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

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

package/src/components/robots/UniversalRobots_UR5e.tsx

@@ -0,0 +1,280 @@
+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_UR5e({
+  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="UR5e" rotation={[Math.PI / 2, 0, 0]}>
+            <animated.group name="UR5e_J01" rotation={[-Math.PI / 2, 0, 0]}>
+              <animated.group
+                name="UR5e_J02"
+                position={[0, 0.162, 0]}
+                rotation={[Math.PI / 2, 0, 0]}
+              >
+                <animated.group name="UR5e_J03" position={[-0.425, 0, 0]}>
+                  <animated.group name="UR5e_J04" position={[-0.392, 0, 0]}>
+                    <animated.group
+                      name="UR5e_J05"
+                      position={[0, 0.133, 0]}
+                      rotation={[Math.PI / 2, 0, 0]}
+                    >
+                      <animated.group
+                        name="UR5e_J06"
+                        position={[0, 0.1, 0]}
+                        rotation={[-Math.PI / 2, 0, 0]}
+                      >
+                        <group name="UR5e_FLG" position={[0, 0.1, 0]}></group>
+
+                        <group
+                          name="UR5e_L06"
+                          position={[0, 0.1, 0]}
+                          rotation={[0, 0, -Math.PI]}
+                        >
+                          <>
+                            <mesh
+                              name="C-1000255"
+                              castShadow
+                              receiveShadow
+                              geometry={nodes["C-1000255"].geometry}
+                              material={materials.Black}
+                            />
+                            <mesh
+                              name="C-1000255_1"
+                              castShadow
+                              receiveShadow
+                              geometry={nodes["C-1000255_1"].geometry}
+                              material={materials.Metal}
+                            />
+                          </>
+                        </group>
+                      </animated.group>
+                      <group
+                        name="UR5e_L05"
+                        rotation={[-Math.PI / 2, -Math.PI / 3, 0]}
+                      >
+                        <>
+                          <mesh
+                            name="C-1000253"
+                            castShadow
+                            receiveShadow
+                            geometry={nodes["C-1000253"].geometry}
+                            material={materials.Blue}
+                          />
+                          <mesh
+                            name="C-1000253_1"
+                            castShadow
+                            receiveShadow
+                            geometry={nodes["C-1000253_1"].geometry}
+                            material={materials.Black}
+                          />
+                          <mesh
+                            name="C-1000253_2"
+                            castShadow
+                            receiveShadow
+                            geometry={nodes["C-1000253_2"].geometry}
+                            material={materials.Metal}
+                          />
+                          <mesh
+                            name="C-1000253_3"
+                            castShadow
+                            receiveShadow
+                            geometry={nodes["C-1000253_3"].geometry}
+                            material={materials.DarkGray}
+                          />
+                        </>
+                      </group>
+                    </animated.group>
+                    <group name="UR5e_L04" rotation={[0, -Math.PI / 3, 0]}>
+                      <>
+                        <mesh
+                          name="C-1000251"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes["C-1000251"].geometry}
+                          material={materials.Blue}
+                        />
+                        <mesh
+                          name="C-1000251_1"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes["C-1000251_1"].geometry}
+                          material={materials.Black}
+                        />
+                        <mesh
+                          name="C-1000251_2"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes["C-1000251_2"].geometry}
+                          material={materials.Metal}
+                        />
+                        <mesh
+                          name="C-1000251_3"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes["C-1000251_3"].geometry}
+                          material={materials.DarkGray}
+                        />
+                      </>
+                    </group>
+                  </animated.group>
+                  <group name="UR5e_L03">
+                    <>
+                      <mesh
+                        name="C-1000250"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes["C-1000250"].geometry}
+                        material={materials.Black}
+                      />
+                      <mesh
+                        name="C-1000250_1"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes["C-1000250_1"].geometry}
+                        material={materials.DarkGray}
+                      />
+                      <mesh
+                        name="C-1000250_2"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes["C-1000250_2"].geometry}
+                        material={materials.Blue}
+                      />
+                      <mesh
+                        name="C-1000250_3"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes["C-1000250_3"].geometry}
+                        material={materials.Metal}
+                      />
+                      <mesh
+                        name="C-1000250_4"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes["C-1000250_4"].geometry}
+                        material={materials.Metal}
+                      />
+                    </>
+                  </group>
+                </animated.group>
+                <group name="UR5e_L02" rotation={[0, -Math.PI / 2, 0]}>
+                  <>
+                    <mesh
+                      name="C-1000249"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes["C-1000249"].geometry}
+                      material={materials.Metal}
+                    />
+                    <mesh
+                      name="C-1000249_1"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes["C-1000249_1"].geometry}
+                      material={materials.Black}
+                    />
+                    <mesh
+                      name="C-1000249_2"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes["C-1000249_2"].geometry}
+                      material={materials.DarkGray}
+                    />
+                    <mesh
+                      name="C-1000249_3"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes["C-1000249_3"].geometry}
+                      material={materials.Blue}
+                    />
+                    <mesh
+                      name="C-1000249_4"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes["C-1000249_4"].geometry}
+                      material={materials.Metal}
+                    />
+                  </>
+                </group>
+              </animated.group>
+              <group name="UR5e_L01" rotation={[Math.PI / 2, 0, 0]}>
+                <>
+                  <mesh
+                    name="C-1000248"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes["C-1000248"].geometry}
+                    material={materials.DarkGray}
+                  />
+                  <mesh
+                    name="C-1000248_1"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes["C-1000248_1"].geometry}
+                    material={materials.Black}
+                  />
+                  <mesh
+                    name="C-1000248_2"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes["C-1000248_2"].geometry}
+                    material={materials.Blue}
+                  />
+                  <mesh
+                    name="C-1000248_3"
+                    castShadow
+                    receiveShadow
+                    geometry={nodes["C-1000248_3"].geometry}
+                    material={materials.Metal}
+                  />
+                </>
+              </group>
+            </animated.group>
+            <group name="UR5e_L00">
+              <>
+                <mesh
+                  name="C-1000257"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes["C-1000257"].geometry}
+                  material={materials.Black}
+                />
+                <mesh
+                  name="C-1000257_1"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes["C-1000257_1"].geometry}
+                  material={materials.Metal}
+                />
+              </>
+            </group>
+          </group>
+        </group>
+      </group>
+    </>
+  )
+}

