@wandelbots/wandelbots-js-react-components 1.3.1 → 1.4.0

package/src/components/robots/SupportedRobot.tsx

@@ -0,0 +1,144 @@
+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 {
+  MotionGroupStateResponse,
+  DHParameter,
+} from "@wandelbots/wandelbots-api-client"
+import { DHRobot } from "./DHRobot"
+
+export type DHRobotProps = {
+  rapidlyChangingMotionState: MotionGroupStateResponse
+  dhParameters: Array<DHParameter>
+} & GroupProps
+
+export type RobotProps = {
+  rapidlyChangingMotionState: MotionGroupStateResponse
+  modelURL: string
+} & GroupProps
+
+export type SupportedRobotProps = {
+  rapidlyChangingMotionState: MotionGroupStateResponse
+  modelFromController: string
+  dhParameters: DHParameter[]
+  getModel?: (modelFromController: string) => string
+} & GroupProps
+
+export function defaultGetModel(modelFromController: string): string {
+  return `https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${modelFromController}.glb`
+}
+
+export function SupportedRobot({
+  rapidlyChangingMotionState,
+  modelFromController,
+  dhParameters,
+  getModel = defaultGetModel,
+  ...props
+}: SupportedRobotProps) {
+  let Robot
+
+  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
+          rapidlyChangingMotionState={rapidlyChangingMotionState}
+          dhParameters={dhParameters}
+          {...props}
+        />
+      }
+    >
+      <Robot
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
+        modelURL={getModel(modelFromController)}
+        dhParameters={dhParameters}
+        {...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,
+  rapidlyChangingMotionState,
+  ...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
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
+        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>
+    </>
+  )
+}

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,
+  rapidlyChangingMotionState,
+  ...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
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
+        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,
+  rapidlyChangingMotionState,
+  ...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
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
+        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>
+    </>
+  )
+}