.6-.734 1.6-1.667V1.667A1.65 1.65 0 0 0 12.5 0M1.633 12.8 2.7 8c0-.067.067-.133.133-.2l1.534-.533-.4-1.2-1.534.466c-.533.2-.933.6-1 1.134L.367 12.533c-.134.667.066 1.334.6 1.734l2.266 1.8c.267.266.734.2.934-.067s.2-.733-.134-.933l-2.266-1.8c-.134-.134-.2-.267-.134-.467"})),vy=Y.forwardRef(xy),jy=Te.observer(({store:e})=>{var n;const{t}=qt.useTranslation();function r(a,s){(s==="coordsys"||s==="tool")&&e.setSelectedOrientation(s)}return o.jsxs(o.Fragment,{children:[o.jsxs(T.Stack,{direction:"row",alignItems:"center",spacing:2,sx:{padding:"6px 16px","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:[o.jsxs(T.Stack,{width:"50%",children:[o.jsx(T.InputLabel,{id:"jogging-coord-select",children:"Coordinate Sys."}),o.jsx(T.Select,{labelId:"jogging-coord-select",value:e.selectedCoordSystemId,size:"small",variant:"filled",displayEmpty:!0,onChange:a=>{e.setSelectedCoordSystemId(a.target.value)},disabled:e.isLocked,children:e.coordSystems.map(a=>o.jsx(T.MenuItem,{value:a.coordinate_system,children:a.name&&e.coordSystemCountByName[a.name]>1?`${a.name} / ${a.coordinate_system}`:a.name||a.coordinate_system},a.coordinate_system))})]}),o.jsxs(T.Stack,{width:"50%",children:[o.jsx(T.InputLabel,{id:"jogging-tcp-select",children:"TCP"}),o.jsx(T.Select,{labelId:"jogging-tcp-select",value:e.selectedTcpId,size:"small",variant:"filled",onChange:a=>{e.setSelectedTcpId(a.target.value)},disabled:e.isLocked,children:e.tcps.map(a=>o.jsx(T.MenuItem,{value:a.id,children:a.id},a.id))})]})]}),o.jsxs(T.Stack,{direction:"row",alignItems:"center",spacing:2,sx:{padding:"6px 16px","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:[o.jsxs(T.Stack,{width:"50%",children:[o.jsx(T.InputLabel,{id:"orientation-select",children:t("Jogging.Cartesian.Orientation.lb")}),o.jsxs(T.ToggleButtonGroup,{value:e.selectedOrientation,onChange:r,exclusive:!0,"aria-labelledby":"orientation-select",disabled:e.isLocked,children:[o.jsx(T.ToggleButton,{value:"coordsys",sx:{flexGrow:1},children:o.jsx(by,{})}),o.jsx(T.ToggleButton,{value:"tool",sx:{flexGrow:1},children:o.jsx(vy,{})})]})]}),o.jsxs(T.Stack,{width:"50%",children:[o.jsx(T.InputLabel,{id:"jogging-increment-select",children:"Increment"}),o.jsxs(T.Select,{labelId:"jogging-increment-select",size:"small",variant:"filled",value:((n=e.activeDiscreteIncrement)==null?void 0:n.id)||"continuous",onChange:a=>{e.setSelectedIncrementId(a.target.value)},disabled:e.isLocked,children:[o.jsx(T.MenuItem,{value:"continuous",children:t("Jogging.Increment.Continuous.dd")},"continuous"),e.selectedOrientation==="tool"?null:e.discreteIncrementOptions.map(a=>o.jsx(T.MenuItem,{value:a.id,children:e.currentMotionType==="translate"?`${a.mm}mm`:`${a.degrees}°`},a.id))]})]})]})]})});function Sy(e,t,r=(n,a)=>n===a){return e.length===t.length&&e.every((n,a)=>r(n,t[a]))}const Ry=2;function au(e,t){return e-t}function pi(e,t){var r;const{index:n}=(r=e.reduce((a,s,i)=>{const l=Math.abs(t-s);return a===null||l<a.distance||l===a.distance?{distance:l,index:i}:a},null))!=null?r:{};return n}function _n(e,t){if(t.current!==void 0&&e.changedTouches){const r=e;for(let n=0;n<r.changedTouches.length;n+=1){const a=r.changedTouches[n];if(a.identifier===t.current)return{x:a.clientX,y:a.clientY}}return!1}return{x:e.clientX,y:e.clientY}}function zn(e,t,r){return(e-t)*100/(r-t)}function Ay(e,t,r){return(r-t)*e+t}function wy(e){if(Math.abs(e)<1){const r=e.toExponential().split("e-"),n=r[0].split(".")[1];return(n?n.length:0)+parseInt(r[1],10)}const t=e.toString().split(".")[1];return t?t.length:0}function Py(e,t,r){const n=Math.round((e-r)/t)*t+r;return Number(n.toFixed(wy(t)))}function _i({values:e,newValue:t,index:r}){const n=e.slice();return n[r]=t,n.sort(au)}function yn({sliderRef:e,activeIndex:t,setActive:r}){var n,a;const s=pr(e.current);if(!((n=e.current)!=null&&n.contains(s.activeElement))||Number(s==null||(a=s.activeElement)==null?void 0:a.getAttribute("data-index"))!==t){var i;(i=e.current)==null||i.querySelector(`[type="range"][data-index="${t}"]`).focus()}r&&r(t)}function bn(e,t){return typeof e=="number"&&typeof t=="number"?e===t:typeof e=="object"&&typeof t=="object"?Sy(e,t):!1}const Cy={horizontal:{offset:e=>({left:`${e}%`}),leap:e=>({width:`${e}%`})},"horizontal-reverse":{offset:e=>({right:`${e}%`}),leap:e=>({width:`${e}%`})},vertical:{offset:e=>({bottom:`${e}%`}),leap:e=>({height:`${e}%`})}},My=e=>e;let xn;function yi(){return xn===void 0&&(typeof CSS<"u"&&typeof CSS.supports=="function"?xn=CSS.supports("touch-action","none"):xn=!0),xn}function ky(e){const{"aria-labelledby":t,defaultValue:r,disabled:n=!1,disableSwap:a=!1,isRtl:s=!1,marks:i=!1,max:l=100,min:u=0,name:c,onChange:m,onChangeCommitted:f,orientation:d="horizontal",rootRef:x,scale:y=My,step:_=1,shiftStep:p=10,tabIndex:j,value:R}=e,C=$.useRef(),[w,S]=$.useState(-1),[P,M]=$.useState(-1),[K,le]=$.useState(!1),ce=$.useRef(0),[D,q]=Qi({controlled:R,default:r??u,name:"Slider"}),G=m&&((I,L,F)=>{const W=I.nativeEvent||I,Q=new W.constructor(W.type,W);Object.defineProperty(Q,"target",{writable:!0,value:{value:L,name:c}}),m(Q,L,F)}),Z=Array.isArray(D);let X=Z?D.slice().sort(au):[D];X=X.map(I=>I==null?u:dr(I,u,l));const je=i===!0&&_!==null?[...Array(Math.floor((l-u)/_)+1)].map((I,L)=>({value:u+_*L})):i||[],ue=je.map(I=>I.value),{isFocusVisibleRef:ee,onBlur:Ae,onFocus:Oe,ref:nt}=el(),[yt,We]=$.useState(-1),Se=$.useRef(),Ct=Ln(nt,Se),lt=Ln(x,Ct),He=I=>L=>{var F;const W=Number(L.currentTarget.getAttribute("data-index"));Oe(L),ee.current===!0&&We(W),M(W),I==null||(F=I.onFocus)==null||F.call(I,L)},Be=I=>L=>{var F;Ae(L),ee.current===!1&&We(-1),M(-1),I==null||(F=I.onBlur)==null||F.call(I,L)},ut=(I,L)=>{const F=Number(I.currentTarget.getAttribute("data-index")),W=X[F],Q=ue.indexOf(W);let H=L;if(je&&_==null){const Ve=ue[ue.length-1];H>Ve?H=Ve:H<ue[0]?H=ue[0]:H=H<W?ue[Q-1]:ue[Q+1]}if(H=dr(H,u,l),Z){a&&(H=dr(H,X[F-1]||-1/0,X[F+1]||1/0));const Ve=H;H=_i({values:X,newValue:H,index:F});let Xe=F;a||(Xe=H.indexOf(Ve)),yn({sliderRef:Se,activeIndex:Xe})}q(H),We(F),G&&!bn(H,D)&&G(I,H,F),f&&f(I,H)},ct=I=>L=>{var F;if(_!==null){const W=Number(L.currentTarget.getAttribute("data-index")),Q=X[W];let H=null;(L.key==="ArrowLeft"||L.key==="ArrowDown")&&L.shiftKey||L.key==="PageDown"?H=Math.max(Q-p,u):((L.key==="ArrowRight"||L.key==="ArrowUp")&&L.shiftKey||L.key==="PageUp")&&(H=Math.min(Q+p,l)),H!==null&&(ut(L,H),L.preventDefault())}I==null||(F=I.onKeyDown)==null||F.call(I,L)};js(()=>{if(n&&Se.current.contains(document.activeElement)){var I;(I=document.activeElement)==null||I.blur()}},[n]),n&&w!==-1&&S(-1),n&&yt!==-1&&We(-1);const Ft=I=>L=>{var F;(F=I.onChange)==null||F.call(I,L),ut(L,L.target.valueAsNumber)},bt=$.useRef();let Je=d;s&&d==="horizontal"&&(Je+="-reverse");const O=({finger:I,move:L=!1})=>{const{current:F}=Se,{width:W,height:Q,bottom:H,left:Ve}=F.getBoundingClientRect();let Xe;Je.indexOf("vertical")===0?Xe=(H-I.y)/Q:Xe=(I.x-Ve)/W,Je.indexOf("-reverse")!==-1&&(Xe=1-Xe);let re;if(re=Ay(Xe,u,l),_)re=Py(re,_,u);else{const It=pi(ue,re);re=ue[It]}re=dr(re,u,l);let Ne=0;if(Z){L?Ne=bt.current:Ne=pi(X,re),a&&(re=dr(re,X[Ne-1]||-1/0,X[Ne+1]||1/0));const It=re;re=_i({values:X,newValue:re,index:Ne}),a&&L||(Ne=re.indexOf(It),bt.current=Ne)}return{newValue:re,activeIndex:Ne}},te=wn(I=>{const L=_n(I,C);if(!L)return;if(ce.current+=1,I.type==="mousemove"&&I.buttons===0){fe(I);return}const{newValue:F,activeIndex:W}=O({finger:L,move:!0});yn({sliderRef:Se,activeIndex:W,setActive:S}),q(F),!K&&ce.current>Ry&&le(!0),G&&!bn(F,D)&&G(I,F,W)}),fe=wn(I=>{const L=_n(I,C);if(le(!1),!L)return;const{newValue:F}=O({finger:L,move:!0});S(-1),I.type==="touchend"&&M(-1),f&&f(I,F),C.current=void 0,Le()}),Ee=wn(I=>{if(n)return;yi()||I.preventDefault();const L=I.changedTouches[0];L!=null&&(C.current=L.identifier);const F=_n(I,C);if(F!==!1){const{newValue:Q,activeIndex:H}=O({finger:F});yn({sliderRef:Se,activeIndex:H,setActive:S}),q(Q),G&&!bn(Q,D)&&G(I,Q,H)}ce.current=0;const W=pr(Se.current);W.addEventListener("touchmove",te,{passive:!0}),W.addEventListener("touchend",fe,{passive:!0})}),Le=$.useCallback(()=>{const I=pr(Se.current);I.removeEventListener("mousemove",te),I.removeEventListener("mouseup",fe),I.removeEventListener("touchmove",te),I.removeEventListener("touchend",fe)},[fe,te]);$.useEffect(()=>{const{current:I}=Se;return I.addEventListener("touchstart",Ee,{passive:yi()}),()=>{I.removeEventListener("touchstart",Ee),Le()}},[Le,Ee]),$.useEffect(()=>{n&&Le()},[n,Le]);const Mt=I=>L=>{var F;if((F=I.onMouseDown)==null||F.call(I,L),n||L.defaultPrevented||L.button!==0)return;L.preventDefault();const W=_n(L,C);if(W!==!1){const{newValue:H,activeIndex:Ve}=O({finger:W});yn({sliderRef:Se,activeIndex:Ve,setActive:S}),q(H),G&&!bn(H,D)&&G(L,H,Ve)}ce.current=0;const Q=pr(Se.current);Q.addEventListener("mousemove",te,{passive:!0}),Q.addEventListener("mouseup",fe)},Re=zn(Z?X[0]:u,u,l),kt=zn(X[X.length-1],u,l)-Re,Dt=(I={})=>{const L=Pn(I),F={onMouseDown:Mt(L||{})},W=k({},L,F);return k({},I,{ref:lt},W)},Ar=I=>L=>{var F;(F=I.onMouseOver)==null||F.call(I,L);const W=Number(L.currentTarget.getAttribute("data-index"));M(W)},wr=I=>L=>{var F;(F=I.onMouseLeave)==null||F.call(I,L),M(-1)};return{active:w,axis:Je,axisProps:Cy,dragging:K,focusedThumbIndex:yt,getHiddenInputProps:(I={})=>{var L;const F=Pn(I),W={onChange:Ft(F||{}),onFocus:He(F||{}),onBlur:Be(F||{}),onKeyDown:ct(F||{})},Q=k({},F,W);return k({tabIndex:j,"aria-labelledby":t,"aria-orientation":d,"aria-valuemax":y(l),"aria-valuemin":y(u),name:c,type:"range",min:e.min,max:e.max,step:e.step===null&&e.marks?"any":(L=e.step)!=null?L:void 0,disabled:n},I,Q,{style:k({},xd,{direction:s?"rtl":"ltr",width:"100%",height:"100%"})})},getRootProps:Dt,getThumbProps:(I={})=>{const L=Pn(I),F={onMouseOver:Ar(L||{}),onMouseLeave:wr(L||{})};return k({},I,L,F)},marks:je,open:P,range:Z,rootRef:lt,trackLeap:kt,trackOffset:Re,values:X,getThumbStyle:I=>({pointerEvents:w!==-1&&w!==I?"none":void 0})}}const Iy=e=>!e||!Br(e);function Ty(e){return nn("MuiSlider",e)}const Qe=Hi("MuiSlider",["root","active","colorPrimary","colorSecondary","colorError","colorInfo","colorSuccess","colorWarning","disabled","dragging","focusVisible","mark","markActive","marked","markLabel","markLabelActive","rail","sizeSmall","thumb","thumbColorPrimary","thumbColorSecondary","thumbColorError","thumbColorSuccess","thumbColorInfo","thumbColorWarning","track","trackInverted","trackFalse","thumbSizeSmall","valueLabel","valueLabelOpen","valueLabelCircle","valueLabelLabel","vertical"]),Oy=e=>{const{open:t}=e;return{offset:gt(t&&Qe.valueLabelOpen),circle:Qe.valueLabelCircle,label:Qe.valueLabelLabel}};function su(e){const{children:t,className:r,value:n}=e,a=Oy(e);return t?$.cloneElement(t,{className:gt(t.props.className)},o.jsxs($.Fragment,{children:[t.props.children,o.jsx("span",{className:gt(a.offset,r),"aria-hidden":!0,children:o.jsx("span",{className:a.circle,children:o.jsx("span",{className:a.label,children:n})})})]})):null}process.env.NODE_ENV!=="production"&&(su.propTypes={children:h.element.isRequired,className:h.string,value:h.node});const Ey=["aria-label","aria-valuetext","aria-labelledby","component","components","componentsProps","color","classes","className","disableSwap","disabled","getAriaLabel","getAriaValueText","marks","max","min","name","onChange","onChangeCommitted","orientation","shiftStep","size","step","scale","slotProps","slots","tabIndex","track","value","valueLabelDisplay","valueLabelFormat"];function bi(e){return e}const Ly=At("span",{name:"MuiSlider",slot:"Root",overridesResolver:(e,t)=>{const{ownerState:r}=e;return[t.root,t[`color${Pe(r.color)}`],r.size!=="medium"&&t[`size${Pe(r.size)}`],r.marked&&t.marked,r.orientation==="vertical"&&t.vertical,r.track==="inverted"&&t.trackInverted,r.track===!1&&t.trackFalse]}})(({theme:e})=>{var t;return{borderRadius:12,boxSizing:"content-box",display:"inline-block",position:"relative",cursor:"pointer",touchAction:"none",WebkitTapHighlightColor:"transparent","@media print":{colorAdjust:"exact"},[`&.${Qe.disabled}`]:{pointerEvents:"none",cursor:"default",color:(e.vars||e).palette.grey[400]},[`&.${Qe.dragging}`]:{[`& .${Qe.thumb}, & .${Qe.track}`]:{transition:"none"}},variants:[...Object.keys(((t=e.vars)!=null?t:e).palette).filter(r=>{var n;return((n=e.vars)!=null?n:e).palette[r].main}).map(r=>({props:{color:r},style:{color:(e.vars||e).palette[r].main}})),{props:{orientation:"horizontal"},style:{height:4,width:"100%",padding:"13px 0","@media (pointer: coarse)":{padding:"20px 0"}}},{props:{orientation:"horizontal",size:"small"},style:{height:2}},{props:{orientation:"horizontal",marked:!0},style:{marginBottom:20}},{props:{orientation:"vertical"},style:{height:"100%",width:4,padding:"0 13px","@media (pointer: coarse)":{padding:"0 20px"}}},{props:{orientation:"vertical",size:"small"},style:{width:2}},{props:{orientation:"vertical",marked:!0},style:{marginRight:44}}]}}),Ny=At("span",{name:"MuiSlider",slot:"Rail",overridesResolver:(e,t)=>t.rail})({display:"block",position:"absolute",borderRadius:"inherit",backgroundColor:"currentColor",opacity:.38,variants:[{props:{orientation:"horizontal"},style:{width:"100%",height:"inherit",top:"50%",transform:"translateY(-50%)"}},{props:{orientation:"vertical"},style:{height:"100%",width:"inherit",left:"50%",transform:"translateX(-50%)"}},{props:{track:"inverted"},style:{opacity:1}}]}),$y=At("span",{name:"MuiSlider",slot:"Track",overridesResolver:(e,t)=>t.track})(({theme:e})=>{var t;return{display:"block",position:"absolute",borderRadius:"inherit",border:"1px solid currentColor",backgroundColor:"currentColor",transition:e.transitions.create(["left","width","bottom","height"],{duration:e.transitions.duration.shortest}),variants:[{props:{size:"small"},style:{border:"none"}},{props:{orientation:"horizontal"},style:{height:"inherit",top:"50%",transform:"translateY(-50%)"}},{props:{orientation:"vertical"},style:{width:"inherit",left:"50%",transform:"translateX(-50%)"}},{props:{track:!1},style:{display:"none"}},...Object.keys(((t=e.vars)!=null?t:e).palette).filter(r=>{var n;return((n=e.vars)!=null?n:e).palette[r].main}).map(r=>({props:{color:r,track:"inverted"},style:k({},e.vars?{backgroundColor:e.vars.palette.Slider[`${r}Track`],borderColor:e.vars.palette.Slider[`${r}Track`]}:k({backgroundColor:Za(e.palette[r].main,.62),borderColor:Za(e.palette[r].main,.62)},e.applyStyles("dark",{backgroundColor:Ya(e.palette[r].main,.5)}),e.applyStyles("dark",{borderColor:Ya(e.palette[r].main,.5)})))}))]}}),Fy=At("span",{name:"MuiSlider",slot:"Thumb",overridesResolver:(e,t)=>{const{ownerState:r}=e;return[t.thumb,t[`thumbColor${Pe(r.color)}`],r.size!=="medium"&&t[`thumbSize${Pe(r.size)}`]]}})(({theme:e})=>{var t;return{position:"absolute",width:20,height:20,boxSizing:"border-box",borderRadius:"50%",outline:0,backgroundColor:"currentColor",display:"flex",alignItems:"center",justifyContent:"center",transition:e.transitions.create(["box-shadow","left","bottom"],{duration:e.transitions.duration.shortest}),"&::before":{position:"absolute",content:'""',borderRadius:"inherit",width:"100%",height:"100%",boxShadow:(e.vars||e).shadows[2]},"&::after":{position:"absolute",content:'""',borderRadius:"50%",width:42,height:42,top:"50%",left:"50%",transform:"translate(-50%, -50%)"},[`&.