@wandelbots/wandelbots-js-react-components 1.3.0 → 1.3.2

package/src/components/robots/KUKA_KR270_R2700.tsx

@@ -0,0 +1,244 @@
+import { useGLTF } from "@react-three/drei"
+import type * as THREE from "three"
+import type { RobotProps } from "./SupportedRobot"
+import { animated } from "@react-spring/three"
+import RobotAnimator from "./RobotAnimator"
+
+export function KUKA_KR270_R2700({
+  modelURL,
+  connectedMotionGroup,
+  ...props
+}: RobotProps) {
+  const gltf = useGLTF(modelURL) as any
+
+  const nodes = gltf.nodes
+  const materials = gltf.materials
+
+  const rotationOffsets = [0, 0, -Math.PI / 2, 0, 0, 0]
+
+  function setRotation(jointObjects: THREE.Object3D[], jointValues: number[]) {
+    jointObjects.forEach(
+      (object, index) =>
+        (object.rotation.y = jointValues[index]! + rotationOffsets[index]!),
+    )
+  }
+
+  return (
+    <>
+      <RobotAnimator
+        connectedMotionGroup={connectedMotionGroup}
+        robotRootObjectName="Scene"
+        onRotationChanged={setRotation}
+      />
+      <group {...props} dispose={null}>
+        <group name="Scene">
+          <group name="kuka_kr270_2700_ultra">
+            <animated.group name="joint_01">
+              <animated.group
+                name="joint_02"
+                position={[0.35, 0.675, 0]}
+                rotation={[-Math.PI / 2, 0, 0]}
+              >
+                <animated.group
+                  name="joint_03"
+                  position={[1.15, 0, 0]}
+                  rotation={[0, -Math.PI / 2, 0]}
+                >
+                  <animated.group
+                    name="joint_04"
+                    position={[-0.041, 0, 0]}
+                    rotation={[Math.PI / 2, 0, 0]}
+                  >
+                    <animated.group
+                      name="joint_05"
+                      position={[0, -1.2, 0]}
+                      rotation={[-Math.PI / 2, 0, 0]}
+                    >
+                      <animated.group
+                        name="joint_06"
+                        rotation={[Math.PI / 2, 0, 0]}
+                      >
+                        <group
+                          name="flange"
+                          position={[0, -0.24, 0]}
+                          rotation={[-Math.PI, 0, 0]}
+                        />
+                        <group
+                          name="link_6"
+                          position={[0, -0.213, 0]}
+                          rotation={[0, 0, -Math.PI / 2]}
+                        >
+                          <group name="visuals006">
+                            <mesh
+                              name="visuals006_1"
+                              castShadow
+                              receiveShadow
+                              geometry={nodes.visuals006_1.geometry}
+                              material={materials.material_Material_Farbe__1_}
+                            />
+                            <mesh
+                              name="visuals006_2"
+                              castShadow
+                              receiveShadow
+                              geometry={nodes.visuals006_2.geometry}
+                              material={materials.material_Material_Metall}
+                            />
+                          </group>
+                        </group>
+                      </animated.group>
+                      <group
+                        name="link_5"
+                        position={[0, 0.044, 0]}
+                        rotation={[Math.PI / 2, 0, -Math.PI / 2]}
+                      >
+                        <mesh
+                          name="visuals005"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes.visuals005.geometry}
+                          material={materials.material_Material_Farbe}
+                        />
+                      </group>
+                    </animated.group>
+                    <group
+                      name="link_4"
+                      position={[0, -0.954, 0]}
+                      rotation={[0, 0, -Math.PI / 2]}
+                    >
+                      <mesh
+                        name="visuals004"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.visuals004.geometry}
+                        material={materials.material_Material_Farbe}
+                      />
+                    </group>
+                  </animated.group>
+                  <group
+                    name="link_3"
+                    position={[0, -0.178, 0]}
+                    rotation={[Math.PI / 2, 0, -Math.PI / 2]}
+                  >
+                    <group name="visuals003">
+                      <mesh
+                        name="visuals003_1"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.visuals003_1.geometry}
+                        material={materials.material_Material_Farbe__1_}
+                      />
+                      <mesh
+                        name="visuals003_2"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.visuals003_2.geometry}
+                        material={materials.material_Material_Farbe__2_}
+                      />
+                      <mesh
+                        name="visuals003_3"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.visuals003_3.geometry}
+                        material={materials.material_Material_Metall}
+                      />
+                      <mesh
+                        name="visuals003_4"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.visuals003_4.geometry}
+                        material={materials.material_Material_Farbe}
+                      />
+                    </group>
+                  </group>
+                </animated.group>
+                <group name="link_2" rotation={[Math.PI / 2, 0, 0]}>
+                  <group name="visuals002">
+                    <mesh
+                      name="visuals002_1"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.visuals002_1.geometry}
+                      material={materials.material_Material_Farbe}
+                    />
+                    <mesh
+                      name="visuals002_2"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.visuals002_2.geometry}
+                      material={materials.material_Material_Farbe__1_}
+                    />
+                    <mesh
+                      name="visuals002_3"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.visuals002_3.geometry}
+                      material={materials.material_Material_Metall}
+                    />
+                    <mesh
+                      name="visuals002_4"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.visuals002_4.geometry}
+                      material={materials.material_Material_Farbe__2_}
+                    />
+                  </group>
+                </group>
+              </animated.group>
+              <group name="link_1" position={[0, 0.226, 0]}>
+                <group name="visuals001">
+                  <mesh
+                    name="visuals001_1"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.visuals001_1.geometry}
+                    material={materials.material_Material_Metall}
+                  />
+                  <mesh
+                    name="visuals001_2"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.visuals001_2.geometry}
+                    material={materials.material_Material_Farbe__1_}
+                  />
+                  <mesh
+                    name="visuals001_3"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.visuals001_3.geometry}
+                    material={materials.material_Material_Farbe__2_}
+                  />
+                  <mesh
+                    name="visuals001_4"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.visuals001_4.geometry}
+                    material={materials.material_Material_Farbe}
+                  />
+                </group>
+              </group>
+            </animated.group>
+            <group name="link_0-base">
+              <group name="joint_1" />
+              <group name="visuals">
+                <mesh
+                  name="visuals_1"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.visuals_1.geometry}
+                  material={materials.material_Material_Metall}
+                />
+                <mesh
+                  name="visuals_2"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.visuals_2.geometry}
+                  material={materials.material_Material_Farbe__1_}
+                />
+              </group>
+            </group>
+          </group>
+        </group>
+      </group>
+    </>
+  )
+}

