@wandelbots/wandelbots-js-react-components 2.26.0-pr.feature-update-to-react-19.361.c04839a → 2.26.0-pr.feature-update-to-react-19.361.3cd2105
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/components/robots/DHRobot.d.ts.map +1 -1
- package/dist/components/robots/RobotAnimator.d.ts.map +1 -1
- package/dist/index.cjs +31 -31
- package/dist/index.cjs.map +1 -1
- package/dist/index.js +2570 -2554
- package/dist/index.js.map +1 -1
- package/package.json +2 -2
- package/src/components/robots/DHRobot.tsx +37 -10
- package/src/components/robots/RobotAnimator.tsx +24 -18
package/dist/index.cjs
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"use strict";var Mc=Object.create;var To=Object.defineProperty;var jc=Object.getOwnPropertyDescriptor;var $c=Object.getOwnPropertyNames;var Uc=Object.getPrototypeOf,kc=Object.prototype.hasOwnProperty;var Lc=(e,t,r)=>t in e?To(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r;var Bc=(e,t,r,a)=>{if(t&&typeof t=="object"||typeof t=="function")for(let o of $c(t))!kc.call(e,o)&&o!==r&&To(e,o,{get:()=>t[o],enumerable:!(a=jc(t,o))||a.enumerable});return e};var Io=(e,t,r)=>(r=e!=null?Mc(Uc(e)):{},Bc(t||!e||!e.__esModule?To(r,"default",{value:e,enumerable:!0}):r,e));var Rr=(e,t,r)=>Lc(e,typeof t!="symbol"?t+"":t,r);Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const X=require("react"),et=require("@react-three/drei"),Fc=require("@react-three/fiber"),Ze=require("three"),Nc=require("three-stdlib"),F=require("@mui/material"),Re=require("mobx-react-lite"),we=require("react-i18next"),Dc=require("i18next"),zc=require("i18next-browser-languagedetector"),Ae=require("mobx"),S=require("prop-types"),Gc=require("@emotion/styled"),Jc=require("@emotion/react"),_n=require("lodash-es"),kt=require("@wandelbots/nova-js"),tn=require("@react-spring/three"),qc=require("react-error-boundary");function Ul(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const a=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(t,r,a.get?a:{enumerable:!0,get:()=>e[r]})}}return t.default=e,Object.freeze(t)}const L=Ul(X),Oe=Ul(Ze);var ha={exports:{}},_r={};/**
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*/var Wn;function Wc(){return Wn||(Wn=1,process.env.NODE_ENV!=="production"&&function(){function e($){if($==null)return null;if(typeof $=="function")return $.$$typeof===f?null:$.displayName||$.name||null;if(typeof $=="string")return $;switch($){case h:return"Fragment";case T:return"Profiler";case x:return"StrictMode";case G:return"Suspense";case W:return"SuspenseList";case k:return"Activity"}if(typeof $=="object")switch(typeof $.tag=="number"&&console.error("Received an unexpected object in getComponentNameFromType(). This is likely a bug in React. Please file an issue."),$.$$typeof){case g:return"Portal";case N:return($.displayName||"Context")+".Provider";case D:return($._context.displayName||"Context")+".Consumer";case z:var K=$.render;return $=$.displayName,$||($=K.displayName||K.name||"",$=$!==""?"ForwardRef("+$+")":"ForwardRef"),$;case j:return K=$.displayName||null,K!==null?K:e($.type)||"Memo";case U:K=$._payload,$=$._init;try{return e($(K))}catch{}}return null}function t($){return""+$}function r($){try{t($);var K=!1}catch{K=!0}if(K){K=console;var se=K.error,Ve=typeof Symbol=="function"&&Symbol.toStringTag&&$[Symbol.toStringTag]||$.constructor.name||"Object";return se.call(K,"The provided key is an unsupported type %s. This value must be coerced to a string before using it here.",Ve),t($)}}function a($){if($===h)return"<>";if(typeof $=="object"&&$!==null&&$.$$typeof===U)return"<...>";try{var K=e($);return K?"<"+K+">":"<...>"}catch{return"<...>"}}function o(){var $=M.A;return $===null?null:$.getOwner()}function n(){return Error("react-stack-top-frame")}function s($){if(B.call($,"key")){var K=Object.getOwnPropertyDescriptor($,"key").get;if(K&&K.isReactWarning)return!1}return $.key!==void 0}function l($,K){function se(){oe||(oe=!0,console.error("%s: `key` is not a prop. Trying to access it will result in `undefined` being returned. If you need to access the same value within the child component, you should pass it as a different prop. (https://react.dev/link/special-props)",K))}se.isReactWarning=!0,Object.defineProperty($,"key",{get:se,configurable:!0})}function i(){var $=e(this.type);return te[$]||(te[$]=!0,console.error("Accessing element.ref was removed in React 19. ref is now a regular prop. It will be removed from the JSX Element type in a future release.")),$=this.props.ref,$!