${Qe.disabled}`]:{"&:hover":{boxShadow:"none"}},variants:[{props:{size:"small"},style:{width:12,height:12,"&::before":{boxShadow:"none"}}},{props:{orientation:"horizontal"},style:{top:"50%",transform:"translate(-50%, -50%)"}},{props:{orientation:"vertical"},style:{left:"50%",transform:"translate(-50%, 50%)"}},...Object.keys(((t=e.vars)!=null?t:e).palette).filter(r=>{var n;return((n=e.vars)!=null?n:e).palette[r].main}).map(r=>({props:{color:r},style:{[`&:hover, &.${Qe.focusVisible}`]:k({},e.vars?{boxShadow:`0px 0px 0px 8px rgba(${e.vars.palette[r].mainChannel} / 0.16)`}:{boxShadow:`0px 0px 0px 8px ${fo(e.palette[r].main,.16)}`},{"@media (hover: none)":{boxShadow:"none"}}),[`&.${Qe.active}`]:k({},e.vars?{boxShadow:`0px 0px 0px 14px rgba(${e.vars.palette[r].mainChannel} / 0.16)`}:{boxShadow:`0px 0px 0px 14px ${fo(e.palette[r].main,.16)}`})}}))]}}),Dy=At(su,{name:"MuiSlider",slot:"ValueLabel",overridesResolver:(e,t)=>t.valueLabel})(({theme:e})=>k({zIndex:1,whiteSpace:"nowrap"},e.typography.body2,{fontWeight:500,transition:e.transitions.create(["transform"],{duration:e.transitions.duration.shortest}),position:"absolute",backgroundColor:(e.vars||e).palette.grey[600],borderRadius:2,color:(e.vars||e).palette.common.white,display:"flex",alignItems:"center",justifyContent:"center",padding:"0.25rem 0.75rem",variants:[{props:{orientation:"horizontal"},style:{transform:"translateY(-100%) scale(0)",top:"-10px",transformOrigin:"bottom center","&::before":{position:"absolute",content:'""',width:8,height:8,transform:"translate(-50%, 50%) rotate(45deg)",backgroundColor:"inherit",bottom:0,left:"50%"},[`&.${Qe.valueLabelOpen}`]:{transform:"translateY(-100%) scale(1)"}}},{props:{orientation:"vertical"},style:{transform:"translateY(-50%) scale(0)",right:"30px",top:"50%",transformOrigin:"right center","&::before":{position:"absolute",content:'""',width:8,height:8,transform:"translate(-50%, -50%) rotate(45deg)",backgroundColor:"inherit",right:-8,top:"50%"},[`&.${Qe.valueLabelOpen}`]:{transform:"translateY(-50%) scale(1)"}}},{props:{size:"small"},style:{fontSize:e.typography.pxToRem(12),padding:"0.25rem 0.5rem"}},{props:{orientation:"vertical",size:"small"},style:{right:"20px"}}]})),Uy=At("span",{name:"MuiSlider",slot:"Mark",shouldForwardProp:e=>Cs(e)&&e!=="markActive",overridesResolver:(e,t)=>{const{markActive:r}=e;return[t.mark,r&&t.markActive]}})(({theme:e})=>({position:"absolute",width:2,height:2,borderRadius:1,backgroundColor:"currentColor",variants:[{props:{orientation:"horizontal"},style:{top:"50%",transform:"translate(-1px, -50%)"}},{props:{orientation:"vertical"},style:{left:"50%",transform:"translate(-50%, 1px)"}},{props:{markActive:!0},style:{backgroundColor:(e.vars||e).palette.background.paper,opacity:.8}}]})),By=At("span",{name:"MuiSlider",slot:"MarkLabel",shouldForwardProp:e=>Cs(e)&&e!=="markLabelActive",overridesResolver:(e,t)=>t.markLabel})(({theme:e})=>k({},e.typography.body2,{color:(e.vars||e).palette.text.secondary,position:"absolute",whiteSpace:"nowrap",variants:[{props:{orientation:"horizontal"},style:{top:30,transform:"translateX(-50%)","@media (pointer: coarse)":{top:40}}},{props:{orientation:"vertical"},style:{left:36,transform:"translateY(50%)","@media (pointer: coarse)":{left:44}}},{props:{markLabelActive:!0},style:{color:(e.vars||e).palette.text.primary}}]})),Jy=e=>{const{disabled:t,dragging:r,marked:n,orientation:a,track:s,classes:i,color:l,size:u}=e,c={root:["root",t&&"disabled",r&&"dragging",n&&"marked",a==="vertical"&&"vertical",s==="inverted"&&"trackInverted",s===!1&&"trackFalse",l&&`color${Pe(l)}`,u&&`size${Pe(u)}`],rail:["rail"],track:["track"],mark:["mark"],markActive:["markActive"],markLabel:["markLabel"],markLabelActive:["markLabelActive"],valueLabel:["valueLabel"],thumb:["thumb",t&&"disabled",u&&`thumbSize${Pe(u)}`,l&&`thumbColor${Pe(l)}`],active:["active"],disabled:["disabled"],focusVisible:["focusVisible"]};return Rs(c,Ty,i)},Vy=({children:e})=>e,ou=$.forwardRef(function(t,r){var n,a,s,i,l,u,c,m,f,d,x,y,_,p,j,R,C,w,S,P,M,K,le,ce;const D=Ms({props:t,name:"MuiSlider"}),q=wd(),{"aria-label":G,"aria-valuetext":Z,"aria-labelledby":X,component:je="span",components:ue={},componentsProps:ee={},color:Ae="primary",classes:Oe,className:nt,disableSwap:yt=!1,disabled:We=!1,getAriaLabel:Se,getAriaValueText:Ct,marks:lt=!1,max:He=100,min:Be=0,orientation:ut="horizontal",shiftStep:ct=10,size:Ft="medium",step:bt=1,scale:Je=bi,slotProps:O,slots:te,track:fe="normal",valueLabelDisplay:Ee="off",valueLabelFormat:Le=bi}=D,Mt=Ue(D,Ey),Re=k({},D,{isRtl:q,max:He,min:Be,classes:Oe,disabled:We,disableSwap:yt,orientation:ut,marks:lt,color:Ae,size:Ft,step:bt,shiftStep:ct,scale:Je,track:fe,valueLabelDisplay:Ee,valueLabelFormat:Le}),{axisProps:kt,getRootProps:Dt,getHiddenInputProps:Ar,getThumbProps:wr,open:Pr,active:er,axis:at,focusedThumbIndex:I,range:L,dragging:F,marks:W,values:Q,trackOffset:H,trackLeap:Ve,getThumbStyle:Xe}=ky(k({},Re,{rootRef:r}));Re.marked=W.length>0&&W.some(N=>N.label),Re.dragging=F,Re.focusedThumbIndex=I;const re=Jy(Re),Ne=(n=(a=te==null?void 0:te.root)!=null?a:ue.Root)!=null?n:Ly,It=(s=(i=te==null?void 0:te.rail)!=null?i:ue.Rail)!=null?s:Ny,tr=(l=(u=te==null?void 0:te.track)!=null?u:ue.Track)!=null?l:$y,Cr=(c=(m=te==null?void 0:te.thumb)!=null?m:ue.Thumb)!=null?c:Fy,xt=(f=(d=te==null?void 0:te.valueLabel)!=null?d:ue.ValueLabel)!=null?f:Dy,Ut=(x=(y=te==null?void 0:te.mark)!=null?y:ue.Mark)!=null?x:Uy,Bt=(_=(p=te==null?void 0:te.markLabel)!=null?p:ue.MarkLabel)!=null?_:By,Mr=(j=(R=te==null?void 0:te.input)!=null?R:ue.Input)!=null?j:"input",kr=(C=O==null?void 0:O.root)!=null?C:ee.root,un=(w=O==null?void 0:O.rail)!=null?w:ee.rail,Ir=(S=O==null?void 0:O.track)!=null?S:ee.track,rr=(P=O==null?void 0:O.thumb)!=null?P:ee.thumb,nr=(M=O==null?void 0:O.valueLabel)!=null?M:ee.valueLabel,ba=(K=O==null?void 0:O.mark)!=null?K:ee.mark,xa=(le=O==null?void 0:O.markLabel)!=null?le:ee.markLabel,cn=(ce=O==null?void 0:O.input)!=null?ce:ee.input,mn=Tt({elementType:Ne,getSlotProps:Dt,externalSlotProps:kr,externalForwardedProps:Mt,additionalProps:k({},Iy(Ne)&&{as:je}),ownerState:k({},Re,kr==null?void 0:kr.ownerState),className:[re.root,nt]}),va=Tt({elementType:It,externalSlotProps:un,ownerState:Re,className:re.rail}),ja=Tt({elementType:tr,externalSlotProps:Ir,additionalProps:{style:k({},kt[at].offset(H),kt[at].leap(Ve))},ownerState:k({},Re,Ir==null?void 0:Ir.ownerState),className:re.track}),Tr=Tt({elementType:Cr,getSlotProps:wr,externalSlotProps:rr,ownerState:k({},Re,rr==null?void 0:rr.ownerState),className:re.thumb}),Sa=Tt({elementType:xt,externalSlotProps:nr,ownerState:k({},Re,nr==null?void 0:nr.ownerState),className:re.valueLabel}),g=Tt({elementType:Ut,externalSlotProps:ba,ownerState:Re,className:re.mark}),A=Tt({elementType:Bt,externalSlotProps:xa,ownerState:Re,className:re.markLabel}),E=Tt({elementType:Mr,getSlotProps:Ar,externalSlotProps:cn,ownerState:Re});return o.jsxs(Ne,k({},mn,{children:[o.jsx(It,k({},va)),o.jsx(tr,k({},ja)),W.filter(N=>N.value>=Be&&N.value<=He).map((N,U)=>{const ne=zn(N.value,Be,He),V=kt[at].offset(ne);let B;return fe===!1?B=Q.indexOf(N.value)!==-1:B=fe==="normal"&&(L?N.value>=Q[0]&&N.value<=Q[Q.length-1]:N.value<=Q[0])||fe==="inverted"&&(L?N.value<=Q[0]||N.value>=Q[Q.length-1]:N.value>=Q[0]),o.jsxs($.Fragment,{children:[o.jsx(Ut,k({"data-index":U},g,!Br(Ut)&&{markActive:B},{style:k({},V,g.style),className:gt(g.className,B&&re.markActive)})),N.label!=null?o.jsx(Bt,k({"aria-hidden":!0,"data-index":U},A,!Br(Bt)&&{markLabelActive:B},{style:k({},V,A.style),className:gt(re.markLabel,A.className,B&&re.markLabelActive),children:N.label})):null]},U)}),Q.map((N,U)=>{const ne=zn(N,Be,He),V=kt[at].offset(ne),B=Ee==="off"?Vy:xt;return o.jsx(B,k({},!Br(B)&&{valueLabelFormat:Le,valueLabelDisplay:Ee,value:typeof Le=="function"?Le(Je(N),U):Le,index:U,open:Pr===U||er===U||Ee==="on",disabled:We},Sa,{children:o.jsx(Cr,k({"data-index":U},Tr,{className:gt(re.thumb,Tr.className,er===U&&re.active,I===U&&re.focusVisible),style:k({},V,Xe(U),Tr.style),children:o.jsx(Mr,k({"data-index":U,"aria-label":Se?Se(U):G,"aria-valuenow":Je(N),"aria-labelledby":X,"aria-valuetext":Ct?Ct(Je(N),U):Z,value:Q[U]},E))}))}),U)})]}))});process.env.NODE_ENV!=="production"&&(ou.propTypes={"aria-label":ao(h.string,e=>Array.isArray(e.value||e.defaultValue)&&e["aria-label"]!=null?new Error("MUI: You need to use the `getAriaLabel` prop instead of `aria-label` when using a range slider."):null),"aria-labelledby":h.string,"aria-valuetext":ao(h.string,e=>Array.isArray(e.value||e.defaultValue)&&e["aria-valuetext"]!=null?new Error("MUI: You need to use the `getAriaValueText` prop instead of `aria-valuetext` when using a range slider."):null),children:h.node,classes:h.object,className:h.string,color:h.oneOfType([h.oneOf(["primary","secondary","error","info","success","warning"]),h.string]),components:h.shape({Input:h.elementType,Mark:h.elementType,MarkLabel:h.elementType,Rail:h.elementType,Root:h.elementType,Thumb:h.elementType,Track:h.elementType,ValueLabel:h.elementType}),componentsProps:h.shape({input:h.oneOfType([h.func,h.object]),mark:h.oneOfType([h.func,h.object]),markLabel:h.oneOfType([h.func,h.object]),rail:h.oneOfType([h.func,h.object]),root:h.oneOfType([h.func,h.object]),thumb:h.oneOfType([h.func,h.object]),track:h.oneOfType([h.func,h.object]),valueLabel:h.oneOfType([h.func,h.shape({children:h.element,className:h.string,open:h.bool,style:h.object,value:h.number,valueLabelDisplay:h.oneOf(["auto","off","on"])})])}),defaultValue:h.oneOfType([h.arrayOf(h.number),h.number]),disabled:h.bool,disableSwap:h.bool,getAriaLabel:h.func,getAriaValueText:h.func,marks:h.oneOfType([h.arrayOf(h.shape({label:h.node,value:h.number.isRequired})),h.bool]),max:h.number,min:h.number,name:h.string,onChange:h.func,onChangeCommitted:h.func,orientation:h.oneOf(["horizontal","vertical"]),scale:h.func,shiftStep:h.number,size:h.oneOfType([h.oneOf(["small","medium"]),h.string]),slotProps:h.shape({input:h.oneOfType([h.func,h.object]),mark:h.oneOfType([h.func,h.object]),markLabel:h.oneOfType([h.func,h.object]),rail:h.oneOfType([h.func,h.object]),root:h.oneOfType([h.func,h.object]),thumb:h.oneOfType([h.func,h.object]),track:h.oneOfType([h.func,h.object]),valueLabel:h.oneOfType([h.func,h.shape({children:h.element,className:h.string,open:h.bool,style:h.object,value:h.number,valueLabelDisplay:h.oneOf(["auto","off","on"])})])}),slots:h.shape({input:h.elementType,mark:h.elementType,markLabel:h.elementType,rail:h.elementType,root:h.elementType,thumb:h.elementType,track:h.elementType,valueLabel:h.elementType}),step:h.number,sx:h.oneOfType([h.arrayOf(h.oneOfType([h.func,h.object,h.bool])),h.func,h.object]),tabIndex:h.number,track:h.oneOf(["inverted","normal",!1]),value:h.oneOfType([h.arrayOf(h.number),h.number]),valueLabelDisplay:h.oneOf(["auto","off","on"]),valueLabelFormat:h.oneOfType([h.func,h.string])});var Gy="[object Number]";function zy(e){return typeof e=="number"||Wt(e)&&Yt(e)==Gy}const iu=Te.observer(e=>{const t=T.useTheme(),r=e.valueLabelFormat||(a=>`${a}`);function n(a,s){s===e.velocity||!zy(s)||e.onVelocityChange(s)}return o.jsxs(o.Fragment,{children:[o.jsx(T.Typography,{sx:{textAlign:"center",fontSize:"14px",opacity:.8,lineHeight:1,color:t.palette.text.primary},children:r(e.velocity)}),o.jsx(ou,{value:e.velocity,color:"secondary",onChange:n,min:e.min,max:e.max,"aria-labelledby":"input-slider",disabled:e.disabled,sx:{"& .MuiSlider-valueLabelOpen":{zIndex:100,backgroundColor:"transparent",top:"0px"}}})]})}),lu=Te.observer(({store:e})=>{const{t}=qt.useTranslation(),r=Te.useLocalObservable(()=>({get valueLabelFormat(){return e.currentMotionType==="translate"?n=>`v=${t("Jogging.Cartesian.Translation.velocityMmPerSec.lb",{amount:n})}`:n=>`v=${t("Jogging.Cartesian.Rotation.velocityDegPerSec.lb",{amount:n})}`}}));return o.jsx(T.Stack,{sx:{margin:"0px 20px",marginBottom:"6px"},children:o.jsx(T.Stack,{sx:{width:"380px",maxWidth:"90%",margin:"auto"},children:o.jsx(iu,{velocity:e.velocityInCurrentUnits,min:e.minVelocityInCurrentUnits,max:e.maxVelocityInCurrentUnits,onVelocityChange:e.setVelocityFromSlider,disabled:e.isLocked,valueLabelFormat:r.valueLabelFormat})})})}),Ky=Te.observer(({store:e,children:t})=>{var f,d,x,y,_,p,j,R,C;const{t:r}=qt.useTranslation(),n=T.useTheme();function a(w,S){(S==="translate"||S==="rotate")&&e.setSelectedCartesianMotionType(S)}ks(()=>[e.selectedCoordSystemId,e.selectedTcpId],()=>{e.jogger.motionStream.motionStateSocket.changeUrl(e.jogger.nova.makeWebsocketURL(`/motion-groups/${e.jogger.motionGroupId}/state-stream?tcp=${e.selectedTcpId}&response_coordinate_system=${e.selectedCoordSystemId}`))},{fireImmediately:!0});async function s(w,S){const P=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose,M=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_position;P&&await e.withMotionLock(async()=>{await e.jogger.runIncrementalCartesianMotion({currentTcpPose:P,currentJoints:M,coordSystemId:e.activeCoordSystemId,velocityInRelevantUnits:e.velocityInCurrentUnits,axis:w.axis,direction:w.direction,motion:e.selectedCartesianMotionType==="translate"?{type:"translate",distanceMm:S.mm}:{type:"rotate",distanceRads:Lt.degreesToRadians(S.degrees)}})})}async function i(w){if(!e.isLocked){if(e.activeDiscreteIncrement)return s(w,e.activeDiscreteIncrement);w.motionType==="translate"?await e.jogger.startTCPTranslation({axis:w.axis,direction:w.direction,velocityMmPerSec:e.translationVelocityMmPerSec}):await e.jogger.startTCPRotation({axis:w.axis,direction:w.direction,velocityRadsPerSec:e.rotationVelocityRadsPerSec})}}async function l(){e.isLocked||e.activeDiscreteIncrement||await e.jogger.stop()}const u=[{id:"x",colors:(x=(d=(f=n.componentsExt)==null?void 0:f.JoggingCartesian)==null?void 0:d.Axis)==null?void 0:x.X,icon:o.jsx(Lg,{})},{id:"y",colors:(p=(_=(y=n.componentsExt)==null?void 0:y.JoggingCartesian)==null?void 0:_.Axis)==null?void 0:p.Y,icon:o.jsx($g,{})},{id:"z",colors:(C=(R=(j=n.componentsExt)==null?void 0:j.JoggingCartesian)==null?void 0:R.Axis)==null?void 0:C.Z,icon:o.jsx(Dg,{})}];function c(w){return r("General.mm.variable",{amount:w.toFixed(1)})}function m(w){return r("General.degree.variable",{amount:Lt.radiansToDegrees(w).toFixed(1)})}return o.jsxs(T.Stack,{flexGrow:1,gap:4,children:[o.jsxs(T.Stack,{children:[o.jsx(Jg,{store:e}),o.jsx(jy,{store:e})]}),o.jsx(T.Stack,{width:"80%",maxWidth:"296px",marginLeft:"auto",marginRight:"auto",marginTop:"8px",marginBottom:"8px",gap:"12px",children:o.jsxs(T.ToggleButtonGroup,{value:e.selectedCartesianMotionType,onChange:a,exclusive:!0,"aria-label":r("Jogging.Cartesian.MotionType.lb"),sx:{justifyContent:"center"},children:[o.jsx(T.ToggleButton,{value:"translate",children:r("Jogging.Cartesian.Translation.bt")}),o.jsx(T.ToggleButton,{value:"rotate",children:r("Jogging.Cartesian.Rotation.bt")})]})}),o.jsx(zl,{store:e,children:o.jsxs(T.Stack,{width:"80%",maxWidth:"296px",marginLeft:"auto",marginRight:"auto",marginTop:"8px",marginBottom:"8px",gap:"12px",children:[e.selectedCartesianMotionType==="translate"&&u.map(w=>o.jsx(es,{colors:w.colors,disabled:e.isLocked,label:o.jsxs(o.Fragment,{children:[w.icon,o.jsx(T.Typography,{sx:{fontSize:"24px",color:"white"},children:w.id.toUpperCase()})]}),getDisplayedValue:()=>{var S;return c(((S=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:S.position[w.id])||0)},startJogging:S=>i({axis:w.id,motionType:"translate",direction:S}),stopJogging:l},w.id)),e.selectedCartesianMotionType==="rotate"&&u.map(w=>o.jsx(es,{colors:w.colors,disabled:e.isLocked,label:o.jsxs(o.Fragment,{children:[o.jsx(Bg,{}),o.jsx(T.Typography,{sx:{fontSize:"24px",color:"white"},children:w.id.toUpperCase()})]}),getDisplayedValue:()=>{var S,P;return m(((P=(S=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:S.orientation)==null?void 0:P[w.id])||0)},startJogging:S=>i({axis:w.id,motionType:"rotate",direction:S}),stopJogging:l},w.id))]})}),o.jsxs(T.Stack,{children:[o.jsx(nu,{store:e}),o.jsx(lu,{store:e}),t]})]})}),Wy=Te.observer(({store:e})=>{const t=Y.useRef(null);function r(){const{joints:n}=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_position;return`[${n.map(a=>parseFloat(a.toFixed(4))).join(", ")}]`}return jr(()=>{t.current&&(t.current.textContent=r())}),o.jsx(T.Stack,{alignItems:"left",spacing:2,sx:{padding:"16px","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:o.jsx(Kl,{value:r(),ref:t})})}),Hy=Te.observer(({store:e,children:t})=>{async function r(a){await e.jogger.startJointRotation({joint:a.joint,direction:a.direction,velocityRadsPerSec:e.rotationVelocityRadsPerSec})}async function n(){await e.jogger.stop()}return o.jsxs(T.Stack,{flexGrow:1,justifyContent:"space-between",children:[o.jsx(Wy,{store:e}),o.jsx(zl,{store:e,children:o.jsx(T.Stack,{gap:"0.8rem",children:e.jogger.motionStream.joints.map(a=>{var u;const s=(u=e.motionGroupSpec.mechanical_joint_limits)==null?void 0:u[a.index],i=(s==null?void 0:s.lower_limit)!