package/src/components/robots/RobotAnimator.tsx

@@ -0,0 +1,83 @@
+import { useEffect, useRef } from "react"
+import { Globals, useSpring } from "@react-spring/three"
+import { useThree } from "@react-three/fiber"
+import type * as THREE from "three"
+import {
+  getAllJointsByName,
+  type RobotSceneJoint,
+} from "../utils/robotTreeQuery"
+import type { MotionStreamConnection } from "@wandelbots/wandelbots-js"
+import { useAutorun } from "../utils/hooks"
+
+type RobotAnimatorProps = {
+  connectedMotionGroup: MotionStreamConnection
+  robotRootObjectName: string
+  onRotationChanged: (joints: THREE.Object3D[], jointValues: number[]) => void
+  jointCollector?: (rootObject: THREE.Object3D) => RobotSceneJoint[]
+}
+
+export default function RobotAnimator({
+  connectedMotionGroup,
+  robotRootObjectName,
+  onRotationChanged,
+  jointCollector,
+}: RobotAnimatorProps) {
+  Globals.assign({ frameLoop: "always" })
+  const jointValues = useRef<number[]>([])
+  const jointObjects = useRef<THREE.Object3D[]>([])
+  const { scene, invalidate } = useThree()
+
+  useEffect(() => {
+    // All robots have a "Scene" object as root
+    // From this object the tree is traversed and all joints are extracted (ordered ASC)
+    const sceneObject = scene.getObjectByName(robotRootObjectName)
+    if (!sceneObject) {
+      return
+    }
+
+    jointObjects.current = jointCollector
+      ? jointCollector(sceneObject)
+      : getAllJointsByName(sceneObject)
+
+    // Set initial position
+    setRotation()
+    invalidate()
+  }, [])
+
+  function updateJoints(newJointValues: number[]) {
+    jointValues.current = newJointValues
+    setSpring.start(Object.assign({}, jointValues.current) as any)
+  }
+
+  function setRotation() {
+    const updatedJointValues = jointObjects.current.map((object, objectIndex) =>
+      (axisValues as any)[objectIndex].get(),
+    )
+    onRotationChanged(jointObjects.current, updatedJointValues)
+  }
+
+  useAutorun(() => {
+    const newJointValues =
+      connectedMotionGroup.rapidlyChangingMotionState.state.joint_position.joints.filter(
+        (item) => item !== undefined,
+      )
+
+    requestAnimationFrame(() => updateJoints(newJointValues))
+  })
+
+  const [axisValues, setSpring] = useSpring(() => ({
+    ...Object.assign(
+      {},
+      connectedMotionGroup.rapidlyChangingMotionState.state.joint_position
+        .joints,
+    ),
+    onChange: () => {
+      setRotation()
+      invalidate()
+    },
+    onResolve: () => {
+      setRotation()
+    },
+  }))
+  return null
+}

