@wandelbots/wandelbots-js-react-components 1.3.2 → 1.4.0

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "1.3.2",
+  "version": "1.4.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "files": [
     "dist",
@@ -23,7 +23,6 @@
     "tsc": "tsc --pretty --noEmit",
     "test": "npm run build",
     "build": "rimraf dist && vite build && tsc --declaration --emitDeclarationOnly",
-    "build:dev": "rollup -c rollup.config.dev.mjs",
     "build-storybook": "storybook build"
   },
   "repository": {

package/src/components/3d-viewport/SafetyZonesRenderer.tsx

@@ -1,4 +1,5 @@
-import { SafetySetupSafetyZone, Geometry } from "@wandelbots/wandelbots-js"
+import { SafetySetupSafetyZone } from "@wandelbots/wandelbots-js"
+import { Geometry } from "@wandelbots/wandelbots-api-client"
 import * as THREE from "three"
 import { ConvexGeometry } from "three-stdlib"
 import { type GroupProps } from "@react-three/fiber"

package/src/components/robots/ABB_1200_07_7.tsx

@@ -4,7 +4,11 @@ import type { RobotProps } from "./SupportedRobot"
 import { animated } from "@react-spring/three"
 import RobotAnimator from "./RobotAnimator"
 
-export function ABB_1200_07_7({ modelURL, connectedMotionGroup, ...props }: RobotProps) {
+export function ABB_1200_07_7({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
   const gltf = useGLTF(modelURL) as any
   const nodes = gltf.nodes
   const materials = gltf.materials
@@ -20,7 +24,7 @@ export function ABB_1200_07_7({ modelURL, connectedMotionGroup, ...props }: Robo
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/DHRobot.tsx

@@ -13,7 +13,11 @@ import type { DHRobotProps } from "./SupportedRobot"
 const CHILD_LINE = "line"
 const CHILD_MESH = "mesh"
 
-export function DHRobot({ connectedMotionGroup, ...props }: DHRobotProps) {
+export function DHRobot({
+  rapidlyChangingMotionState,
+  dhParameters,
+  ...props
+}: DHRobotProps) {
   // reused in every update
   const accumulatedMatrix = new Matrix4()
 
@@ -53,13 +57,11 @@ export function DHRobot({ connectedMotionGroup, ...props }: DHRobotProps) {
     mesh: THREE.Mesh,
     jointValue: number,
   ) {
-    const dh_parameters =
-      connectedMotionGroup.motionGroupSpecification.dh_parameters
-    if (!dh_parameters) {
+    if (!dhParameters) {
       return
     }
 
-    const dh_parameter = dh_parameters[jointIndex]
+    const dh_parameter = dhParameters[jointIndex]
     if (!dh_parameter) {
       return
     }
@@ -90,7 +92,7 @@ export function DHRobot({ connectedMotionGroup, ...props }: DHRobotProps) {
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
         jointCollector={getAllJoints}
@@ -100,29 +102,26 @@ export function DHRobot({ connectedMotionGroup, ...props }: DHRobotProps) {
           <sphereGeometry args={[0.01, 32, 32]} />
           <meshStandardMaterial color={"black"} depthTest={true} />
         </mesh>
-        {connectedMotionGroup.motionGroupSpecification.dh_parameters!.map(
-          (param, index) => {
-            const { a, b } = getLinePoints(
-              param,
-              connectedMotionGroup.rapidlyChangingMotionState.state
-                .joint_position.joints[index] ?? 0,
-            )
-            return (
-              <group name={`group_${index}`} key={"group_" + index}>
-                <Line
-                  name={CHILD_LINE}
-                  points={[a, b]}
-                  color={"white"}
-                  lineWidth={5}
-                />
-                <mesh name={CHILD_MESH} key={"mesh_" + index} position={b}>
-                  <sphereGeometry args={[0.01, 32, 32]} />
-                  <meshStandardMaterial color={"black"} depthTest={true} />
-                </mesh>
-              </group>
-            )
-          },
-        )}
+        {dhParameters!.map((param, index) => {
+          const { a, b } = getLinePoints(
+            param,
+            rapidlyChangingMotionState.state.joint_position.joints[index] ?? 0,
+          )
+          return (
+            <group name={`group_${index}`} key={"group_" + index}>
+              <Line
+                name={CHILD_LINE}
+                points={[a, b]}
+                color={"white"}
+                lineWidth={5}
+              />
+              <mesh name={CHILD_MESH} key={"mesh_" + index} position={b}>
+                <sphereGeometry args={[0.01, 32, 32]} />
+                <meshStandardMaterial color={"black"} depthTest={true} />
+              </mesh>
+            </group>
+          )
+        })}
       </group>
     </>
   )

package/src/components/robots/FANUC_ARC_Mate_100iD.tsx

@@ -6,7 +6,7 @@ import { animated } from "@react-spring/three"
 
 export function FANUC_ARC_Mate_100iD({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -24,7 +24,7 @@ export function FANUC_ARC_Mate_100iD({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/FANUC_ARC_Mate_120iD.tsx