==void 0?Lt.radiansToDegrees(s.lower_limit):void 0,l=(s==null?void 0:s.upper_limit)!==void 0?Lt.radiansToDegrees(s.upper_limit):void 0;return o.jsxs(T.Stack,{direction:"row",alignItems:"center",gap:2,children:[o.jsx(T.Typography,{sx:{flexGrow:1,textAlign:"right"},children:`J${a.index+1}`}),o.jsx(yl,{disabled:e.isLocked,lowerLimitDegs:i,upperLimitDegs:l,getValueDegs:()=>{const c=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_position.joints[a.index];return c!==void 0?Lt.radiansToDegrees(c):void 0},startJogging:c=>r({joint:a.index,direction:c}),stopJogging:n},a.index),o.jsx(T.Typography,{sx:{flexGrow:1}})]},`joint-${a.index}`)})})}),o.jsx(nu,{store:e}),o.jsx(lu,{store:e}),t]})});var xi=function(){try{var e=Qt(Object,"defineProperty");return e({},"",{}),e}catch{}}();function Xy(e,t,r){t=="__proto__"&&xi?xi(e,t,{configurable:!0,enumerable:!0,value:r,writable:!0}):e[t]=r}function qy(e,t,r,n){for(var a=-1,s=e==null?0:e.length;++a<s;){var i=e[a];t(n,i,r(i),e)}return n}function Yy(e){return function(t,r,n){for(var a=-1,s=Object(t),i=n(t),l=i.length;l--;){var u=i[++a];if(r(s[u],u,s)===!1)break}return t}}var Zy=Yy();function Qy(e,t){return e&&Zy(e,t,Fs)}function e1(e,t){return function(r,n){if(r==null)return r;if(!ru(r))return e(r,n);for(var a=r.length,s=-1,i=Object(r);++s<a&&n(i[s],s,i)!==!1;);return r}}var t1=e1(Qy);function r1(e,t,r,n){return t1(e,function(a,s,i){t(n,a,r(a),i)}),n}var n1=1,a1=2;function s1(e,t,r,n){var a=r.length,s=a;if(e==null)return!s;for(e=Object(e);a--;){var i=r[a];if(i[2]?i[1]!==e[i[0]]:!(i[0]in e))return!1}for(;++a<s;){i=r[a];var l=i[0],u=e[l],c=i[1];if(i[2]){if(u===void 0&&!(l in e))return!1}else{var m=new St,f;if(!(f===void 0?_a(c,u,n1|a1,n,m):f))return!1}}return!0}function uu(e){return e===e&&!Kt(e)}function o1(e){for(var t=Fs(e),r=t.length;r--;){var n=t[r],a=e[n];t[r]=[n,a,uu(a)]}return t}function cu(e,t){return function(r){return r==null?!1:r[e]===t&&(t!==void 0||e in Object(r))}}function i1(e){var t=o1(e);return t.length==1&&t[0][2]?cu(t[0][0],t[0][1]):function(r){return r===e||s1(r,e,t)}}var l1=/\.|\[(?:[^[\]]*|(["'])(?:(?!\1)[^\\]|\\.)*?\1)\]/,u1=/^\w*$/;function Ds(e,t){if(pt(e))return!1;var r=typeof e;return r=="number"||r=="symbol"||r=="boolean"||e==null||la(e)?!0:u1.test(e)||!l1.test(e)||t!=null&&e in Object(t)}var c1="Expected a function";function Us(e,t){if(typeof e!="function"||t!=null&&typeof t!="function")throw new TypeError(c1);var r=function(){var n=arguments,a=t?t.apply(this,n):n[0],s=r.cache;if(s.has(a))return s.get(a);var i=e.apply(this,n);return r.cache=s.set(a,i)||s,i};return r.cache=new(Us.Cache||Pt),r}Us.Cache=Pt;var m1=500;function d1(e){var t=Us(e,function(n){return r.size===m1&&r.clear(),n}),r=t.cache;return t}var f1=/[^.[\]]+|\[(?:(-?\d+(?:\.\d+)?)|(["'])((?:(?!\2)[^\\]|\\.)*?)\2)\]|(?=(?:\.|\[\])(?:\.|\[\]|$))/g,h1=/\\(\\)?/g,g1=d1(function(e){var t=[];return e.charCodeAt(0)===46&&t.push(""),e.replace(f1,function(r,n,a,s){t.push(a?s.replace(h1,"$1"):n||r)}),t});function p1(e,t){for(var r=-1,n=e==null?0:e.length,a=Array(n);++r<n;)a[r]=t(e[r],r,e);return a}var _1=1/0,vi=Nt?Nt.prototype:void 0,ji=vi?vi.toString:void 0;function mu(e){if(typeof e=="string")return e;if(pt(e))return p1(e,mu)+"";if(la(e))return ji?ji.call(e):"";var t=e+"";return t=="0"&&1/e==-_1?"-0":t}function du(e){return e==null?"":mu(e)}function fu(e,t){return pt(e)?e:Ds(e,t)?[e]:g1(du(e))}var y1=1/0;function ya(e){if(typeof e=="string"||la(e))return e;var t=e+"";return t=="0"&&1/e==-y1?"-0":t}function hu(e,t){t=fu(t,e);for(var r=0,n=t.length;e!=null&&r<n;)e=e[ya(t[r++])];return r&&r==n?e:void 0}function b1(e,t,r){var n=e==null?void 0:hu(e,t);return n===void 0?r:n}function x1(e,t){return e!=null&&t in Object(e)}function v1(e,t,r){t=fu(t,e);for(var n=-1,a=t.length,s=!1;++n<a;){var i=ya(t[n]);if(!(s=e!=null&&r(e,i)))break;e=e[i]}return s||++n!=a?s:(a=e==null?0:e.length,!!a&&$s(a)&&Ql(i,a)&&(pt(e)||Yl(e)))}function j1(e,t){return e!=null&&v1(e,t,x1)}var S1=1,R1=2;function A1(e,t){return Ds(e)&&uu(t)?cu(ya(e),t):function(r){var n=b1(r,e);return n===void 0&&n===t?j1(r,e):_a(t,n,S1|R1)}}function w1(e){return e}function P1(e){return function(t){return t==null?void 0:t[e]}}function C1(e){return function(t){return hu(t,e)}}function M1(e){return Ds(e)?P1(ya(e)):C1(e)}function k1(e){return typeof e=="function"?e:e==null?w1:typeof e=="object"?pt(e)?A1(e[0],e[1]):i1(e):M1(e)}function I1(e,t){return function(r,n){var a=pt(r)?qy:r1,s={};return a(r,e,k1(n),s)}}var vn=I1(function(e,t,r){Xy(e,r,t)}),T1=0;function O1(e){var t=++T1;return du(e)+t}const fs=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],E1=[{id:"continuous"},...fs];class Bs{constructor(t,r,n,a){var s,i;this.jogger=t,this.motionGroupSpec=r,this.coordSystems=n,this.tcps=a,this.selectedTabId="cartesian",this.manualActivationRequired=!0,this.activationState="inactive",this.activationError=null,this.activationCounter=0,this.locks=new Set,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJoggingInProgress=!1,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.disposers=[];for(const l of n)if(l.coordinate_system===""){l.coordinate_system="world";break}this.selectedCoordSystemId=((s=n[0])==null?void 0:s.coordinate_system)||"world",this.selectedTcpId=((i=a[0])==null?void 0:i.id)||"",mt.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(mt.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:a},{tcps:s}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Bs(t,n,a||[],s||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return Kn.countBy(this.coordSystems,t=>t.name)}async deactivate(t={}){if(this.activationState==="inactive")return;const r=this.jogger.activeWebsocket;this.activationState="inactive",this.jogger.setJoggingMode("increment"),r&&await r.closed();try{await this.jogger.nova.api.motionGroupJogging.stopJogging(this.jogger.motionGroupId)}catch(n){console.error(n)}t.requireManualReactivation&&mt.runInAction(()=>{this.manualActivationRequired=!0})}async activate(t={}){if(!(this.manualActivationRequired&&!t.manual)){mt.runInAction(()=>{this.activationState="loading",this.activationError=null});try{await this.jogger.nova.api.controller.setDefaultMode(this.jogger.motionStream.controllerId,"MODE_CONTROL")}catch(r){console.error(r)}if(this.currentTab.id==="cartesian"){const r={tcpId:this.selectedTcpId,coordSystemId:this.activeCoordSystemId};this.activeDiscreteIncrement?this.jogger.setJoggingMode("increment",r):this.jogger.setJoggingMode("cartesian",r)}else this.jogger.setJoggingMode("joint");if(this.jogger.activeWebsocket)try{this.jogger.stop(),await this.jogger.activeWebsocket.nextMessage()}catch(r){mt.runInAction(()=>{this.activationState="inactive",this.activationError=r});return}mt.runInAction(()=>{this.activationState="active",t.manual&&(this.manualActivationRequired=!1)})}}loadFromLocalStorage(){const t=Lt.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){return[{id:"cartesian",label:"Cartesian"},{id:"joint",label:"Joint"}]}get incrementOptions(){return E1}get discreteIncrementOptions(){return fs}get incrementOptionsById(){return vn(this.incrementOptions,t=>t.id)}get tabsById(){return vn(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return vn(this.coordSystems,t=>t.coordinate_system)}get selectedCoordSystem(){return this.coordSystemsById[this.selectedCoordSystemId]}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return vn(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:fs.find(t=>t.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}get velocityInCurrentUnits(){return this.currentMotionType==="translate"?this.translationVelocityMmPerSec:this.rotationVelocityDegPerSec}get minVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.minTranslationVelocityMmPerSec:this.minRotationVelocityDegPerSec}get maxVelocityInCurrentUnits(){return this.currentMotionType==="translate"?this.maxTranslationVelocityMmPerSec:this.maxRotationVelocityDegPerSec}get currentMotionType(){return this.selectedTabId==="cartesian"&&this.selectedCartesianMotionType==="translate"?"translate":"rotate"}onTabChange(t,r){const n=this.tabs[r]||this.tabs[0];this.selectedTabId=n.id}setSelectedCoordSystemId(t){this.selectedCoordSystemId=t}setSelectedTcpId(t){this.selectedTcpId=t}setSelectedOrientation(t){this.selectedOrientation=t}setSelectedIncrementId(t){this.selectedIncrementId=t}setIncrementJoggingInProgress(t){this.incrementJoggingInProgress=t}setVelocityFromSlider(t){this.currentMotionType==="translate"?this.translationVelocityMmPerSec=t:this.rotationVelocityDegPerSec=t}setSelectedCartesianMotionType(t){this.selectedCartesianMotionType=t}async withMotionLock(t){const r=O1();this.locks.add(r);try{return await t()}finally{this.locks.delete(r)}}}const L1=sn(Te.observer(e=>{const t=Kn.isString(e.nova)?new Lt.NovaClient({instanceUrl:e.nova}):e.nova,r=Te.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){mt.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{const a=await t.connectJogger(e.motionGroupId),s=await Bs.loadFor(a);mt.runInAction(()=>{r.joggingStore=s}),e.onSetup&&e.onSetup(s)}catch(a){r.loadingError=a}}return Y.useEffect(()=>(n(),()=>{var a;(a=r.joggingStore)==null||a.dispose()}),[e.nova,e.motionGroupId]),Y.useEffect(()=>{const a=r.joggingStore;a&&(e.locked?a.locks.add("external"):a.locks.delete("external"))},[e.locked]),o.jsx(T.Stack,{sx:{maxWidth:"460px",minWidth:"350px",overflowY:"auto",position:"relative",height:"100%"},children:r.joggingStore?o.jsx(N1,{store:r.joggingStore,children:e.children}):o.jsx(ha,{message:"Loading jogging",error:r.loadingError})})})),N1=Te.observer(({store:e,children:t})=>{Y.useEffect(()=>{function n(){e.deactivate()}function a(){e.activate()}return window.addEventListener("blur",n),window.addEventListener("focus",a),()=>{window.removeEventListener("blur",n),window.removeEventListener("focus",a)}}),ks(()=>[e.currentTab.id,e.selectedTcpId,e.activeCoordSystemId,e.activeDiscreteIncrement],()=>{e.activationState!=="inactive"&&e.activate()});function r(){if(e.currentTab.id==="cartesian")return o.jsx(o.Fragment,{children:o.jsx(Ky,{store:e,children:t})});if(e.currentTab.id==="joint")return o.jsx(o.Fragment,{children:o.jsx(Hy,{store:e,children:t})})}return o.jsxs(T.Stack,{flexGrow:1,height:"100%",children:[o.jsx(T.Tabs,{value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(n=>o.jsx(T.Tab,{label:n.label,id:`jogging-tab-${n.id}`,"aria-controls":`jogging-tab-${n.id}`},n.id))}),o.jsx(T.Stack,{flexGrow:1,position:"relative",children:r()})]})});function $1(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function F1({baseUrl:e=$1(),...t}){return o.jsxs(T.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[o.jsx(T.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),o.jsxs(T.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[o.jsx(T.Typography,{color:"#fff",children:"Found no devices to connect to."}),o.jsx(T.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),o.jsx(T.DialogActions,{children:o.jsxs(T.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[o.jsx(T.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),o.jsx(T.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const D1=Array(6).fill(2*Math.PI);gu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function gu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Empty",children:[o.jsxs("group",{name:"visuals",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.abb_white})]}),o.jsxs(b.animated.group,{name:"ABB_IRB1200_J00",children:[o.jsxs("group",{name:"ABB_IRB1200_J01",position:[0,.399,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1200_J02",position:[.35,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1200_J03",position:[.042,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1200_J04",position:[0,.351,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1200_J05",rotation:[Math.PI/2,0,-Math.PI],children:[o.jsx("group",{ref:t,name:"ABB_IRB1200_FLG",position:[0,.082,0]}),o.jsx("mesh",{name:"visuals006",geometry:a.visuals006.geometry,material:s.abb_metal_black,position:[.791,-.351,0],rotation:[0,0,Math.PI/2]})]}),o.jsxs("group",{name:"visuals005",position:[-.791,0,.351],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals005_1",geometry:a.visuals005_1.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals005_2",geometry:a.visuals005_2.geometry,material:s.abb_white})]})]}),o.jsxs("group",{name:"visuals004",position:[-.791,0,0],rotation:[-Math.PI,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals004_1",geometry:a.visuals004_1.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals004_2",geometry:a.visuals004_2.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals004_3",geometry:a.visuals004_3.geometry,material:s.abb_red})]})]}),o.jsxs("group",{name:"visuals003",position:[-.749,0,0],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals003_1",geometry:a.visuals003_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals003_2",geometry:a.visuals003_2.geometry,material:s.abb_red}),o.jsx("mesh",{name:"visuals003_3",geometry:a.visuals003_3.geometry,material:s.abb_metal_polished})]})]}),o.jsxs("group",{name:"visuals002",position:[-.399,0,0],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals002_1",geometry:a.visuals002_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals002_2",geometry:a.visuals002_2.geometry,material:s.abb_metal_polished})]})]}),o.jsxs("group",{name:"visuals001",children:[o.jsx("mesh",{name:"visuals001_1",geometry:a.visuals001_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals001_2",geometry:a.visuals001_2.geometry,material:s.abb_metal_polished})]})]})]})})}pu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function pu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:a.visuals_0.geometry,material:s.abb_metal_black}),o.jsx("mesh",{name:"visuals_0_1",geometry:a.visuals_0_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_0_2",geometry:a.visuals_0_2.