package/src/components/robots/SupportedRobot.tsx

@@ -0,0 +1,131 @@
+import { Suspense } from "react"
+
+import { UniversalRobots_UR3 } from "./UniversalRobots_UR3"
+import { UniversalRobots_UR3e } from "./UniversalRobots_UR3e"
+import { UniversalRobots_UR5 } from "./UniversalRobots_UR5"
+import { UniversalRobots_UR5e } from "./UniversalRobots_UR5e"
+import { UniversalRobots_UR10 } from "./UniversalRobots_UR10"
+import { UniversalRobots_UR10e } from "./UniversalRobots_UR10e"
+import { Yaskawa_AR900 } from "./Yaskawa_AR900"
+import { Yaskawa_AR1440 } from "./Yaskawa_AR1440"
+import { Yaskawa_AR1730 } from "./Yaskawa_AR1730"
+import { Yaskawa_AR2010 } from "./Yaskawa_AR2010"
+import { Yaskawa_AR3120 } from "./Yaskawa_AR3120"
+import { FANUC_CRX10iA } from "./FANUC_CRX10iA"
+import { FANUC_CRX25iA } from "./FANUC_CRX25iA"
+import { FANUC_CRX25iAL } from "./FANUC_CRX25iAL"
+import { KUKA_KR210_R2700 } from "./KUKA_KR210_R2700"
+import { KUKA_KR270_R2700 } from "./KUKA_KR270_R2700"
+import { FANUC_ARC_Mate_100iD } from "./FANUC_ARC_Mate_100iD"
+import { FANUC_ARC_Mate_120iD } from "./FANUC_ARC_Mate_120iD"
+import { ABB_1200_07_7 } from "./ABB_1200_07_7"
+
+import type { GroupProps } from "@react-three/fiber"
+import type { ConnectedMotionGroup } from "@wandelbots/wandelbots-js"
+import { DHRobot } from "./DHRobot"
+
+export type DHRobotProps = {
+  connectedMotionGroup: ConnectedMotionGroup
+} & GroupProps
+
+export type RobotProps = {
+  connectedMotionGroup: ConnectedMotionGroup
+  modelURL: string
+} & GroupProps
+
+export type SupportedRobotProps = {
+  connectedMotionGroup: ConnectedMotionGroup
+  getModel?: (modelFromController: string) => string
+} & GroupProps
+
+function defaultGetModel(modelFromController: string): string {
+  return `https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${modelFromController}.glb`
+}
+
+export function SupportedRobot({
+  connectedMotionGroup,
+  getModel = defaultGetModel,
+  ...props
+}: SupportedRobotProps) {
+  let Robot
+  const modelFromController = connectedMotionGroup.modelFromController
+  switch (modelFromController) {
+    case "UniversalRobots_UR3":
+      Robot = UniversalRobots_UR3
+      break
+    case "UniversalRobots_UR3e":
+      Robot = UniversalRobots_UR3e
+      break
+    case "UniversalRobots_UR5":
+      Robot = UniversalRobots_UR5
+      break
+    case "UniversalRobots_UR5e":
+      Robot = UniversalRobots_UR5e
+      break
+    case "UniversalRobots_UR10":
+      Robot = UniversalRobots_UR10
+      break
+    case "UniversalRobots_UR10e":
+      Robot = UniversalRobots_UR10e
+      break
+    case "Yaskawa_AR900":
+      Robot = Yaskawa_AR900
+      break
+    case "Yaskawa_GP7":
+      Robot = Yaskawa_AR900
+      break
+    case "Yaskawa_AR1440":
+      Robot = Yaskawa_AR1440
+      break
+    case "Yaskawa_AR1730":
+      Robot = Yaskawa_AR1730
+      break
+    case "Yaskawa_AR2010":
+      Robot = Yaskawa_AR2010
+      break
+    case "Yaskawa_AR3120":
+      Robot = Yaskawa_AR3120
+      break
+    case "FANUC_CRX10iA":
+      Robot = FANUC_CRX10iA
+      break
+    case "FANUC_CRX25iA":
+      Robot = FANUC_CRX25iA
+      break
+    case "FANUC_CRX25iAL":
+      Robot = FANUC_CRX25iAL
+      break
+    case "FANUC_ARC_Mate_120iD":
+      Robot = FANUC_ARC_Mate_120iD
+      break
+    case "FANUC_ARC_Mate_100iD":
+      Robot = FANUC_ARC_Mate_100iD
+      break
+    case "KUKA_KR210_R2700":
+      Robot = KUKA_KR210_R2700
+      break
+    case "KUKA_KR270_R2700":
+      Robot = KUKA_KR270_R2700
+      break
+    case "ABB_1200_07_7":
+      Robot = ABB_1200_07_7
+      break
+    default:
+      console.warn(`Unknown robot type: ${modelFromController}`)
+      Robot = DHRobot
+  }
+
+  return (
+    <Suspense
+      fallback={
+        <DHRobot connectedMotionGroup={connectedMotionGroup} {...props} />
+      }
+    >
+      <Robot
+        connectedMotionGroup={connectedMotionGroup}
+        modelURL={getModel(modelFromController||"")}
+        {...props}
+      />
+    </Suspense>
+  )
+}

