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

package/src/components/robots/UniversalRobots_UR10e.tsx

@@ -0,0 +1,275 @@
+import { animated } from "@react-spring/three"
+import { useGLTF } from "@react-three/drei"
+import type { RobotProps } from "./SupportedRobot"
+import RobotAnimator from "./RobotAnimator"
+import type * as THREE from "three"
+
+export function UniversalRobots_UR10e({
+  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="UR10e" rotation={[Math.PI / 2, 0, 0]}>
+            <animated.group name="UR10e_J01" rotation={[-Math.PI / 2, 0, 0]}>
+              <animated.group
+                name="UR10e_J02"
+                position={[0, 0.181, 0]}
+                rotation={[Math.PI / 2, 0, 0]}
+              >
+                <animated.group name="UR10e_J03" position={[-0.613, 0, 0]}>
+                  <animated.group name="UR10e_J04" position={[-0.572, 0, 0]}>
+                    <animated.group
+                      name="UR10e_J05"
+                      position={[0, 0.174, 0]}
+                      rotation={[Math.PI / 2, 0, 0]}
+                    >
+                      <animated.group
+                        name="UR10e_J06"
+                        position={[0, 0.12, 0]}
+                        rotation={[-Math.PI / 2, 0, 0]}
+                      >
+                        <animated.group
+                          name="UR10e_FLG"
+                          position={[1.184, -0.174, 0.061]}
+                          rotation={[-Math.PI / 2, 0, 0]}
+                        >
+                          <mesh
+                            name="C-1000493"
+                            geometry={nodes["C-1000493"].geometry}
+                            material={materials.Black}
+                            castShadow
+                            receiveShadow
+                          />
+                          <mesh
+                            name="C-1000493_1"
+                            geometry={nodes["C-1000493_1"].geometry}
+                            material={materials.Metal}
+                            castShadow
+                            receiveShadow
+                          />
+                        </animated.group>
+
+                        <group
+                          name="UR10e_L07"
+                          position={[0, 0.117, 0]}
+                        ></group>
+                      </animated.group>
+                      <group
+                        name="UR10e_L06"
+                        position={[1.184, 0.181, 0.174]}
+                        rotation={[Math.PI, 0, 0]}
+                      >
+                        <mesh
+                          name="C-1000492"
+                          geometry={nodes["C-1000492"].geometry}
+                          material={materials.DarkGray}
+                          castShadow
+                          receiveShadow
+                        />
+                        <mesh
+                          name="C-1000492_1"
+                          geometry={nodes["C-1000492_1"].geometry}
+                          material={materials.Black}
+                          castShadow
+                          receiveShadow
+                        />
+                        <mesh
+                          name="C-1000492_2"
+                          geometry={nodes["C-1000492_2"].geometry}
+                          material={materials.Blue}
+                          castShadow
+                          receiveShadow
+                        />
+                        <mesh
+                          name="C-1000492_3"
+                          geometry={nodes["C-1000492_3"].geometry}
+                          material={materials.Screw}
+                          castShadow
+                          receiveShadow
+                        />
+                      </group>
+                    </animated.group>
+                    <group
+                      name="UR10e_L05"
+                      position={[1.184, 0, 0.181]}
+                      rotation={[-Math.PI / 2, 0, 0]}
+                    >
+                      <mesh
+                        name="C-1000491"
+                        geometry={nodes["C-1000491"].geometry}
+                        material={materials.DarkGray}
+                        castShadow
+                        receiveShadow
+                      />
+                      <mesh
+                        name="C-1000491_1"
+                        geometry={nodes["C-1000491_1"].geometry}
+                        material={materials.Blue}
+                        castShadow
+                        receiveShadow
+                      />
+                      <mesh
+                        name="C-1000491_2"
+                        geometry={nodes["C-1000491_2"].geometry}
+                        material={materials.Black}
+                        castShadow
+                        receiveShadow
+                      />