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals_0_3",geometry:a.visuals_0_3.geometry,material:s.abb_red})]}),o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J00",children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J01",position:[.15,.544,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J02",position:[.575,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J03",position:[.04,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J04",position:[0,.425,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"ABB_IRB1300_115_10_J05",rotation:[Math.PI/2,0,-Math.PI],children:[o.jsx("group",{ref:t,name:"ABB_IRB1300_115_10_FLG",position:[0,.092,0]}),o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.abb_metal_polished,position:[1.159,-.575,0],rotation:[0,0,Math.PI/2]})]}),o.jsxs("group",{name:"link_5",position:[-1.159,0,.575],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.abb_metal_black})]})]}),o.jsxs("group",{name:"link_4",position:[-1.159,-.15,0],rotation:[-Math.PI,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.abb_metal_polished}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.abb_red}),o.jsx("mesh",{name:"visuals_4_3",geometry:a.visuals_4_3.geometry,material:s.abb_metal_black})]})]}),o.jsxs("group",{name:"link_3",position:[-1.119,0,.15],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.abb_red}),o.jsx("mesh",{name:"visuals_3_2",geometry:a.visuals_3_2.geometry,material:s.abb_metal_black})]})]}),o.jsxs("group",{name:"link_2",position:[-.544,0,.15],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_2_1",geometry:a.visuals_2_1.geometry,material:s.abb_metal_black})]})]}),o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.abb_white}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.abb_metal_black})]})]})]})})}_u.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function _u({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"M10iD",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J02",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J03",position:[.64,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J04",position:[.195,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J05",position:[0,-.7,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M10iD_J06",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"M10iD_FLG",position:[0,-.075,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"M10iD_L06",geometry:a.M10iD_L06.geometry,material:s.Fanuc_BlackMetal_AO,position:[-.835,.775,0],rotation:[0,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"M10iD_L05",geometry:a.M10iD_L05.geometry,material:s.Fanuc_BlackMetal_AO,position:[-.835,0,-.775],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"M10iD_L04",position:[-.835,.075,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"Mesh_654",geometry:a.Mesh_654.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_654_1",geometry:a.Mesh_654_1.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsxs("group",{name:"M10iD_L03",position:[-.64,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"Mesh_378",geometry:a.Mesh_378.geometry,material:s.Material_1_AO}),o.jsx("mesh",{name:"Mesh_378_1",geometry:a.Mesh_378_1.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_378_2",geometry:a.Mesh_378_2.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsxs("group",{name:"M10iD_L02",position:[0,0,-.075],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"Mesh_358",geometry:a.Mesh_358.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_358_1",geometry:a.Mesh_358_1.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsxs("group",{name:"M10iD_L01",children:[o.jsx("mesh",{name:"Mesh_356",geometry:a.Mesh_356.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_356_1",geometry:a.Mesh_356_1.geometry,material:s.Material_1_AO}),o.jsx("mesh",{name:"Mesh_356_2",geometry:a.Mesh_356_2.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsx("mesh",{name:"M10iD_L00",geometry:a.M10iD_L00.geometry,material:s.Fanuc_BlackMetal_AO,rotation:[-Math.PI/2,0,0]})]})})})})}hs.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function hs({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"M10iD",rotation:[0,0,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J00",children:[o.jsxs(b.animated.group,{name:"M20iD25_J01",position:[.075,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J02",position:[.84,0,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J03",position:[.215,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J04",position:[0,-.89,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"M20iD25_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"M20iD25_FLG",position:[0,-.09,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"M20iD25_L06",geometry:a.M20iD25_L06.geometry,material:s.Fanuc_BlackMetal_AO,position:[0,-.09,0],rotation:[Math.PI/2,0,Math.PI]})]}),o.jsx("mesh",{name:"M20iD25_L05",geometry:a.M20iD25_L05.geometry,material:s.Fanuc_BlackMetal_AO,rotation:[Math.PI,Math.PI/2,0]})]}),o.jsxs("group",{name:"M20iD25_L04",position:[0,-.286,0],rotation:[-Math.PI/2,Math.PI/2,0],children:[o.jsx("mesh",{name:"Mesh_2",geometry:a.Mesh_2.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_2_1",geometry:a.Mesh_2_1.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsxs("group",{name:"M20iD25_L03",position:[0,.406,0],rotation:[Math.PI,Math.PI/2,0],children:[o.jsx("mesh",{name:"Mesh_15",geometry:a.Mesh_15.geometry,material:s.Fanuc_BlackMetal_AO}),o.jsx("mesh",{name:"Mesh_15_1",geometry:a.Mesh_15_1.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_15_2",geometry:a.Mesh_15_2.geometry,material:s.Material_9_AO})]})]}),o.jsxs("group",{name:"M20iD25_L02",position:[0,.505,-.055],rotation:[-Math.PI,Math.PI/2,0],children:[o.jsx("mesh",{name:"Mesh_37",geometry:a.Mesh_37.geometry,material:s.Fanuc_BlackMetal_AO}),o.jsx("mesh",{name:"Mesh_37_1",geometry:a.Mesh_37_1.geometry,material:s.Fanuc_Yellow_Textured_AO})]})]}),o.jsxs("group",{name:"M20iD25_L01",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"Mesh_45",geometry:a.Mesh_45.geometry,material:s.Material_9_AO}),o.jsx("mesh",{name:"Mesh_45_1",geometry:a.Mesh_45_1.geometry,material:s.Fanuc_Yellow_Textured_AO}),o.jsx("mesh",{name:"Mesh_45_2",geometry:a.Mesh_45_2.geometry,material:s.Fanuc_BlackMetal_AO})]})]}),o.jsx("mesh",{name:"M20iD25_L00",geometry:a.M20iD25_L00.geometry,material:s.Fanuc_BlackMetal_AO,position:[0,-.425,0],rotation:[-Math.PI/2,0,0]})]})})})})}yu.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function yu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"CRX10iA_J00",children:[o.jsxs(b.animated.group,{name:"CRX10iA_J01",rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J02",position:[.54,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J04",position:[0,-.54,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J05",position:[0,.15,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"CRX10iA_FLG",position:[0,-.16,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"CRX10iA_L06",geometry:a.CRX10iA_L06.geometry,material:s.Fanuc_BlackMetal,position:[0,-.16,0],rotation:[0,0,-Math.PI/2]})]}),o.jsxs("group",{name:"CRX10iA_L05",position:[0,.15,0],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"J5CASING_UNIT001",geometry:a.J5CASING_UNIT001.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J5CASING_UNIT001_1",geometry:a.J5CASING_UNIT001_1.geometry,material:s.Fanuc_Green})]})]}),o.jsxs("group",{name:"CRX10iA_L04",position:[0,-.54,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA",geometry:a.NAME_LABEL_CRX_10iA.geometry,material:s.Fanuc_RedPlastic}),o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_1",geometry:a.NAME_LABEL_CRX_10iA_1.geometry,material:s.Fanuc_BlackPlastic}),o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_2",geometry:a.NAME_LABEL_CRX_10iA_2.geometry,material:s.Fanuc_WhitePlastic})]})]}),o.jsx("mesh",{name:"CRX10iA_L03",geometry:a.CRX10iA_L03.geometry,material:s.Fanuc_WhitePlastic,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"CRX10iA_L02",geometry:a.CRX10iA_L02.geometry,material:s.Fanuc_WhitePlastic,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"CRX10iA_L01",position:[0,-.117,0],children:[o.jsx("mesh",{name:"J2BASE_UNIT001",geometry:a.J2BASE_UNIT001.geometry,material:s.Fanuc_Green}),o.jsx("mesh",{name:"J2BASE_UNIT001_1",geometry:a.J2BASE_UNIT001_1.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J2BASE_UNIT001_2",geometry:a.J2BASE_UNIT001_2.geometry,material:s.Fanuc_GreenLED})]})]}),o.jsx("mesh",{name:"CRX10iA_L00",geometry:a.CRX10iA_L00.geometry,material:s.Fanuc_BlackMetal,position:[0,-.245,0]})]})})})}bu.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function bu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsx("mesh",{name:"link_0",geometry:a.link_0.geometry,material:s.fanuc_metal_black}),o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J00",position:[0,-.245,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J01",position:[0,.245,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J02",position:[.71,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J04",position:[0,-.54,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX20iAL_J05",position:[0,.15,0],rotation:[-Math.PI/2,0,0],children:[o.jsx(b.animated.group,{ref:t,name:"FANUC_CRX20iAL_FLG",position:[0,-.16,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.fanuc_metal_black,position:[-.71,.54,-.15],rotation:[0,0,-Math.PI/2]})]}),o.jsxs(b.animated.group,{name:"link_5",position:[-.71,0,-.54],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape053",geometry:a.shape053.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"shape053_1",geometry:a.shape053_1.geometry,material:s.fanuc_green})]})]}),o.jsxs(b.animated.group,{name:"link_4",position:[-.71,0,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape054",geometry:a.shape054.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"shape054_1",geometry:a.shape054_1.geometry,material:s.fanuc_red}),o.jsx("mesh",{name:"shape054_2",geometry:a.shape054_2.geometry,material:s.fanuc_metal_black})]})]}),o.jsxs(b.animated.group,{name:"link_3",position:[-.71,0,0],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape009",geometry:a.shape009.geometry,material:s.fanuc_green}),o.jsx("mesh",{name:"shape009_1",geometry:a.shape009_1.geometry,material:s.fanuc_white})]})]}),o.jsx("mesh",{name:"link_2",geometry:a.link_2.geometry,material:s.fanuc_white,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_1",position:[0,.245,0],children:[o.jsx("mesh",{name:"shape005",geometry:a.shape005.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"shape005_1",geometry:a.shape005_1.geometry,material:s.fanuc_green})]})]})]})})})}xu.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function xu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",position:[0,-.37,0],children:[o.jsxs("group",{name:"CRX25iA_L00",children:[o.jsx("mesh",{name:"J1BASE_NetGen_Coarse",geometry:a.J1BASE_NetGen_Coarse.geometry,material:s.Fanuc_BlackMetal}),o.jsx("mesh",{name:"J1BASE_NetGen_Coarse_1",geometry:a.J1BASE_NetGen_Coarse_1.geometry,material:s.Fanuc_GreenPlastic})]}),o.jsxs(b.animated.group,{name:"CRX25iA_J00",children:[o.jsxs(b.animated.group,{name:"CRX25iA_J01",position:[0,.37,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"CRX25iA_J02",position:[.95,0,0],children:[o.jsxs(b.animated.group,{name:"CRX25iA_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX25iA_J04",position:[0,-.75,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX25iA_J05",position:[0,.185,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"CRX25iA_FLG",position:[0,-.18,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"CRX25iA_L06",geometry:a.CRX25iA_L06.geometry,material:s.Fanuc_BlackMetal,position:[0,-.18,0]})]}),o.jsxs("group",{name:"CRX25iA_L05",position:[0,.185,0],children:[o.jsx("mesh",{name:"J6CASING_NetGen_Coarse",geometry:a.J6CASING_NetGen_Coarse.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J6CASING_NetGen_Coarse_1",geometry:a.J6CASING_NetGen_Coarse_1.geometry,material:s.Fanuc_GreenPlastic})]})]}),o.jsxs("group",{name:"CRX25iA_L04",position:[0,-.75,0],children:[o.jsx("mesh",{name:"J3ARM_NetGen_Coarse",geometry:a.J3ARM_NetGen_Coarse.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J3ARM_NetGen_Coarse_1",geometry:a.J3ARM_NetGen_Coarse_1.geometry,material:s.Fanuc_RedPlastic}),o.jsx("mesh",{name:"J3ARM_NetGen_Coarse_2",geometry:a.J3ARM_NetGen_Coarse_2.geometry,material:s.Fanuc_BlackPlastic})]})]}),o.jsxs("group",{name:"CRX25iA_L03",children:[o.jsx("mesh",{name:"J3CASING_NetGen_Coarse",geometry:a.J3CASING_NetGen_Coarse.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J3CASING_NetGen_Coarse_1",geometry:a.J3CASING_NetGen_Coarse_1.geometry,material:s.Fanuc_GreenPlastic})]})]}),o.jsx("mesh",{name:"CRX25iA_L02",geometry:a.CRX25iA_L02.geometry,material:s.Fanuc_WhitePlastic})]}),o.jsxs("group",{name:"CRX25iA_L01",position:[0,.18,0],children:[o.jsx("mesh",{name:"J2BASE_NetGen_Coarse",geometry:a.J2BASE_NetGen_Coarse.geometry,material:s.Fanuc_WhitePlastic}),o.jsx("mesh",{name:"J2BASE_NetGen_Coarse_1",geometry:a.J2BASE_NetGen_Coarse_1.geometry,material:s.Fanuc_GreenLED})]})]})]})})})}vu.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function vu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"CRX10iA_J00",children:[o.jsxs(b.animated.group,{name:"CRX10iA_J01",position:[0,.245,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J02",position:[.71,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J04",position:[0,-.54,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"CRX10iA_J05",position:[0,.15,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"CRX10iA_FLG",position:[0,-.16,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"CRX10iA_L06",geometry:a.CRX10iA_L06.geometry,material:s["Fanuc_BlackMetal.001"],position:[0,-.16,0],rotation:[0,0,-Math.PI/2]})]}),o.jsxs("group",{name:"CRX10iA_L05",position:[0,.15,0],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"J5CASING_UNIT001",geometry:a.J5CASING_UNIT001.geometry,material:s["Fanuc_WhitePlastic.001"]}),o.jsx("mesh",{name:"J5CASING_UNIT001_1",geometry:a.J5CASING_UNIT001_1.geometry,material:s["Fanuc_Green.001"]})]})]}),o.jsxs("group",{name:"CRX10iA_L04",position:[0,-.54,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_L001",geometry:a.NAME_LABEL_CRX_10iA_L001.geometry,material:s["Fanuc_WhitePlastic.001"]}),o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_L001_1",geometry:a.NAME_LABEL_CRX_10iA_L001_1.geometry,material:s["Fanuc_RedPlastic.001"]}),o.jsx("mesh",{name:"NAME_LABEL_CRX_10iA_L001_2",geometry:a.NAME_LABEL_CRX_10iA_L001_2.geometry,material:s["Fanuc_BlackPlastic.001"]})]})]}),o.jsxs("group",{name:"CRX10iA_L03",rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"J3CASING_UNIT001",geometry:a.J3CASING_UNIT001.geometry,material:s["Fanuc_WhitePlastic.001"]}),o.jsx("mesh",{name:"J3CASING_UNIT001_1",geometry:a.J3CASING_UNIT001_1.geometry,material:s["Fanuc_Green.001"]})]})]}),o.jsx("mesh",{name:"CRX10iA_L02",geometry:a.CRX10iA_L02.geometry,material:s["Fanuc_WhitePlastic.001"],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"CRX10iA_L01",position:[0,.128,0],children:[o.jsx("mesh",{name:"J2BASE_UNIT001",geometry:a.J2BASE_UNIT001.geometry,material:s["Fanuc_WhitePlastic.001"]}),o.jsx("mesh",{name:"J2BASE_UNIT001_1",geometry:a.J2BASE_UNIT001_1.geometry,material:s["Fanuc_Green.001"]}),o.jsx("mesh",{name:"J2BASE_UNIT001_2",geometry:a.J2BASE_UNIT001_2.geometry,material:s["Fanuc_GreenLED.001"]})]})]}),o.jsx("mesh",{name:"CRX10iA_L00",geometry:a.CRX10iA_L00.geometry,material:s["Fanuc_BlackMetal.001"]})]})})})}ju.