@@ -6,7 +6,7 @@ import { animated } from "@react-spring/three"
 
 export function FANUC_ARC_Mate_120iD({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -24,7 +24,7 @@ export function FANUC_ARC_Mate_120iD({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/FANUC_CRX10iA.tsx

@@ -4,7 +4,11 @@ import type { RobotProps } from "./SupportedRobot"
 import RobotAnimator from "./RobotAnimator"
 import { animated } from "@react-spring/three"
 
-export function FANUC_CRX10iA({ modelURL, connectedMotionGroup, ...props }: RobotProps) {
+export function FANUC_CRX10iA({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
   const gltf = useGLTF(modelURL) as any
   const nodes = gltf.nodes
   const materials = gltf.materials
@@ -20,7 +24,7 @@ export function FANUC_CRX10iA({ modelURL, connectedMotionGroup, ...props }: Robo
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/FANUC_CRX25iA.tsx

@@ -4,7 +4,11 @@ import type { RobotProps } from "./SupportedRobot"
 import { animated } from "@react-spring/three"
 import RobotAnimator from "./RobotAnimator"
 
-export function FANUC_CRX25iA({ modelURL, connectedMotionGroup, ...props }: RobotProps) {
+export function FANUC_CRX25iA({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
   const gltf = useGLTF(modelURL) as any
   const nodes = gltf.nodes
   const materials = gltf.materials
@@ -20,7 +24,7 @@ export function FANUC_CRX25iA({ modelURL, connectedMotionGroup, ...props }: Robo
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/FANUC_CRX25iAL.tsx

@@ -4,7 +4,11 @@ import type { RobotProps } from "./SupportedRobot"
 import { animated } from "@react-spring/three"
 import RobotAnimator from "./RobotAnimator"
 
-export function FANUC_CRX25iAL({ modelURL, connectedMotionGroup, ...props }: RobotProps) {
+export function FANUC_CRX25iAL({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
   const gltf = useGLTF(modelURL) as any
   const nodes = gltf.nodes
   const materials = gltf.materials
@@ -20,7 +24,7 @@ export function FANUC_CRX25iAL({ modelURL, connectedMotionGroup, ...props }: Rob
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/KUKA_KR210_R2700.tsx

@@ -6,7 +6,7 @@ import RobotAnimator from "./RobotAnimator"
 
 export function KUKA_KR210_R2700({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -26,7 +26,7 @@ export function KUKA_KR210_R2700({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/KUKA_KR270_R2700.tsx

@@ -6,7 +6,7 @@ import RobotAnimator from "./RobotAnimator"
 
 export function KUKA_KR270_R2700({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -26,7 +26,7 @@ export function KUKA_KR270_R2700({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/Robot.tsx

@@ -0,0 +1,42 @@
+import { type GroupProps } from "@react-three/fiber"
+
+import type { ConnectedMotionGroup } from "@wandelbots/wandelbots-js"
+import { defaultGetModel, SupportedRobot } from "./SupportedRobot"
+
+export type ConnectecMotionGroupRobotProps = {
+  connectedMotionGroup: ConnectedMotionGroup
+  getModel?: (modelFromController: string) => string
+} & GroupProps
+
+/**
+ * The Robot component is a wrapper around the SupportedRobot component
+ * for usage with @wandelbots/wandelbots-js ConnectedMotionGroup object.
+ *
+ * @param {ConnectecMotionGroupRobotProps} props - The properties for the Robot component.
+ * @param {ConnectedMotionGroup} props.connectedMotionGroup - The connected motion group containing motion state and parameters.
+ * @param {Function} [props.getModel=defaultGetModel] - Optional function to get the model URL. Defaults to defaultGetModel.
+ * @param {Object} props - Additional properties passed to the SupportedRobot component.
+ *
+ * @returns {JSX.Element} The rendered SupportedRobot component.
+ */
+export function Robot({
+  connectedMotionGroup,
+  getModel = defaultGetModel,
+  ...props
+}: ConnectecMotionGroupRobotProps) {
+  if (!connectedMotionGroup.dhParameters) {
+    return null
+  }
+
+  return (
+    <SupportedRobot
+      rapidlyChangingMotionState={
+        connectedMotionGroup.rapidlyChangingMotionState
+      }
+      modelFromController={connectedMotionGroup.modelFromController || ""}
+      dhParameters={connectedMotionGroup.dhParameters}
+      getModel={getModel}
+      {...props}
+    />
+  )
+}