package/src/components/robots/Yaskawa_AR1440.tsx

@@ -0,0 +1,156 @@
+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 Yaskawa_AR1440({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
+  const gltf = useGLTF(modelURL) as any
+
+  const nodes = gltf.nodes
+  const materials = gltf.materials
+  const rotationOffsets = [0, -Math.PI / 2, 0, 0, 0, 0]
+  const rotationSign = [1, -1, 1, 1, 1, 1]
+
+  function setRotation(jointObjects: THREE.Object3D[], jointValues: number[]) {
+    jointObjects.forEach(
+      (object, index) =>
+        (object.rotation.y =
+          rotationSign[index]! * jointValues[index]! + rotationOffsets[index]!),
+    )
+  }
+
+  return (
+    <>
+      <RobotAnimator
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
+        robotRootObjectName="Scene"
+        onRotationChanged={setRotation}
+      />
+      <group {...props} dispose={null}>
+        <group name="Scene">
+          <group name="AR1440" rotation={[Math.PI / 2, 0, 0]}>
+            <animated.group name="AR1440_J01" rotation={[-Math.PI / 2, 0, 0]}>
+              <animated.group
+                name="AR1440_J02"
+                position={[0.155, 0, 0]}
+                rotation={[Math.PI / 2, 0, Math.PI]}
+              >
+                <animated.group
+                  name="AR1440_J03"
+                  position={[0.614, 0, 0]}
+                  rotation={[Math.PI, 0, 0]}
+                >
+                  <animated.group
+                    name="AR1440_J04"
+                    position={[0.2, 0, 0]}
+                    rotation={[-Math.PI / 2, 0, 0]}
+                  >
+                    <animated.group
+                      name="AR1440_J05"
+                      position={[0, -0.64, 0]}
+                      rotation={[Math.PI / 2, 0, 0]}
+                    >
+                      <animated.group
+                        name="AR1440_J06"
+                        rotation={[-Math.PI / 2, 0, 0]}
+                      >
+                        <group
+                          name="AR1440_FLG"
+                          position={[0, -0.1, 0]}
+                          rotation={[-Math.PI, 0, 0]}
+                        ></group>
+                        <mesh
+                          name="AR1440_L06_CAD"
+                          castShadow
+                          receiveShadow
+                          geometry={nodes.AR1440_L06_CAD.geometry}
+                          material={materials.metall}
+                        />
+                      </animated.group>
+                      <mesh
+                        name="AR1440_L05_CAD"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.AR1440_L05_CAD.geometry}
+                        material={materials.yaskawaBlueMetall}
+                      />
+                    </animated.group>
+                    <group name="AR1440_L04_CAD">
+                      <mesh
+                        name="AR1440_L04_CAD001"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.AR1440_L04_CAD001.geometry}
+                        material={materials.yaskawaBlueMetall}
+                      />
+                      <mesh
+                        name="AR1440_L04_CAD001_1"
+                        castShadow
+                        receiveShadow
+                        geometry={nodes.AR1440_L04_CAD001_1.geometry}
+                        material={materials.white}
+                      />
+                    </group>
+                  </animated.group>
+                  <group name="AR1440_L03_CAD">
+                    <mesh
+                      name="AR1440_L03_CAD001"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.AR1440_L03_CAD001.geometry}
+                      material={materials.yaskawaBlueMetall}
+                    />
+                    <mesh
+                      name="AR1440_L03_CAD001_1"
+                      castShadow
+                      receiveShadow
+                      geometry={nodes.AR1440_L03_CAD001_1.geometry}
+                      material={materials.blackMetall}
+                    />
+                  </group>
+                </animated.group>
+                <mesh
+                  name="AR1440_L02_CAD"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.AR1440_L02_CAD.geometry}
+                  material={materials.yaskawaBlueMetall}
+                />
+              </animated.group>
+              <group name="AR1440_L01_CAD">
+                <mesh
+                  name="AR1440_L01_CAD001"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.AR1440_L01_CAD001.geometry}
+                  material={materials.yaskawaBlueMetall}
+                />
+                <mesh
+                  name="AR1440_L01_CAD001_1"
+                  castShadow
+                  receiveShadow
+                  geometry={nodes.AR1440_L01_CAD001_1.geometry}
+                  material={materials.blackMetall}
+                />
+              </group>
+            </animated.group>
+            <mesh
+              name="AR1440_L00_CAD"
+              castShadow
+              receiveShadow
+              geometry={nodes.AR1440_L00_CAD.geometry}
+              material={materials.yaskawaBlueMetall}
+              position={[0, 0, 0.45]}
+              rotation={[-Math.PI / 2, 0, 0]}
+            />
+          </group>
+        </group>
+      </group>
+    </>
+  )
+}