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function ju({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Empty",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"shape002",geometry:n.shape002.geometry,material:a.fanuc_metal_black_AO}),o.jsx("mesh",{name:"shape002_1",geometry:n.shape002_1.geometry,material:a.fanuc_stainless_steel_AO})]}),o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J00",children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J01",position:[.05,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J02",position:[.33,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J03",position:[.035,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J04",position:[0,-.335,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE-200ID_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"FANUC_LRMATE-200ID_FLG",position:[0,-.08,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.fanuc_metal_black_AO,position:[-.365,.385,0],rotation:[0,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_5",geometry:n.link_5.geometry,material:a.fanuc_yellow_AO,position:[-.365,0,-.385],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_4",position:[-.365,.05,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape010",geometry:n.shape010.geometry,material:a.fanuc_yellow_AO}),o.jsx("mesh",{name:"shape010_1",geometry:n.shape010_1.geometry,material:a.fanuc_aluminium_black_AO})]})]}),o.jsx("mesh",{name:"link_3",geometry:n.link_3.geometry,material:a.fanuc_yellow_AO,position:[-.33,0,-.05],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_2",geometry:n.link_2.geometry,material:a.fanuc_yellow_AO,position:[0,0,-.05],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_1",geometry:n.link_1.geometry,material:a.fanuc_yellow_AO})]})]})})}Su.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function Su({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Empty",children:[o.jsx("mesh",{name:"link_0",geometry:n.link_0.geometry,material:a.fanuc_metal_black}),o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J00",children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J01",rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J02",position:[.26,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J03",position:[.02,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J04",position:[0,-.29,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID4S_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{name:"FANUC_LRMATE200ID4S_FLG",position:[0,-.07,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.fanuc_metal_black,position:[-.28,.29,0],rotation:[0,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_5",geometry:n.link_5.geometry,material:a.fanuc_yellow,position:[-.28,0,-.29],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_4",position:[-.28,0,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"J3ARM_UNIT",geometry:n.J3ARM_UNIT.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"J3ARM_UNIT_1",geometry:n.J3ARM_UNIT_1.geometry,material:a.fanuc_aluminium_black})]})]}),o.jsx("mesh",{name:"link_3",geometry:n.link_3.geometry,material:a.fanuc_yellow,position:[-.26,0,0],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_2",geometry:n.link_2.geometry,material:a.fanuc_yellow,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_1",geometry:n.link_1.geometry,material:a.fanuc_yellow})]})]})})}Ru.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function Ru({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:n.visuals_0.geometry,material:a.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_0_1",geometry:n.visuals_0_1.geometry,material:a.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_0_2",geometry:n.visuals_0_2.geometry,material:a.fanuc_aluminium_black})]}),o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J00",children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J01",position:[.05,0,0],rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J02",position:[.44,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J03",position:[.035,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J04",position:[0,-.42,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_LRMATE200ID7L_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx(b.animated.group,{ref:t,name:"FANUC_LRMATE200ID7L_FLG",position:[0,-.08,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.fanuc_metal_black,position:[-.475,.47,0],rotation:[0,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_5",position:[-.475,0,-.47],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_5",geometry:n.visuals_5.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"visuals_5_1",geometry:n.visuals_5_1.geometry,material:a.fanuc_stainless_steel}),o.jsx("mesh",{name:"visuals_5_2",geometry:n.visuals_5_2.geometry,material:a.fanuc_metal_black})]})]}),o.jsxs("group",{name:"link_4",position:[-.475,.05,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_4",geometry:n.visuals_4.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"visuals_4_1",geometry:n.visuals_4_1.geometry,material:a.fanuc_aluminium_black})]})]}),o.jsxs("group",{name:"link_3",position:[-.44,0,-.05],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_3",geometry:n.visuals_3.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"visuals_3_1",geometry:n.visuals_3_1.geometry,material:a.fanuc_stainless_steel})]})]}),o.jsx("mesh",{name:"link_2",geometry:n.link_2.geometry,material:a.fanuc_yellow,position:[0,0,-.05],rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:n.visuals_1.geometry,material:a.fanuc_yellow}),o.jsx("mesh",{name:"visuals_1_1",geometry:n.visuals_1_1.geometry,material:a.fanuc_stainless_steel})]})]})]})})}Au.config={rotationOffsets:[0,0,-Math.PI/2,0,0,0]};function Au({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:n.visuals_0.geometry,material:a.material_Material_Metall}),o.jsx("mesh",{name:"visuals_0_1",geometry:n.visuals_0_1.geometry,material:a.material_Material_Farbe__2_}),o.jsx("mesh",{name:"visuals_0_2",geometry:n.visuals_0_2.geometry,material:a.material_Material_Metall})]}),o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J00",children:[o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J01",position:[.16,.52,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J02",position:[.98,0,0],rotation:[0,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J03",position:[.15,0,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR16R2010_2_J04",position:[0,-.86,0],rotation:[-Math.PI/2,0,0],children:[o.jsx(b.animated.group,{ref:t,name:"KUKA_KR16R2010_2_J05",rotation:[-Math.PI/2,0,-Math.PI],children:o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.material_Material_Farbe__2_,position:[.67,2,0],rotation:[-Math.PI,0,Math.PI/2]})}),o.jsx("mesh",{name:"link_5",geometry:n.link_5.geometry,material:a.material_Material_Farbe,position:[-.67,0,2],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsx("mesh",{name:"link_4",geometry:n.link_4.geometry,material:a.material_Material_Farbe,position:[-.67,1.14,0],rotation:[0,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_3",position:[-.52,0,1.14],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_3",geometry:n.visuals_3.geometry,material:a.material_Material_Farbe}),o.jsx("mesh",{name:"visuals_3_1",geometry:n.visuals_3_1.geometry,material:a.material_Material_Metall}),o.jsx("mesh",{name:"visuals_3_2",geometry:n.visuals_3_2.geometry,material:a.material_Material_Farbe__2_})]})]}),o.jsxs("group",{name:"link_2",position:[-.16,0,-.52],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:n.visuals_2.geometry,material:a.material_Material_Farbe}),o.jsx("mesh",{name:"visuals_2_1",geometry:n.visuals_2_1.geometry,material:a.material_Material_Metall})]})]}),o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:n.visuals_1.geometry,material:a.material_Material_Farbe}),o.jsx("mesh",{name:"visuals_1_1",geometry:n.visuals_1_1.geometry,material:a.material_Material_Farbe__2_}),o.jsx("mesh",{name:"visuals_1_2",geometry:n.visuals_1_2.geometry,material:a.material_Material_Metall})]})]})]})})})}wu.config={rotationOffsets:[0,0,-Math.PI/2,0,0,0]};function wu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"kuka_kr210_2700",children:[o.jsxs(b.animated.group,{name:"joint_01",children:[o.jsxs(b.animated.group,{name:"joint_02",position:[.33,.645,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_03",position:[1.15,0,0],rotation:[0,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"joint_04",position:[.115,0,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_05",position:[0,-1.22,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_06",rotation:[Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"flange",position:[0,-.215,0],rotation:[-Math.PI,0,0]}),o.jsx("group",{name:"link_6",position:[0,-.17,0],rotation:[0,0,-Math.PI/2],children:o.jsx("mesh",{name:"visuals006",geometry:a.visuals006.geometry,material:s.material_Material_Metall_black})})]}),o.jsx("group",{name:"link_5",position:[0,.059,0],rotation:[Math.PI/2,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals005",children:[o.jsx("mesh",{name:"visuals005_1",geometry:a.visuals005_1.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals005_2",geometry:a.visuals005_2.geometry,material:s.material_Material_kuka_orange})]})})]}),o.jsx("group",{name:"link_4",position:[0,-.869,0],rotation:[0,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals004",children:[o.jsx("mesh",{name:"visuals004_1",geometry:a.visuals004_1.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals004_2",geometry:a.visuals004_2.geometry,material:s.material_Material_kuka_orange})]})})]}),o.jsx("group",{name:"link_3",position:[0,-.105,0],rotation:[Math.PI/2,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals003",children:[o.jsx("mesh",{name:"visuals003_1",geometry:a.visuals003_1.geometry,material:s.material_Material_rubber}),o.jsx("mesh",{name:"visuals003_2",geometry:a.visuals003_2.geometry,material:s.material_Material_aluminium}),o.jsx("mesh",{name:"visuals003_3",geometry:a.visuals003_3.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals003_4",geometry:a.visuals003_4.geometry,material:s.material_Material_kuka_black}),o.jsx("mesh",{name:"visuals003_5",geometry:a.visuals003_5.geometry,material:s.material_Material_Rubber_black}),o.jsx("mesh",{name:"visuals003_6",geometry:a.visuals003_6.geometry,material:s.material_Material_kuka_orange}),o.jsx("mesh",{name:"visuals003_7",geometry:a.visuals003_7.geometry,material:s.material_Material_stainless_steel})]})})]}),o.jsx("group",{name:"link_2",position:[0,.009,0],rotation:[Math.PI/2,0,0],children:o.jsxs("group",{name:"visuals002",children:[o.jsx("mesh",{name:"visuals002_1",geometry:a.visuals002_1.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals002_2",geometry:a.visuals002_2.geometry,material:s.material_Material_Rubber_black}),o.jsx("mesh",{name:"visuals002_3",geometry:a.visuals002_3.geometry,material:s.material_Material_kuka_orange})]})})]}),o.jsx("group",{name:"link_1",position:[0,.236,0],children:o.jsxs("group",{name:"visuals001",children:[o.jsx("mesh",{name:"visuals001_1",geometry:a.visuals001_1.geometry,material:s.material_Material_kuka_black}),o.jsx("mesh",{name:"visuals001_2",geometry:a.visuals001_2.geometry,material:s.material_Material_kuka_orange}),o.jsx("mesh",{name:"visuals001_3",geometry:a.visuals001_3.geometry,material:s.material_Material_rubber}),o.jsx("mesh",{name:"visuals001_4",geometry:a.visuals001_4.geometry,material:s.material_Material_metal_black}),o.jsx("mesh",{name:"visuals001_5",geometry:a.visuals001_5.geometry,material:s.material_Material_aluminium}),o.jsx("mesh",{name:"visuals001_6",geometry:a.visuals001_6.geometry,material:s.material_Material_rubber_black}),o.jsx("mesh",{name:"visuals001_7",geometry:a.visuals001_7.geometry,material:s.material_Material_stainless_steel})]})})]}),o.jsx("group",{name:"link_0",children:o.jsxs("group",{name:"visuals",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.material_Material_kuka_black}),o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.material_Material_metal_black})]})})]})})})})}Pu.config={rotationOffsets:[0,0,-Math.PI/2,0,0,0]};function Pu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"joint_01",children:[o.jsxs(b.animated.group,{name:"joint_02",position:[.35,.675,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_03",position:[1.15,0,0],rotation:[0,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"joint_04",position:[-.041,0,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_05",position:[0,-1.2,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"joint_06",rotation:[Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"flange",position:[0,-.24,0],rotation:[-Math.PI,0,0]}),o.jsx("group",{name:"link_6",position:[0,-.213,0],rotation:[0,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals006",children:[o.jsx("mesh",{name:"visuals006_1",geometry:a.visuals006_1.geometry,material:s.material_Material_Farbe__1_}),o.jsx("mesh",{name:"visuals006_2",geometry:a.visuals006_2.geometry,material:s.material_Material_Metall})]})})]}),o.jsx("group",{name:"link_5",position:[0,.044,0],rotation:[Math.PI/2,0,-Math.PI/2],children:o.jsx("mesh",{name:"visuals005",geometry:a.visuals005.geometry,material:s.material_Material_Farbe})})]}),o.jsx("group",{name:"link_4",position:[0,-.954,0],rotation:[0,0,-Math.PI/2],children:o.jsx("mesh",{name:"visuals004",geometry:a.visuals004.geometry,material:s.material_Material_Farbe})})]}),o.jsx("group",{name:"link_3",position:[0,-.178,0],rotation:[Math.PI/2,0,-Math.PI/2],children:o.jsxs("group",{name:"visuals003",children:[o.jsx("mesh",{name:"visuals003_1",geometry:a.visuals003_1.geometry,material:s.material_Material_Farbe__1_}),o.jsx("mesh",{name:"visuals003_2",geometry:a.visuals003_2.geometry,material:s.material_Material_Farbe__2_}),o.jsx("mesh",{name:"visuals003_3",geometry:a.visuals003_3.geometry,material:s.material_Material_Metall}),o.jsx("mesh",{name:"visuals003_4",geometry:a.visuals003_4.geometry,material:s.material_Material_Farbe})]})})]}),o.jsx("group",{name:"link_2",rotation:[Math.PI/2,0,0],children:o.jsxs("group",{name:"visuals002",children:[o.jsx("mesh",{name:"visuals002_1",geometry:a.visuals002_1.geometry,material:s.material_Material_Farbe}),o.jsx("mesh",{name:"visuals002_2",geometry:a.visuals002_2.geometry,material:s.material_Material_Farbe__1_}),o.jsx("mesh",{name:"visuals002_3",geometry:a.visuals002_3.geometry,material:s.material_Material_Metall}),o.jsx("mesh",{name:"visuals002_4",geometry:a.visuals002_4.geometry,material:s.material_Material_Farbe__2_})]})})]}),o.jsx("group",{name:"link_1",position:[0,.226,0],children:o.jsxs("group",{name:"visuals001",children:[o.jsx("mesh",{name:"visuals001_1",geometry:a.visuals001_1.geometry,material:s.material_Material_Metall}),o.jsx("mesh",{name:"visuals001_2",geometry:a.visuals001_2.geometry,material:s.material_Material_Farbe__1_}),o.jsx("mesh",{name:"visuals001_3",geometry:a.visuals001_3.geometry,material:s.material_Material_Farbe__2_}),o.jsx("mesh",{name:"visuals001_4",geometry:a.visuals001_4.geometry,material:s.material_Material_Farbe})]})})]}),o.jsx("group",{name:"link_0-base",children:o.jsxs("group",{name:"visuals",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.material_Material_Metall}),o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.material_Material_Farbe__1_})]})})]})})})}Cu.config={rotationOffsets:[0,0,-Math.PI/2,0,0,0],rotationSign:[-1,1,1,1,1,1]};function