+                      <mesh
+                        name="C-1000491_3"
+                        geometry={nodes["C-1000491_3"].geometry}
+                        material={materials.Screw}
+                        castShadow
+                        receiveShadow
+                      />
+                    </group>
+                  </animated.group>
+                  <group
+                    name="UR10e_L04"
+                    position={[0.613, 0, 0.181]}
+                    rotation={[-Math.PI / 2, 0, 0]}
+                  >
+                    <mesh
+                      name="C-1000490"
+                      geometry={nodes["C-1000490"].geometry}
+                      material={materials.Metal}
+                      castShadow
+                      receiveShadow
+                    />
+                    <mesh
+                      name="C-1000490_1"
+                      geometry={nodes["C-1000490_1"].geometry}
+                      material={materials.Black}
+                      castShadow
+                      receiveShadow
+                    />
+                    <mesh
+                      name="C-1000490_2"
+                      geometry={nodes["C-1000490_2"].geometry}
+                      material={materials.DarkGray}
+                      castShadow
+                      receiveShadow
+                    />
+                    <mesh
+                      name="C-1000490_3"
+                      geometry={nodes["C-1000490_3"].geometry}
+                      material={materials.Blue}
+                      castShadow
+                      receiveShadow
+                    />
+                  </group>
+                </animated.group>
+                <animated.group
+                  name="UR10e_L03"
+                  position={[0, 0, 0.181]}
+                  rotation={[-Math.PI / 2, 0, 0]}
+                >
+                  <mesh
+                    name="C-1000489"
+                    geometry={nodes["C-1000489"].geometry}
+                    material={materials.Blue}
+                    castShadow
+                    receiveShadow
+                  />
+                  <mesh
+                    name="C-1000489_1"
+                    geometry={nodes["C-1000489_1"].geometry}
+                    material={materials.Black}
+                    castShadow
+                    receiveShadow
+                  />
+                  <mesh
+                    name="C-1000489_2"
+                    geometry={nodes["C-1000489_2"].geometry}
+                    material={materials.DarkGray}
+                    castShadow
+                    receiveShadow
+                  />
+                  <mesh
+                    name="C-1000489_3"
+                    geometry={nodes["C-1000489_3"].geometry}
+                    material={materials.Screw}
+                    castShadow
+                    receiveShadow
+                  />
+                  <mesh
+                    name="C-1000489_4"
+                    geometry={nodes["C-1000489_4"].geometry}
+                    material={materials.Metal}
+                    castShadow
+                    receiveShadow
+                  />
+                </animated.group>
+              </animated.group>
+              <group name="UR10e_L02">
+                <mesh
+                  name="C-1000488"
+                  geometry={nodes["C-1000488"].geometry}
+                  material={materials.Black}
+                  castShadow
+                  receiveShadow
+                />
+                <mesh
+                  name="C-1000488_1"
+                  geometry={nodes["C-1000488_1"].geometry}
+                  material={materials.Blue}
+                  castShadow
+                  receiveShadow
+                />
+                <mesh
+                  name="C-1000488_2"
+                  geometry={nodes["C-1000488_2"].geometry}
+                  material={materials.Screw}
+                  castShadow
+                  receiveShadow
+                />
+                <mesh
+                  name="C-1000488_3"
+                  geometry={nodes["C-1000488_3"].geometry}
+                  material={materials.DarkGray}
+                  castShadow
+                  receiveShadow
+                />
+              </group>
+            </animated.group>
+            <group name="UR10e_L01" rotation={[-Math.PI / 2, 0, 0]}>
+              <mesh
+                name="C-1000487"
+                geometry={nodes["C-1000487"].geometry}
+                material={materials.Black}
+                castShadow
+                receiveShadow
+              />
+              <mesh
+                name="C-1000487_1"
+                geometry={nodes["C-1000487_1"].geometry}
+                material={materials.Metal}
+                castShadow
+                receiveShadow
+              />
+            </group>
+          </group>
+        </group>
+      </group>
+    </>
+  )
+}

