@wandelbots/wandelbots-js-react-components 1.3.2 → 1.4.1

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"