Cu({modelURL:e,flangeRef:t,...r}){const{nodes:n,materials:a}=z.useGLTF(e);return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:n.visuals_0.geometry,material:a.kuka_metal}),o.jsx("mesh",{name:"visuals_0_1",geometry:n.visuals_0_1.geometry,material:a.kuka_black})]}),o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J00",children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J01",position:[.025,.4,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J02",position:[.335,0,0],rotation:[0,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J03",position:[.025,0,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J04",position:[0,-.365,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"KUKA_KR6R700-2_J05",rotation:[-Math.PI/2,0,-Math.PI],children:[o.jsx("group",{ref:t,name:"KUKA_KR6R700-2_FLG",position:[0,-.09,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"link_6",geometry:n.link_6.geometry,material:a.kuka_black,position:[.425,.725,0],rotation:[-Math.PI,0,Math.PI/2]})]}),o.jsx("mesh",{name:"link_5",geometry:n.link_5.geometry,material:a.kuka_white,position:[-.425,0,.725],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_4",position:[-.425,.36,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_4",geometry:n.visuals_4.geometry,material:a.kuka_white}),o.jsx("mesh",{name:"visuals_4_1",geometry:n.visuals_4_1.geometry,material:a.kuka_orange})]})]}),o.jsx("mesh",{name:"link_3",geometry:n.link_3.geometry,material:a.kuka_white,position:[-.4,0,.36],rotation:[Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_2",position:[-.025,0,-.4],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:n.visuals_2.geometry,material:a.kuka_white}),o.jsx("mesh",{name:"visuals_2_1",geometry:n.visuals_2_1.geometry,material:a.kuka_orange})]})]}),o.jsx("mesh",{name:"link_1",geometry:n.link_1.geometry,material:a.kuka_white})]})]})})}function U1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J00",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:a.visuals_0.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_0_1",geometry:a.visuals_0_1.geometry,material:s.universalrobots_aluminum})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J01",position:[0,.127,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_1",position:[0,0,.127],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_1_2",geometry:a.visuals_1_2.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_1_3",geometry:a.visuals_1_3.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_1_4",geometry:a.visuals_1_4.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_1_5",geometry:a.visuals_1_5.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J02",position:[-.612,0,0],children:[o.jsxs("group",{name:"link_2",position:[.612,0,.127],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_2_1",geometry:a.visuals_2_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_2_2",geometry:a.visuals_2_2.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_2_3",geometry:a.visuals_2_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_2_4",geometry:a.visuals_2_4.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_2_5",geometry:a.visuals_2_5.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J03",position:[-.572,0,0],children:[o.jsxs("group",{name:"link_3",position:[1.184,0,.127],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_3_2",geometry:a.visuals_3_2.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_3_3",geometry:a.visuals_3_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_3_4",geometry:a.visuals_3_4.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J04",position:[0,.164,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_4",position:[1.184,.127,.164],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_4_3",geometry:a.visuals_4_3.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_4_4",geometry:a.visuals_4_4.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR10CB_J05",position:[0,.116,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_5",position:[1.184,-.164,.012],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_5_2",geometry:a.visuals_5_2.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_5_3",geometry:a.visuals_5_3.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_5_4",geometry:a.visuals_5_4.geometry,material:s.universalrobots_lightblue})]}),o.jsx("group",{ref:t,name:"UNIVERSALROBOTS_UR10CB_FLG",position:[0,.116,0],rotation:[-Math.PI/2,0,0],children:o.jsxs("group",{name:"link_6",position:[1.184,-.012,-.28],children:[o.jsx("mesh",{name:"visuals_6",geometry:a.visuals_6.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_6_1",geometry:a.visuals_6_1.geometry,material:s.universalrobots_aluminum})]})})]})]})]})]})]})]})})})}function B1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"UR10e",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J02",position:[0,.181,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J03",position:[-.613,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J04",position:[-.572,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J05",position:[0,.174,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_J06",ref:t,position:[0,.12,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR10e_FLG",position:[1.184,-.174,.061],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000493",geometry:a["C-1000493"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000493_1",geometry:a["C-1000493_1"].geometry,material:s.Metal})]}),o.jsx("group",{name:"UR10e_L07",position:[0,.117,0]})]}),o.jsxs("group",{name:"UR10e_L06",position:[1.184,.181,.174],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"C-1000492",geometry:a["C-1000492"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000492_1",geometry:a["C-1000492_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000492_2",geometry:a["C-1000492_2"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000492_3",geometry:a["C-1000492_3"].geometry,material:s.Screw})]})]}),o.jsxs("group",{name:"UR10e_L05",position:[1.184,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000491",geometry:a["C-1000491"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000491_1",geometry:a["C-1000491_1"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000491_2",geometry:a["C-1000491_2"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000491_3",geometry:a["C-1000491_3"].geometry,material:s.Screw})]})]}),o.jsxs("group",{name:"UR10e_L04",position:[.613,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000490",geometry:a["C-1000490"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000490_1",geometry:a["C-1000490_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000490_2",geometry:a["C-1000490_2"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000490_3",geometry:a["C-1000490_3"].geometry,material:s.Blue})]})]}),o.jsxs(b.animated.group,{name:"UR10e_L03",position:[0,0,.181],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000489",geometry:a["C-1000489"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000489_1",geometry:a["C-1000489_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000489_2",geometry:a["C-1000489_2"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000489_3",geometry:a["C-1000489_3"].geometry,material:s.Screw}),o.jsx("mesh",{name:"C-1000489_4",geometry:a["C-1000489_4"].geometry,material:s.Metal})]})]}),o.jsxs("group",{name:"UR10e_L02",children:[o.jsx("mesh",{name:"C-1000488",geometry:a["C-1000488"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000488_1",geometry:a["C-1000488_1"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000488_2",geometry:a["C-1000488_2"].geometry,material:s.Screw}),o.jsx("mesh",{name:"C-1000488_3",geometry:a["C-1000488_3"].geometry,material:s.DarkGray})]})]}),o.jsxs("group",{name:"UR10e_L01",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"C-1000487",geometry:a["C-1000487"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000487_1",geometry:a["C-1000487_1"].geometry,material:s.Metal})]})]})})})})}function J1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"UR3",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J02",position:[0,.152,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J03",position:[-.244,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J04",position:[-.213,0,0],children:[o.jsxs(b.animated.group,{name:"UR3_J05",position:[0,.112,0],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"UR3_05",geometry:a.UR3_05.geometry,material:s.Standard}),o.jsxs(b.animated.group,{name:"UR3_J06",position:[0,.085,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"UR3_FLG",position:[0,.082,0]}),o.jsx("mesh",{name:"UR3_L06",geometry:a.UR3_L06.geometry,material:s.Standard})]})]}),o.jsx("mesh",{name:"UR3_L04",geometry:a.UR3_L04.geometry,material:s.Standard})]}),o.jsx("mesh",{name:"UR3_L03",geometry:a.UR3_L03.geometry,material:s.Standard})]}),o.jsx("mesh",{name:"UR3_L02",geometry:a.UR3_L02.geometry,material:s.Standard})]}),o.jsx("mesh",{name:"UR3_L01",geometry:a.UR3_L01.geometry,material:s.Standard})]}),o.jsx("mesh",{name:"UR3_L00",geometry:a.UR3_L00.geometry,material:s.Standard,rotation:[-Math.PI/2,0,0]})]})})})})}function V1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Empty",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:a.visuals_0.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_0_1",geometry:a.visuals_0_1.geometry,material:s.universalrobots_aluminum})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J00",children:[o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_1_2",geometry:a.visuals_1_2.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_1_3",geometry:a.visuals_1_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_1_4",geometry:a.visuals_1_4.geometry,material:s.universalrobots_stainlesssteel})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J01",position:[0,.152,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_2",position:[0,0,.152],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_2_1",geometry:a.visuals_2_1.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_2_2",geometry:a.visuals_2_2.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_2_3",geometry:a.visuals_2_3.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J02",position:[-.244,0,0],children:[o.jsxs("group",{name:"link_3",position:[.244,0,.152],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_3_2",geometry:a.visuals_3_2.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_3_3",geometry:a.visuals_3_3.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J03",position:[-.213,0,0],children:[o.jsxs("group",{name:"link_4",position:[.457,0,.152],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J04",position:[0,.131,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_5",position:[.457,.152,.131],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_5_2",geometry:a.visuals_5_2.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR3E_J05",position:[0,.085,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_6",position:[.457,-.131,.067],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_6",geometry:a.visuals_6.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_6_1",geometry:a.visuals_6_1.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_6_2",geometry:a.visuals_6_2.geometry,material:s.universalrobots_aluminum})]}),o.jsx("group",{ref:t,name:"UNIVERSALROBOTS_UR3E_FLG",position:[0,.092,0]})]})]})]})]})]})]})]})})}function Si({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J00",children:[o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_1_2",geometry:a.visuals_1_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_1_3",geometry:a.visuals_1_3.geometry,material:s.universalrobots_lightblue})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J01",position:[0,.089,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_2",position:[0,0,.089],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.universalrobots_stainlesssteel}),o.jsx("mesh",{name:"visuals_2_1",geometry:a.visuals_2_1.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_2_2",geometry:a.visuals_2_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_2_3",geometry:a.visuals_2_3.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_2_4",geometry:a.visuals_2_4.geometry,material:s.universalrobots_darkgrey})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J02",position:[-.425,0,0],children:[o.jsxs("group",{name:"link_3",position:[.425,0,.089],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.universalrobots_black}),o.jsx("mesh",{name:"visuals_3_2",geometry:a.visuals_3_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_3_3",geometry:a.visuals_3_3.