package/src/components/robots/UniversalRobots_UR3.tsx

@@ -0,0 +1,112 @@
+import { animated } from "@react-spring/three"
+import { useGLTF } from "@react-three/drei"
+import type * as THREE from "three"
+import type { RobotProps } from "./SupportedRobot"
+import RobotAnimator from "./RobotAnimator"
+
+export function UniversalRobots_UR3({
+  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="UR3" rotation={[Math.PI / 2, 0, 0]}>
+            <animated.group name="UR3_J01" rotation={[-Math.PI / 2, 0, 0]}>
+              <animated.group
+                name="UR3_J02"
+                position={[0, 0.152, 0]}
+                rotation={[Math.PI / 2, 0, 0]}
+              >
+                <animated.group name="UR3_J03" position={[-0.244, 0, 0]}>
+                  <animated.group name="UR3_J04" position={[-0.213, 0, 0]}>
+                    <animated.group
+                      name="UR3_J05"
+                      position={[0, 0.112, 0]}
+                      rotation={[Math.PI / 2, 0, 0]}
+                    >
+                      <mesh
+                        name="UR3_05"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.UR3_05.geometry}
+                        material={materials.Standard}
+                      />
+                      <animated.group
+                        name="UR3_J06"
+                        position={[0, 0.085, 0]}
+                        rotation={[-Math.PI / 2, 0, 0]}
+                      >
+                        <group name="UR3_FLG" position={[0, 0.082, 0]} />
+                        <mesh
+                          name="UR3_L06"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes.UR3_L06.geometry}
+                          material={materials.Standard}
+                        />
+                      </animated.group>
+                    </animated.group>
+                    <mesh
+                      name="UR3_L04"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.UR3_L04.geometry}
+                      material={materials.Standard}
+                    />
+                  </animated.group>
+                  <mesh
+                    name="UR3_L03"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.UR3_L03.geometry}
+                    material={materials.Standard}
+                  />
+                </animated.group>
+                <mesh
+                  name="UR3_L02"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.UR3_L02.geometry}
+                  material={materials.Standard}
+                />
+              </animated.group>
+              <mesh
+                name="UR3_L01"
+                castShadow
+                receiveShadow
+                geometry={nodes.UR3_L01.geometry}
+                material={materials.Standard}
+              />
+            </animated.group>
+            <mesh
+              name="UR3_L00"
+              castShadow
+              receiveShadow
+              geometry={nodes.UR3_L00.geometry}
+              material={materials.Standard}
+              rotation={[-Math.PI / 2, 0, 0]}
+            />
+          </group>
+        </group>
+      </group>
+    </>
+  )
+}

package/src/components/robots/UniversalRobots_UR3e.tsx

@@ -0,0 +1,112 @@
+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 UniversalRobots_UR3e({
+  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">
+          <animated.group name="UR3e" rotation={[Math.PI / 2, 0, 0]}>
+            <animated.group name="UR3e_J01" rotation={[-Math.PI / 2, 0, 0]}>
+              <animated.group
+                name="UR3e_J02"
+                position={[0, 0.152, 0]}
+                rotation={[Math.PI / 2, 0, 0]}
+              >
+                <animated.group name="UR3e_J03" position={[-0.244, 0, 0]}>
+                  <animated.group name="UR3e_J04" position={[-0.213, 0, 0]}>
+                    <animated.group
+                      name="UR3e_J05"
+                      position={[0, 0.131, 0]}
+                      rotation={[Math.PI / 2, 0, 0]}
+                    >
+                      <animated.group
+                        name="UR3e_J06"
+                        position={[0, 0.085, 0]}
+                        rotation={[-Math.PI / 2, 0, 0]}
+                      >
+                        <group name="UR3e_FLG" position={[0, 0.092, 0]} />
+                        <mesh
+                          name="UR3e_L06"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes.UR3e_L06.geometry}
+                          material={materials.Standard}
+                        />
+                      </animated.group>
+                      <mesh
+                        name="UR3e_L05"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.UR3e_L05.geometry}
+                        material={materials.Standard}
+                      />
+                    </animated.group>
+                    <mesh
+                      name="UR3e_L04"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.UR3e_L04.geometry}
+                      material={materials.Standard}
+                    />
+                  </animated.group>
+                  <mesh
+                    name="UR3e_L03"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.UR3e_L03.geometry}
+                    material={materials.Standard}
+                  />
+                </animated.group>
+                <mesh
+                  name="UR3e_L02"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.UR3e_L02.geometry}
+                  material={materials.Standard}
+                />
+              </animated.group>
+              <mesh
+                name="UR3e_L01"
+                castShadow
+                receiveShadow
+                geometry={nodes.UR3e_L01.geometry}
+                material={materials.Standard}
+              />
+            </animated.group>
+            <mesh
+              name="UR3e_L00"
+              castShadow
+              receiveShadow
+              geometry={nodes.UR3e_L00.geometry}
+              material={materials.Standard}
+              rotation={[-Math.PI / 2, 0, 0]}
+            />
+          </animated.group>
+        </group>
+      </group>
+    </>
+  )
+}