package/src/components/robots/RobotAnimator.tsx

@@ -6,18 +6,18 @@ import {
   getAllJointsByName,
   type RobotSceneJoint,
 } from "../utils/robotTreeQuery"
-import type { MotionStreamConnection } from "@wandelbots/wandelbots-js"
+import type { MotionGroupStateResponse } from "@wandelbots/wandelbots-api-client"
 import { useAutorun } from "../utils/hooks"
 
 type RobotAnimatorProps = {
-  connectedMotionGroup: MotionStreamConnection
+  rapidlyChangingMotionState: MotionGroupStateResponse
   robotRootObjectName: string
   onRotationChanged: (joints: THREE.Object3D[], jointValues: number[]) => void
   jointCollector?: (rootObject: THREE.Object3D) => RobotSceneJoint[]
 }
 
 export default function RobotAnimator({
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   robotRootObjectName,
   onRotationChanged,
   jointCollector,
@@ -58,7 +58,7 @@ export default function RobotAnimator({
 
   useAutorun(() => {
     const newJointValues =
-      connectedMotionGroup.rapidlyChangingMotionState.state.joint_position.joints.filter(
+      rapidlyChangingMotionState.state.joint_position.joints.filter(
         (item) => item !== undefined,
       )
 
@@ -68,8 +68,7 @@ export default function RobotAnimator({
   const [axisValues, setSpring] = useSpring(() => ({
     ...Object.assign(
       {},
-      connectedMotionGroup.rapidlyChangingMotionState.state.joint_position
-        .joints,
+      rapidlyChangingMotionState.state.joint_position.joints,
     ),
     onChange: () => {
       setRotation()

package/src/components/robots/SupportedRobot.tsx

@@ -21,34 +21,42 @@ 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 type {
+  MotionGroupStateResponse,
+  DHParameter,
+} from "@wandelbots/wandelbots-api-client"
 import { DHRobot } from "./DHRobot"
 
 export type DHRobotProps = {
-  connectedMotionGroup: ConnectedMotionGroup
+  rapidlyChangingMotionState: MotionGroupStateResponse
+  dhParameters: Array<DHParameter>
 } & GroupProps
 
 export type RobotProps = {
-  connectedMotionGroup: ConnectedMotionGroup
+  rapidlyChangingMotionState: MotionGroupStateResponse
   modelURL: string
 } & GroupProps
 
 export type SupportedRobotProps = {
-  connectedMotionGroup: ConnectedMotionGroup
+  rapidlyChangingMotionState: MotionGroupStateResponse
+  modelFromController: string
+  dhParameters: DHParameter[]
   getModel?: (modelFromController: string) => string
 } & GroupProps
 
-function defaultGetModel(modelFromController: string): string {
+export function defaultGetModel(modelFromController: string): string {
   return `https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components/public/models/${modelFromController}.glb`
 }
 
 export function SupportedRobot({
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
+  modelFromController,
+  dhParameters,
   getModel = defaultGetModel,
   ...props
 }: SupportedRobotProps) {
   let Robot
-  const modelFromController = connectedMotionGroup.modelFromController
+
   switch (modelFromController) {
     case "UniversalRobots_UR3":
       Robot = UniversalRobots_UR3
@@ -118,12 +126,17 @@ export function SupportedRobot({
   return (
     <Suspense
       fallback={
-        <DHRobot connectedMotionGroup={connectedMotionGroup} {...props} />
+        <DHRobot
+          rapidlyChangingMotionState={rapidlyChangingMotionState}
+          dhParameters={dhParameters}
+          {...props}
+        />
       }
     >
       <Robot
-        connectedMotionGroup={connectedMotionGroup}
-        modelURL={getModel(modelFromController||"")}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
+        modelURL={getModel(modelFromController)}
+        dhParameters={dhParameters}
         {...props}
       />
     </Suspense>

package/src/components/robots/UniversalRobots_UR10.tsx

@@ -6,7 +6,7 @@ import { animated } from "@react-spring/three"
 
 export function UniversalRobots_UR10({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -22,7 +22,7 @@ export function UniversalRobots_UR10({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/UniversalRobots_UR10e.tsx

@@ -6,7 +6,7 @@ import type * as THREE from "three"
 
 export function UniversalRobots_UR10e({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -22,7 +22,7 @@ export function UniversalRobots_UR10e({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/UniversalRobots_UR3.tsx

@@ -6,7 +6,7 @@ import RobotAnimator from "./RobotAnimator"
 
 export function UniversalRobots_UR3({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -22,7 +22,7 @@ export function UniversalRobots_UR3({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/UniversalRobots_UR3e.tsx