package/src/components/robots/UniversalRobots_UR10.tsx

@@ -0,0 +1,112 @@
+import { useGLTF } from "@react-three/drei"
+import type * as THREE from "three"
+import type { RobotProps } from "./SupportedRobot"
+import RobotAnimator from "./RobotAnimator"
+import { animated } from "@react-spring/three"
+
+export function UniversalRobots_UR10({
+  modelURL,
+  connectedMotionGroup,
+  ...props
+}: RobotProps) {
+  const gltf = useGLTF(modelURL) as any
+  const nodes = gltf.nodes
+  const materials = gltf.materials
+
+  function setRotation(jointObjects: THREE.Object3D[], jointValues: number[]) {
+    jointObjects.forEach(
+      (object, index) => (object.rotation.y = jointValues[index]!),
+    )
+  }
+
+  return (
+    <>
+      <RobotAnimator
+        connectedMotionGroup={connectedMotionGroup}
+        robotRootObjectName="Scene"
+        onRotationChanged={setRotation}
+      />
+      <group {...props} dispose={null}>
+        <group name="Scene">
+          <group name="UR10" rotation={[Math.PI / 2, 0, 0]}>
+            <animated.group name="UR10_J01" rotation={[-Math.PI / 2, 0, 0]}>
+              <animated.group
+                name="UR10_J02"
+                position={[0, 0.126, 0]}
+                rotation={[Math.PI / 2, 0, 0]}
+              >
+                <animated.group name="UR10_J03" position={[-0.612, 0, 0]}>
+                  <animated.group name="UR10_J04" position={[-0.572, 0, 0]}>
+                    <animated.group
+                      name="UR10_J05"
+                      position={[0, 0.164, 0]}
+                      rotation={[Math.PI / 2, 0, 0]}
+                    >
+                      <animated.group
+                        name="UR10_J06"
+                        position={[0, 0.116, 0]}
+                        rotation={[-Math.PI / 2, 0, 0]}
+                      >
+                        <group name="UR10_FLG" position={[0, 0.092, 0]} />
+                        <mesh
+                          name="UR10_L06"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes.UR10_L06.geometry}
+                          material={materials.Standard}
+                        />
+                      </animated.group>
+                      <mesh
+                        name="UR10_L05"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.UR10_L05.geometry}
+                        material={materials.Standard}
+                      />
+                    </animated.group>
+                    <mesh
+                      name="UR10_L04"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.UR10_L04.geometry}
+                      material={materials.Standard}
+                    />
+                  </animated.group>
+                  <mesh
+                    name="UR10_L03"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.UR10_L03.geometry}
+                    material={materials.Standard}
+                  />
+                </animated.group>
+                <mesh
+                  name="UR10_L02"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.UR10_L02.geometry}
+                  material={materials.Standard}
+                />
+              </animated.group>
+              <mesh
+                name="UR10_L01"
+                castShadow
+                receiveShadow
+                geometry={nodes.UR10_L01.geometry}
+                material={materials.Standard}
+              />
+            </animated.group>
+            <mesh
+              name="UR10_L00"
+              castShadow
+              receiveShadow
+              geometry={nodes.UR10_L00.geometry}
+              material={materials.Standard}
+              rotation={[-Math.PI / 2, 0, 0]}
+            />
+          </group>
+        </group>
+      </group>
+    </>
+  )
+}