package/src/components/robots/UniversalRobots_UR5.tsx

@@ -0,0 +1,111 @@
+import { useGLTF } from "@react-three/drei"
+import type * as THREE from "three"
+import { animated } from "@react-spring/three"
+import type { RobotProps } from "./SupportedRobot"
+import RobotAnimator from "./RobotAnimator"
+
+export function UniversalRobots_UR5({
+  modelURL,
+  connectedMotionGroup,
+  ...props
+}: RobotProps) {
+  const gltf = useGLTF(modelURL) as any
+  const nodes = gltf.nodes
+
+  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="UR5" rotation={[Math.PI / 2, 0, 0]}>
+            <animated.group name="UR5_J01" rotation={[-Math.PI / 2, 0, 0]}>
+              <animated.group
+                name="UR5_J02"
+                position={[0, 0.089, 0]}
+                rotation={[Math.PI / 2, 0, 0]}
+              >
+                <animated.group name="UR5_J03" position={[-0.425, 0, 0]}>
+                  <animated.group name="UR5_J04" position={[-0.392, 0, 0]}>
+                    <animated.group
+                      name="UR5_J05"
+                      position={[0, 0.109, 0]}
+                      rotation={[Math.PI / 2, 0, 0]}
+                    >
+                      <animated.group
+                        name="UR5_J06"
+                        position={[0, 0.095, 0]}
+                        rotation={[-Math.PI / 2, 0, 0]}
+                      >
+                        <group name="UR5_FLG" position={[0, 0.082, 0]} />
+                        <mesh
+                          name="UR5_L06"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes.UR5_L06.geometry}
+                          material={nodes.UR5_L06.material}
+                        />
+                      </animated.group>
+                      <mesh
+                        name="UR5_L05"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.UR5_L05.geometry}
+                        material={nodes.UR5_L05.material}
+                      />
+                    </animated.group>
+                    <mesh
+                      name="UR5_L04"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.UR5_L04.geometry}
+                      material={nodes.UR5_L04.material}
+                    />
+                  </animated.group>
+                  <mesh
+                    name="UR5_L03"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes.UR5_L03.geometry}
+                    material={nodes.UR5_L03.material}
+                  />
+                </animated.group>
+                <mesh
+                  name="UR5_L02"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.UR5_L02.geometry}
+                  material={nodes.UR5_L02.material}
+                />
+              </animated.group>
+              <mesh
+                name="UR5_L01"
+                castShadow
+                receiveShadow
+                geometry={nodes.UR5_L01.geometry}
+                material={nodes.UR5_L01.material}
+              />
+            </animated.group>
+            <mesh
+              name="UR5_L00"
+              castShadow
+              receiveShadow
+              geometry={nodes.UR5_L00.geometry}
+              material={nodes.UR5_L00.material}
+              rotation={[-Math.PI / 2, 0, 0]}
+            />
+          </group>
+        </group>
+      </group>
+    </>
+  )
+}