@@ -6,7 +6,7 @@ import RobotAnimator from "./RobotAnimator"
 
 export function UniversalRobots_UR3e({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -22,7 +22,7 @@ export function UniversalRobots_UR3e({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/UniversalRobots_UR5.tsx

@@ -6,7 +6,7 @@ import RobotAnimator from "./RobotAnimator"
 
 export function UniversalRobots_UR5({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -21,7 +21,7 @@ export function UniversalRobots_UR5({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/UniversalRobots_UR5e.tsx

@@ -6,7 +6,7 @@ import RobotAnimator from "./RobotAnimator"
 
 export function UniversalRobots_UR5e({
   modelURL,
-  connectedMotionGroup,
+  rapidlyChangingMotionState,
   ...props
 }: RobotProps) {
   const gltf = useGLTF(modelURL) as any
@@ -22,7 +22,7 @@ export function UniversalRobots_UR5e({
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/Yaskawa_AR1440.tsx

@@ -4,7 +4,11 @@ import type { RobotProps } from "./SupportedRobot"
 import { animated } from "@react-spring/three"
 import RobotAnimator from "./RobotAnimator"
 
-export function Yaskawa_AR1440({ modelURL, connectedMotionGroup, ...props }: RobotProps) {
+export function Yaskawa_AR1440({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
   const gltf = useGLTF(modelURL) as any
 
   const nodes = gltf.nodes
@@ -23,7 +27,7 @@ export function Yaskawa_AR1440({ modelURL, connectedMotionGroup, ...props }: Rob
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/Yaskawa_AR1730.tsx

@@ -4,7 +4,11 @@ import type { RobotProps } from "./SupportedRobot"
 import { animated } from "@react-spring/three"
 import RobotAnimator from "./RobotAnimator"
 
-export function Yaskawa_AR1730({ modelURL, connectedMotionGroup, ...props }: RobotProps) {
+export function Yaskawa_AR1730({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
   const gltf = useGLTF(modelURL) as any
 
   const nodes = gltf.nodes
@@ -23,7 +27,7 @@ export function Yaskawa_AR1730({ modelURL, connectedMotionGroup, ...props }: Rob
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/Yaskawa_AR2010.tsx

@@ -4,7 +4,11 @@ import type { RobotProps } from "./SupportedRobot"
 import { animated } from "@react-spring/three"
 import RobotAnimator from "./RobotAnimator"
 
-export function Yaskawa_AR2010({ modelURL, connectedMotionGroup, ...props }: RobotProps) {
+export function Yaskawa_AR2010({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
   const gltf = useGLTF(modelURL) as any
   const nodes = gltf.nodes
   const materials = gltf.materials
@@ -22,7 +26,7 @@ export function Yaskawa_AR2010({ modelURL, connectedMotionGroup, ...props }: Rob
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/Yaskawa_AR3120.tsx

@@ -4,7 +4,11 @@ import type { RobotProps } from "./SupportedRobot"
 import RobotAnimator from "./RobotAnimator"
 import { animated } from "@react-spring/three"
 
-export function Yaskawa_AR3120({ modelURL, connectedMotionGroup, ...props }: RobotProps) {
+export function Yaskawa_AR3120({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
   const gltf = useGLTF(modelURL) as any
 
   const nodes = gltf.nodes
@@ -23,7 +27,7 @@ export function Yaskawa_AR3120({ modelURL, connectedMotionGroup, ...props }: Rob
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/components/robots/Yaskawa_AR900.tsx

@@ -4,7 +4,11 @@ import type { RobotProps } from "./SupportedRobot"
 import { animated } from "@react-spring/three"
 import RobotAnimator from "./RobotAnimator"
 
-export function Yaskawa_AR900({ modelURL, connectedMotionGroup, ...props }: RobotProps) {
+export function Yaskawa_AR900({
+  modelURL,
+  rapidlyChangingMotionState,
+  ...props
+}: RobotProps) {
   const gltf = useGLTF(modelURL) as any
   const nodes = gltf.nodes
   const materials = gltf.materials
@@ -20,7 +24,7 @@ export function Yaskawa_AR900({ modelURL, connectedMotionGroup, ...props }: Robo
   return (
     <>
       <RobotAnimator
-        connectedMotionGroup={connectedMotionGroup}
+        rapidlyChangingMotionState={rapidlyChangingMotionState}
         robotRootObjectName="Scene"
         onRotationChanged={setRotation}
       />

package/src/index.ts

@@ -1,4 +1,5 @@
 export * from "./components/robots/SupportedRobot"
+export * from "./components/robots/Robot"
 export * from "./components/robots/AxisConfig"
 export * from "./components/3d-viewport/PresetEnvironment"
 export * from "./components/3d-viewport/SafetyZonesRenderer"