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_3_4",geometry:a.visuals_3_4.geometry,material:s.universalrobots_stainlesssteel})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J03",position:[-.392,0,0],children:[o.jsxs("group",{name:"link_4",position:[.817,0,.089],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_4_3",geometry:a.visuals_4_3.geometry,material:s.universalrobots_black})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J04",position:[0,.109,0],rotation:[Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_5",position:[.817,.089,.109],rotation:[Math.PI,0,0],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.universalrobots_darkgrey}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.universalrobots_lightblue}),o.jsx("mesh",{name:"visuals_5_2",geometry:a.visuals_5_2.geometry,material:s.universalrobots_aluminum}),o.jsx("mesh",{name:"visuals_5_3",geometry:a.visuals_5_3.geometry,material:s.universalrobots_black})]}),o.jsxs(b.animated.group,{name:"UNIVERSALROBOTS_UR5CB_J05",position:[0,.095,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.universalrobots_stainlesssteel,position:[.817,-.109,-.005],rotation:[-Math.PI/2,0,0]}),o.jsx("group",{ref:t,name:"UNIVERSALROBOTS_UR5CB_FLG",position:[0,.082,0]})]})]})]})]})]})]}),o.jsx("mesh",{name:"link_0",geometry:a.link_0.geometry,material:s.universalrobots_aluminum})]})})}function G1({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"UR5e",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J02",position:[0,.162,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J03",position:[-.425,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J04",position:[-.392,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J05",position:[0,.133,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"UR5e_J06",position:[0,.1,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"UR5e_FLG",position:[0,.1,0]}),o.jsx("group",{name:"UR5e_L06",position:[0,.1,0],rotation:[0,0,-Math.PI],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000255",geometry:a["C-1000255"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000255_1",geometry:a["C-1000255_1"].geometry,material:s.Metal})]})})]}),o.jsx("group",{name:"UR5e_L05",rotation:[-Math.PI/2,-Math.PI/3,0],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000253",geometry:a["C-1000253"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000253_1",geometry:a["C-1000253_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000253_2",geometry:a["C-1000253_2"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000253_3",geometry:a["C-1000253_3"].geometry,material:s.DarkGray})]})})]}),o.jsx("group",{name:"UR5e_L04",rotation:[0,-Math.PI/3,0],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000251",geometry:a["C-1000251"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000251_1",geometry:a["C-1000251_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000251_2",geometry:a["C-1000251_2"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000251_3",geometry:a["C-1000251_3"].geometry,material:s.DarkGray})]})})]}),o.jsx("group",{name:"UR5e_L03",children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000250",geometry:a["C-1000250"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000250_1",geometry:a["C-1000250_1"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000250_2",geometry:a["C-1000250_2"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000250_3",geometry:a["C-1000250_3"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000250_4",geometry:a["C-1000250_4"].geometry,material:s.Metal})]})})]}),o.jsx("group",{name:"UR5e_L02",rotation:[0,-Math.PI/2,0],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000249",geometry:a["C-1000249"].geometry,material:s.Metal}),o.jsx("mesh",{name:"C-1000249_1",geometry:a["C-1000249_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000249_2",geometry:a["C-1000249_2"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000249_3",geometry:a["C-1000249_3"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000249_4",geometry:a["C-1000249_4"].geometry,material:s.Metal})]})})]}),o.jsx("group",{name:"UR5e_L01",rotation:[Math.PI/2,0,0],children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000248",geometry:a["C-1000248"].geometry,material:s.DarkGray}),o.jsx("mesh",{name:"C-1000248_1",geometry:a["C-1000248_1"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000248_2",geometry:a["C-1000248_2"].geometry,material:s.Blue}),o.jsx("mesh",{name:"C-1000248_3",geometry:a["C-1000248_3"].geometry,material:s.Metal})]})})]}),o.jsx("group",{name:"UR5e_L00",children:o.jsxs(o.Fragment,{children:[o.jsx("mesh",{name:"C-1000257",geometry:a["C-1000257"].geometry,material:s.Black}),o.jsx("mesh",{name:"C-1000257_1",geometry:a["C-1000257_1"].geometry,material:s.Metal})]})})]})})})})}Mu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0],rotationSign:[1,-1,1,1,1,1]};function Mu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsx("group",{name:"Scene",children:o.jsxs("group",{name:"AR1440",rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J01",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J02",position:[.155,0,0],rotation:[Math.PI/2,0,Math.PI],children:[o.jsxs(b.animated.group,{name:"AR1440_J03",position:[.614,0,0],rotation:[Math.PI,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J04",position:[.2,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J05",position:[0,-.64,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1440_J06",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"AR1440_FLG",position:[0,-.1,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"AR1440_L06_CAD",geometry:a.AR1440_L06_CAD.geometry,material:s.metall})]}),o.jsx("mesh",{name:"AR1440_L05_CAD",geometry:a.AR1440_L05_CAD.geometry,material:s.yaskawaBlueMetall})]}),o.jsxs("group",{name:"AR1440_L04_CAD",children:[o.jsx("mesh",{name:"AR1440_L04_CAD001",geometry:a.AR1440_L04_CAD001.geometry,material:s.yaskawaBlueMetall}),o.jsx("mesh",{name:"AR1440_L04_CAD001_1",geometry:a.AR1440_L04_CAD001_1.geometry,material:s.white})]})]}),o.jsxs("group",{name:"AR1440_L03_CAD",children:[o.jsx("mesh",{name:"AR1440_L03_CAD001",geometry:a.AR1440_L03_CAD001.geometry,material:s.yaskawaBlueMetall}),o.jsx("mesh",{name:"AR1440_L03_CAD001_1",geometry:a.AR1440_L03_CAD001_1.geometry,material:s.blackMetall})]})]}),o.jsx("mesh",{name:"AR1440_L02_CAD",geometry:a.AR1440_L02_CAD.geometry,material:s.yaskawaBlueMetall})]}),o.jsxs("group",{name:"AR1440_L01_CAD",children:[o.jsx("mesh",{name:"AR1440_L01_CAD001",geometry:a.AR1440_L01_CAD001.geometry,material:s.yaskawaBlueMetall}),o.jsx("mesh",{name:"AR1440_L01_CAD001_1",geometry:a.AR1440_L01_CAD001_1.geometry,material:s.blackMetall})]})]}),o.jsx("mesh",{name:"AR1440_L00_CAD",geometry:a.AR1440_L00_CAD.geometry,material:s.yaskawaBlueMetall,position:[0,0,.45],rotation:[-Math.PI/2,0,0]})]})})})})}ku.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0],rotationSign:[1,-1,1,1,1,1]};function ku({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"AR1730_J00",children:[o.jsxs(b.animated.group,{name:"AR1730_J01",position:[.15,0,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"AR1730_J02",position:[.76,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs(b.animated.group,{name:"AR1730_J03",position:[.2,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1730_J04",position:[0,-.795,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR1730_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"AR1730_FLG",position:[0,-.1,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"AR1730_L06",geometry:a.AR1730_L06.geometry,material:s.Metal,rotation:[Math.PI/2,-Math.PI/2,0]})]}),o.jsx("mesh",{name:"AR1730_L05",geometry:a.AR1730_L05.geometry,material:s.Blue,rotation:[Math.PI/2,0,Math.PI/2]})]}),o.jsxs("group",{name:"AR1730_L04",position:[0,-.302,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"_R_AXIS_SW0001002",geometry:a._R_AXIS_SW0001002.geometry,material:s.Blue}),o.jsx("mesh",{name:"_R_AXIS_SW0001002_1",geometry:a._R_AXIS_SW0001002_1.geometry,material:s.White})]})]}),o.jsxs("group",{name:"AR1730_L03",rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"_U_AXIS_SW0001002",geometry:a._U_AXIS_SW0001002.geometry,material:s.Blue}),o.jsx("mesh",{name:"_U_AXIS_SW0001002_1",geometry:a._U_AXIS_SW0001002_1.geometry,material:s.Black})]})]}),o.jsx("mesh",{name:"AR1730_L02",geometry:a.AR1730_L02.geometry,material:s.Blue,position:[0,-.157,0],rotation:[-Math.PI,-1.571,0]})]}),o.jsxs("group",{name:"AR1730_L01",position:[0,-.336,0],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"_S_AXIS_SW0001002",geometry:a._S_AXIS_SW0001002.geometry,material:s.Blue}),o.jsx("mesh",{name:"_S_AXIS_SW0001002_1",geometry:a._S_AXIS_SW0001002_1.geometry,material:s.Black})]})]}),o.jsx("mesh",{name:"AR1730_L00",geometry:a.AR1730_L00.geometry,material:s.Blue,position:[0,-.505,0],rotation:[Math.PI/2,0,-Math.PI/2]})]})})})}Iu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function Iu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"shape",geometry:a.shape.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape_1",geometry:a.shape_1.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape_2",geometry:a.shape_2.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape_3",geometry:a.shape_3.geometry,material:s.yaskawa_metalsilver})]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J00",children:[o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"shape001",geometry:a.shape001.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape001_1",geometry:a.shape001_1.geometry,material:s.yaskawa_blue})]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J01",position:[.15,0,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsx("mesh",{name:"link_2",geometry:a.link_2.geometry,material:s.yaskawa_blue,position:[0,0,.15],rotation:[Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J02",position:[.76,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs("group",{name:"link_3",position:[-.76,0,-.15],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape003",geometry:a.shape003.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape003_1",geometry:a.shape003_1.geometry,material:s.yaskawa_blue})]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J03",position:[.2,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_4",geometry:a.link_4.geometry,material:s.yaskawa_blue,position:[-.96,.15,0],rotation:[0,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J04",position:[0,-1.082,0],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_5",geometry:a.link_5.geometry,material:s.yaskawa_blue,position:[-.96,0,-1.232],rotation:[-Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_AR2010_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.yaskawa_metalsilver,position:[-.96,1.232,0],rotation:[0,0,-Math.PI/2]}),o.jsx("group",{ref:t,name:"YASKAWA_AR2010_FLG",position:[0,-.1,0],rotation:[-Math.PI,0,0]})]})]})]})]})]})]})]})})}Tu.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0],rotationSign:[1,-1,1,1,1,1]};function Tu({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs(b.animated.group,{name:"AR3120_J00",children:[o.jsxs(b.animated.group,{name:"AR3120_J01",position:[.145,0,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"AR3120_J02",position:[1.15,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs(b.animated.group,{name:"AR3120_J03",position:[.25,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR3120_J04",position:[0,-1.812,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"AR3120_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"AR3120_FLG",position:[0,-.1,0],rotation:[-Math.PI,0,0]}),o.jsx("mesh",{name:"AR3120_L06",geometry:a.AR3120_L06.geometry,material:s["Metal.001"],rotation:[Math.PI/2,-Math.PI/2,0]})]}),o.jsx("mesh",{name:"AR3120_L05",geometry:a.AR3120_L05.geometry,material:s["Blue.001"],rotation:[Math.PI/2,0,Math.PI/2]})]}),o.jsxs("group",{name:"AR3120_L04",rotation:[Math.PI/2,-Math.PI/2,0],children:[o.jsx("mesh",{name:"R_AXIS_GP20HL001",geometry:a.R_AXIS_GP20HL001.geometry,material:s["Blue.001"]}),o.jsx("mesh",{name:"R_AXIS_GP20HL001_1",geometry:a.R_AXIS_GP20HL001_1.geometry,material:s["White.001"]})]})]}),o.jsxs("group",{name:"AR3120_L03",rotation:[Math.PI,0,-Math.PI/2],children:[o.jsx("mesh",{name:"Mesh_3001",geometry:a.Mesh_3001.geometry,material:s["Blue.001"]}),o.jsx("mesh",{name:"Mesh_3001_1",geometry:a.Mesh_3001_1.geometry,material:s["Black.001"]})]})]}),o.jsx("mesh",{name:"AR3120_L02",geometry:a.AR3120_L02.geometry,material:s["Blue.001"],position:[0,-.146,0],rotation:[Math.PI,0,0]})]}),o.jsxs("group",{name:"AR3120_L01",position:[0,-.228,0],rotation:[0,-1.571,0],children:[o.jsx("mesh",{name:"S_AXIS_GP20HL001",geometry:a.S_AXIS_GP20HL001.geometry,material:s["Blue.001"]}),o.jsx("mesh",{name:"S_AXIS_GP20HL001_1",geometry:a.S_AXIS_GP20HL001_1.geometry,material:s["Black.001"]})]})]}),o.jsx("mesh",{name:"AR3120_L00",geometry:a.AR3120_L00.geometry,material:s["Blue.001"],position:[0,-.54,0]})]})})})}gs.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function gs({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals",geometry:a.visuals.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"visuals_2",geometry:a.visuals_2.geometry,material:s.yaskawa_metalsilver})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J00",children:[o.jsx("mesh",{name:"link_1",geometry:a.link_1.geometry,material:s.yaskawa_blue}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J01",position:[.04,0,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsx("mesh",{name:"link_2",geometry:a.link_2.geometry,material:s.yaskawa_blue,position:[0,0,.04],rotation:[Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J02",position:[.445,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs("group",{name:"link_3",position:[-.445,0,-.04],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals003",geometry:a.visuals003.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"visuals003_1",geometry:a.visuals003_1.geometry,material:s.material_Material_Metall__1_}),o.jsx("mesh",{name:"visuals003_2",geometry:a.visuals003_2.geometry,material:s.yaskawa_black})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J03",position:[.04,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsxs("group",{name:"link_4",position:[-.485,.04,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals004",geometry:a.visuals004.geometry,material:s.yaskawa_white}),o.jsx("mesh",{name:"visuals004_1",geometry:a.visuals004_1.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"visuals004_2",geometry:a.visuals004_2.geometry,material:s.yaskawa_blue})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J04",position:[0,-.44,0],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_5",geometry:a.link_5.geometry,material:s.yaskawa_blue,position:[-.485,0,-.48],rotation:[-Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP7_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.yaskawa_metalgold,position:[-.485,.48,0],rotation:[0,0,-Math.PI/2]}),o.jsx("group",{ref:t,name:"YASKAWA_GP7_FLG",position:[0,-.08,0],rotation:[-Math.PI,0,0]})]})]})]})]})]})]})]})})})}Ou.config={rotationOffsets:[0,-Math.PI/2,0,0,0,0]};function Ou({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx(o.Fragment,{children:o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"shape439",geometry:a.shape439.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape439_1",geometry:a.shape439_1.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape439_2",geometry:a.shape439_2.geometry,material:s.yaskawa_black})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J00",position:[0,-.54,0],children:[o.jsxs("group",{name:"link_1",position:[0,.54,0],children:[o.jsx("mesh",{name:"shape320",geometry:a.shape320.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape320_1",geometry:a.shape320_1.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape320_2",geometry:a.shape320_2.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape320_3",geometry:a.shape320_3.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape320_4",geometry:a.shape320_4.geometry,material:s.yaskawa_white}),o.jsx("mesh",{name:"shape320_5",geometry:a.shape320_5.geometry,material:s.yaskawa_black})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J01",position:[.145,.54,0],rotation:[-Math.PI/2,-Math.PI/2,0],children:[o.jsxs("group",{name:"link_2",position:[0,0,.145],rotation:[Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape440",geometry:a.shape440.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape440_1",geometry:a.shape440_1.geometry,material:s.yaskawa_white}),o.jsx("mesh",{name:"shape440_2",geometry:a.shape440_2.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape440_3",geometry:a.shape440_3.geometry,material:s.yaskawa_black})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J02",position:[.87,0,0],rotation:[-Math.PI,0,0],children:[o.jsxs("group",{name:"link_3",position:[-.87,0,-.145],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"shape341",geometry:a.shape341.geometry,material:s.yaskawa_blue}),o.jsx("mesh",{name:"shape341_1",geometry:a.shape341_1.geometry,material:s.yaskawa_white}),o.jsx("mesh",{name:"shape341_2",geometry:a.shape341_2.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape341_3",geometry:a.shape341_3.geometry,material:s.yaskawa_black}),o.jsx("mesh",{name:"shape341_4",geometry:a.shape341_4.geometry,material:s.yaskawa_metalsilver}),o.jsx("mesh",{name:"shape341_5",geometry:a.shape341_5.geometry,material:s.yaskawa_metalsilver})]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J03",position:[.21,0,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_4",geometry:a.link_4.geometry,material:s.yaskawa_blue,position:[-1.08,.145,0],rotation:[0,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J04",position:[0,-1.025,0],rotation:[Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_5",geometry:a.link_5.geometry,material:s.yaskawa_blue,position:[-1.08,0,-1.17],rotation:[-Math.PI/2,0,-Math.PI/2]}),o.jsxs(b.animated.group,{name:"YASKAWA_GP50_J05",rotation:[-Math.PI/2,0,0],children:[o.jsx("mesh",{name:"link_6",geometry:a.link_6.geometry,material:s.yaskawa_metalsilver,position:[-1.08,1.17,0],rotation:[0,0,-Math.PI/2]}),o.jsx("group",{ref:t,name:"YASKAWA_GP50_FLG",position:[0,-.175,0],rotation:[-Math.PI,0,0]})]})]})]})]})]})]})]})})})}const z1="(^joint_[0-9]+$)|(_J[0-9]+$)";function Eu(e){return e.children.length===0?[e]:[e,...e.children.flatMap(t=>Eu(t))]}function K1(e,t){return new RegExp(t??z1).test(e)}function Lu(e,t){return Eu(e).filter(r=>K1(r.name,t))}function Nu({rapidlyChangingMotionState:e,jointCollector:t,onRotationChanged:r,robotConfig:n,children:a}){b.Globals.assign({frameLoop:"always"});const s=Y.useRef([]),i=Y.useRef([]),{invalidate:l}=Xu.useThree();function u(_){_&&(i.current=t?t(_):Lu(_),d(),l())}function c(_){s.current=_,y.start(Object.assign({},s.current))}const m=(n==null?void 0:n.rotationSign)||[1,1,1,1,1,1],f=(n==null?void 0:n.rotationOffsets)||[0,0,0,0,0,0];function d(){const _=i.current.map((p,j)=>x[j].get());if(r)r(i.current,_);else for(const[p,j]of i.current.entries())j.rotation.y=m[p]*_[p]+f[p]}dl(()=>{const _=e.state.joint_position.joints.filter(p=>p!==void 0);requestAnimationFrame(()=>c(_))});const[x,y]=b.useSpring(()=>({...Object.assign({},e.state.joint_position.joints),onChange:()=>{d(),l()},onResolve:()=>{d()}}));return o.jsx("group",{ref:u,children:a})}const Ri="line",Ai="mesh";function Va({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new vt.Matrix4;function a(u,c){const m=new vt.Vector3,f=new vt.Quaternion,d=new vt.Vector3;n.decompose(m,f,d);const x=m.clone(),y=new vt.Matrix4().makeRotationY(u.theta+c*(u.reverse_rotation_direction?-1:1)).multiply(new vt.Matrix4().makeTranslation(0,u.d/1e3,0)).multiply(new vt.Matrix4().makeTranslation(u.a/1e3,0,0)).multiply(new vt.Matrix4().makeRotationX(u.alpha));return n.multiply(y),n.decompose(m,f,d),{a:x,b:m}}function s(u,c,m,f){if(!t)return;const d=t[u];if(!d)return;const{a:x,b:y}=a(d,f);c.geometry.setPositions([x.toArray(),y.toArray()].flat()),m.position.set(y.x,y.y,y.z)}function i(u,c){n.identity(),u.forEach((m,f)=>{s(f,m.getObjectByName(Ri),m.getObjectByName(Ai),c[f])})}function l(u){return Lu(u,"^group_[0-9]+$")}return o.jsx(o.Fragment,{children:o.jsx(Nu,{rapidlyChangingMotionState:e,jointCollector:l,onRotationChanged:i,children:o.jsxs("group",{...r,name:"Scene",children:[o.jsxs("mesh",{children:[o.jsx("sphereGeometry",{args:[.01,32,32]}),o.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),t.map((u,c)=>{const{a:m,b:f}=a(u,e.state.joint_position.joints[c]??0);return o.jsxs("group",{name:`group_${c}`,children:[o.jsx(z.Line,{name:Ri,points:[m,f],color:"white",lineWidth:5}),o.jsxs("mesh",{name:Ai,position:f,children:[o.jsx("sphereGeometry",{args:[.01,32,32]}),o.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+c)]},"group_"+c)})]})})})}const W1=console.warn;function H1(){return Y.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&W1(e)}},[]),o.jsx(o.Fragment,{})}$u.config={rotationOffsets:[0,Math.PI/2,0,0,0,0]};function $u({modelURL:e,flangeRef:t,...r}){const n=z.useGLTF(e),a=n.nodes,s=n.materials;return o.jsx("group",{...r,dispose:null,children:o.jsxs("group",{name:"Scene",children:[o.jsxs("group",{name:"link_0",children:[o.jsx("mesh",{name:"visuals_0",geometry:a.visuals_0.geometry,material:s.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_0_1",geometry:a.visuals_0_1.geometry,material:s.fanuc_stainless_steel}),o.jsx("mesh",{name:"visuals_0_2",geometry:a.visuals_0_2.geometry,material:s.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_0_3",geometry:a.visuals_0_3.geometry,material:s.fanuc_stainless_steel}),o.jsx("mesh",{name:"visuals_0_4",geometry:a.visuals_0_4.geometry,material:s.fanuc_aluminium_black}),o.jsx("mesh",{name:"visuals_0_5",geometry:a.visuals_0_5.geometry,material:s.fanuc_aluminium_black}),o.jsx("mesh",{name:"visuals_0_6",geometry:a.visuals_0_6.geometry,material:s.fanuc_rubber})]}),o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J00",children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J01",rotation:[Math.PI/2,Math.PI/2,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J02",position:[.71,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J03",rotation:[-Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J04",position:[0,-.54,0],rotation:[Math.PI/2,0,0],children:[o.jsxs(b.animated.group,{name:"FANUC_CRX10IAL_J05",position:[0,.15,0],rotation:[-Math.PI/2,0,0],children:[o.jsx("group",{ref:t,name:"FANUC_CRX10IAL_FLG",position:[0,-.16,0],rotation:[-Math.PI,0,0]}),o.jsxs("group",{name:"link_6",position:[-.71,.54,-.15],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_6",geometry:a.visuals_6.geometry,material:s.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_6_1",geometry:a.visuals_6_1.geometry,material:s.fanuc_stainless_steel}),o.jsx("mesh",{name:"visuals_6_2",geometry:a.visuals_6_2.geometry,material:s.fanuc_aluminium_black}),o.jsx("mesh",{name:"visuals_6_3",geometry:a.visuals_6_3.geometry,material:s.fanuc_aluminium_black})]})]}),o.jsxs("group",{name:"link_5",position:[-.71,0,-.54],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_5",geometry:a.visuals_5.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_5_1",geometry:a.visuals_5_1.geometry,material:s.fanuc_green}),o.jsx("mesh",{name:"visuals_5_2",geometry:a.visuals_5_2.geometry,material:s.fanuc_stainless_steel})]})]}),o.jsxs("group",{name:"link_4",position:[-.71,0,0],rotation:[0,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_4",geometry:a.visuals_4.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_4_1",geometry:a.visuals_4_1.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_4_2",geometry:a.visuals_4_2.geometry,material:s.fanuc_metal_black}),o.jsx("mesh",{name:"visuals_4_3",geometry:a.visuals_4_3.geometry,material:s.fanuc_red})]})]}),o.jsxs("group",{name:"link_3",position:[-.71,0,0],rotation:[-Math.PI/2,0,-Math.PI/2],children:[o.jsx("mesh",{name:"visuals_3",geometry:a.visuals_3.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_3_1",geometry:a.visuals_3_1.geometry,material:s.fanuc_green})]})]}),o.jsx("mesh",{name:"link_2",geometry:a.link_2.geometry,material:s.fanuc_white,rotation:[-Math.PI/2,0,-Math.PI/2]})]}),o.jsxs("group",{name:"link_1",children:[o.jsx("mesh",{name:"visuals_1",geometry:a.visuals_1.geometry,material:s.fanuc_green}),o.jsx("mesh",{name:"visuals_1_1",geometry:a.visuals_1_1.geometry,material:s.fanuc_white}),o.jsx("mesh",{name:"visuals_1_2",geometry:a.visuals_1_2.geometry,material:s.fanuc_green})]})]})]})})}function Js(e){return`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${e}.glb`}const Fu=sn(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=Js,isGhost:a=!1,flangeRef:s,...i})=>{let l=null;const u=Y.useRef(),c=Y.useCallback(d=>{d&&(u.current=d,a&&m())},[a]),m=()=>{!u.current||u.current.userData.isGhost||(u.current.traverse(d=>{if(d instanceof Me.Mesh){d.material instanceof Me.Material&&(d.material.colorWrite=!0);const x=d.clone(),y=d.clone();x.material=new Me.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:1}),x.userData.isGhost=!0,y.material=new Me.MeshStandardMaterial({color:"#D91433",opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-1}),y.userData.isGhost=!0,d.parent&&(d.parent.add(x),d.parent.add(y))}}),u.current.userData.isGhost=!0)},f=()=>{if(!u.current||!u.current.userData.isGhost)return;const d=[];u.current.traverse(x=>{var y;x instanceof Me.Mesh&&((y=x.userData)!=null&&y.isGhost?d.push(x):x.material instanceof Me.Material&&(x.material.colorWrite=!0))}),d.forEach(x=>{x.parent&&x.parent.remove(x)}),u.current.userData.isGhost=!0};switch(Y.useEffect(()=>{a?m():f()},[a]),t){case"UniversalRobots_UR3CB":l=J1;break;case"UniversalRobots_UR3e":l=V1;break;case"UniversalRobots_UR5":l=Si;break;case"UniversalRobots_UR5CB":l=Si;break;case"UniversalRobots_UR5e":l=G1;break;case"UniversalRobots_UR10CB":l=U1;break;case"UniversalRobots_UR10e":l=B1;break;case"Yaskawa_AR900":l=gs;break;case"Yaskawa_GP7":l=gs;break;case"Yaskawa_AR1440":l=Mu;break;case"Yaskawa_AR1730":l=ku;break;case"Yaskawa_AR2010":l=Iu;break;case"Yaskawa_AR3120":l=Tu;break;case"Yaskawa_GP50":l=Ou;break;case"FANUC_CRX10iA":l=yu;break;case"FANUC_CRX10iAL":l=$u;break;case"FANUC_CRX20iAL":l=bu;break;case"FANUC_CRX25iA":l=xu;break;case"FANUC_CRX25iAL":l=vu;break;case"FANUC_LR_Mate_200iD":l=ju;break;case"FANUC_LR_Mate_200iD4S":l=Su;break;case"FANUC_LR_Mate_200iD7L":l=Ru;break;case"FANUC_ARC_Mate_120iD":l=hs;break;case"FANUC_ARC_Mate_120iD35":l=hs;break;case"FANUC_ARC_Mate_100iD":l=_u;break;case"KUKA_KR210_R2700":l=wu;break;case"KUKA_KR270_R2700":l=Pu;break;case"KUKA_KR16_R2010_2":l=Au;break;case"KUKA_KR6_R700_2":l=Cu;break;case"ABB_1200_07_7":l=gu;break;case"ABB_1300_115_10":l=pu;break;default:console.warn(`Unknown robot type: ${t}`),l=null}return o.jsxs(Zu.ErrorBoundary,{fallback:o.jsx(Va,{rapidlyChangingMotionState:e,dhParameters:r,...i}),children:[o.jsx(Y.Suspense,{fallback:o.jsx(Va,{rapidlyChangingMotionState:e,dhParameters:r,...i}),children:o.jsx("group",{ref:c,children:l?o.jsx(Nu,{rapidlyChangingMotionState:e,robotConfig:l.config,children:o.jsx(l,{modelURL:n(t),flangeRef:s,...i})}):o.jsx(Va,{rapidlyChangingMotionState:e,dhParameters:r})})}),o.jsx(H1,{})]})});function X1({connectedMotionGroup:e,getModel:t=Js,isGhost:r=!1,flangeRef:n,...a}){return e.dhParameters?o.jsx(Fu,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:e.modelFromController||"",dhParameters:e.dhParameters,getModel:t,isGhost:r,flangeRef:n,...a}):null}const q1=T.styled(T.Fab,{shouldForwardProp:e=>e!=="selected"})(({theme:e})=>{var t,r,n;return{borderRadius:"20px","&:hover":{background:(t=e.palette.backgroundPaperElevation)==null?void 0:t[7]},variants:[{props:({selected:a})=>!a,style:{background:(r=e.palette.backgroundPaperElevation)==null?void 0:r[0],color:e.palette.action.disabled,"> img":{opacity:.4}}},{props:({selected:a})=>a,style:{background:(n=e.palette.backgroundPaperElevation)==null?void 0:n[11],border:`1px solid ${e.palette.divider}`,color:e.palette.primary.contrastText}}]}}),Y1=Y.forwardRef((e,t)=>o.jsx(q1,{ref:t,selected:e.selected,...e,color:"secondary",variant:"circular"})),Z1={$schema:"https://raw.githubusercontent.com/martinring/tmlanguage/master/tmlanguage.json",name:"wandelscript",patterns:[{include:"#keywords"},{include:"#strings"},{include:"#comments"},{include:"#functions"}],repository:{keywords:{patterns:[{name:"keyword.control.flow.wandelscript",match:"\\b(move|via|to|interrupt|def|False|True|for|if|else|elif|while|return|switch|activate|deactivate|print)\\b"}]},strings:{name:"string.quoted.double.wandelscript",begin:'"',end:'"',patterns:[{name:"constant.character.escape.wandelscript",match:"\\\\."}]},comments:{patterns:[{begin:"#",beginCaptures:{0:{name:"punctuation.definition.comment.wandelscript"}},end:"$",name:"comment.line.number-sign.wandelscript"}]},functions:{patterns:[{match:"[a-zA-Z_-]+\\(",name:"entity.name.function.wandelscript"}]}},scopeName:"source.wandelscript"},Q1=Y.lazy(()=>import("@monaco-editor/react")),eb=sn(e=>{const t=T.useTheme(),r=Y.useRef(null),[n,a]=Y.useState("dark-plus"),s=t.palette.mode==="dark"?"dark-plus":"light-plus";async function i(l){const[{createHighlighter:u},{shikiToMonaco:c}]=await Promise.all([import("shiki"),import("@shikijs/monaco")]);l.languages.register({id:"wandelscript"}),l.languages.setLanguageConfiguration("wandelscript",{comments:{lineComment:"#"},brackets:[["(",")"],["[","]"]],autoClosingPairs:[{open:"[",close:"]"},{open:"(",close:")"}],surroundingPairs:[{open:"[",close:"]"},{open:"(",close:")"}]}),r.current||(r.current=await u({langs:[Z1],themes:["dark-plus","light-plus"]})),c(r.current,l),l.editor.defineTheme(s,{base:t.palette.mode==="dark"?"vs-dark":"vs",inherit:!0,rules:[],colors:t.palette.mode==="dark"?{"editor.background":"#262F42","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#494949"}:{}}),e.monacoSetup&&e.monacoSetup(l),a(s)}return o.jsx(Y.Suspense,{fallback:o.jsx(ha,{}),children:o.jsx(Q1,{value:e.code,onMount:(l,u)=>{i(u)},onChange:e.onChange,defaultLanguage:"wandelscript",theme:n,options:{minimap:{enabled:!1},wordWrap:"on",automaticLayout:!0,...e.monacoOptions}})})});function Du(){var t,r,n,a,s,i;const e=T.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(n=(r=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:r.tonal)==null?void 0:n.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${e.palette.divider}`}}]},MuiDivider:{styleOverrides:{root:{border:"1px solid"}}},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(a=e.palette.backgroundPaperElevation)==null?void 0:a[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiFab:{styleOverrides:{root:{background:(i=(s=e.paletteExt)==null?void 0:s.secondary)==null?void 0:i.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:"rgba(241, 77, 66, 1)",color:"rgba(255, 255, 255, 1)"},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:"rgba(28, 188, 135, 1)",color:"rgba(255, 255, 255, 1)"},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:"rgba(2, 136, 209, 1)",color:"rgba(255, 255, 255, 1)"}}}}}}function tb(){const e=Du();return e.palette.mode="light",e}function rb(e){var r,n,a,s;let t=!0;return((r=e.palette)==null?void 0:r.mode)==="light"?t=!1:((n=e.palette)==null?void 0:n.mode)!=="dark"&&(t=!(typeof window<"u"&&((s=(a=window.matchMedia)==null?void 0:a.call(window,"(prefers-color-scheme: light)"))==null?void 0:s.matches))),t?Du():tb()}exports.JoggingCartesianAxisControl=es;exports.JoggingJointRotationControl=yl;exports.JoggingPanel=L1;exports.LoadingCover=ha;exports.LoadingErrorMessage=Gl;exports.NoMotionGroupModal=F1;exports.PresetEnvironment=tc;exports.Robot=X1;exports.SafetyZonesRenderer=ac;exports.SelectableFab=Y1;exports.SupportedRobot=Fu;exports.VelocitySlider=iu;exports.WandelscriptEditor=eb;exports.createNovaMuiTheme=rb;exports.defaultAxisConfig=D1;exports.defaultGetModel=Js;exports.useAnimationFrame=jr;exports.useAutorun=dl;exports.useMounted=ia;exports.useReaction=ks;
 //# sourceMappingURL=index.cjs.map