==void 0?$:null}function c($,K,se,Ve,qe,je,Et,xt){return se=je.ref,$={$$typeof:y,type:$,key:K,props:je,_owner:qe},(se!==void 0?se:null)!==null?Object.defineProperty($,"ref",{enumerable:!1,get:i}):Object.defineProperty($,"ref",{enumerable:!1,value:null}),$._store={},Object.defineProperty($._store,"validated",{configurable:!1,enumerable:!1,writable:!0,value:0}),Object.defineProperty($,"_debugInfo",{configurable:!1,enumerable:!1,writable:!0,value:null}),Object.defineProperty($,"_debugStack",{configurable:!1,enumerable:!1,writable:!0,value:Et}),Object.defineProperty($,"_debugTask",{configurable:!1,enumerable:!1,writable:!0,value:xt}),Object.freeze&&(Object.freeze($.props),Object.freeze($)),$}function d($,K,se,Ve,qe,je,Et,xt){var ye=K.children;if(ye!==void 0)if(Ve)if(q(ye)){for(Ve=0;Ve<ye.length;Ve++)p(ye[Ve]);Object.freeze&&Object.freeze(ye)}else console.error("React.jsx: Static children should always be an array. You are likely explicitly calling React.jsxs or React.jsxDEV. Use the Babel transform instead.");else p(ye);if(B.call(K,"key")){ye=e($);var Fe=Object.keys(K).filter(function(pt){return pt!=="key"});Ve=0<Fe.length?"{key: someKey, "+Fe.join(": ..., ")+": ...}":"{key: someKey}",be[ye+Ve]||(Fe=0<Fe.length?"{"+Fe.join(": ..., ")+": ...}":"{}",console.error(`A props object containing a "key" prop is being spread into JSX:
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<%s key={someKey} {...props} />`,Ve,ye,Fe,ye),be[ye+Ve]=!0)}if(ye=null,se!==void 0&&(r(se),ye=""+se),s(K)&&(r(K.key),ye=""+K.key),"key"in K){se={};for(var Ye in K)Ye!=="key"&&(se[Ye]=K[Ye])}else se=K;return ye&&l(se,typeof $=="function"?$.displayName||$.name||"Unknown":$),c($,ye,je,qe,o(),se,Et,xt)}function p($){typeof $=="object"&&$!==null&&$.$$typeof===y&&$._store&&($._store.validated=1)}var u=X,y=Symbol.for("react.transitional.element"),g=Symbol.for("react.portal"),h=Symbol.for("react.fragment"),x=Symbol.for("react.strict_mode"),T=Symbol.for("react.profiler"),D=Symbol.for("react.consumer"),N=Symbol.for("react.context"),z=Symbol.for("react.forward_ref"),G=Symbol.for("react.suspense"),W=Symbol.for("react.suspense_list"),j=Symbol.for("react.memo"),U=Symbol.for("react.lazy"),k=Symbol.for("react.activity"),f=Symbol.for("react.client.reference"),M=u.__CLIENT_INTERNALS_DO_NOT_USE_OR_WARN_USERS_THEY_CANNOT_UPGRADE,B=Object.prototype.hasOwnProperty,q=Array.isArray,H=console.createTask?console.createTask:function(){return null};u={"react-stack-bottom-frame":function($){return $()}};var oe,te={},xe=u["react-stack-bottom-frame"].bind(u,n)(),Y=H(a(n)),be={};Ar.Fragment=h,Ar.jsx=function($,K,se,Ve,qe){var je=1e4>M.recentlyCreatedOwnerStacks++;return d($,K,se,!1,Ve,qe,je?Error("react-stack-top-frame"):xe,je?H(a($)):Y)},Ar.jsxs=function($,K,se,Ve,qe){var je=1e4>M.recentlyCreatedOwnerStacks++;return d($,K,se,!0,Ve,qe,je?Error("react-stack-top-frame"):xe,je?H(a($)):Y)}}()),Ar}var Qn;function Qc(){return Qn||(Qn=1,process.env.NODE_ENV==="production"?ha.exports=Hc():ha.exports=Wc()),ha.exports}var b=Qc();function Kc(){return b.jsx(et.Environment,{children:b.jsx(Yc,{})})}function Yc({positions:e=[2,0,2,0,2,0,2,0]}){return b.jsxs(b.Fragment,{children:[b.jsx(et.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),b.jsx("group",{rotation:[0,.5,0],children:b.jsx("group",{children:e.map((t,r)=>b.jsx(et.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[t,4,r*4],scale:[3,1,1]},r))})}),b.jsx(et.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),b.jsx(et.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),b.jsx(et.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),b.jsx(et.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),b.jsx(et.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}function Xc(e){if(e.length<3)return console.log("Not enough vertices to define a plane"),{isCoplanar:!1};const t=new Oe.Vector3(e[0].x,e[0].y,e[0].z),r=new Oe.Vector3(e[1].x,e[1].y,e[1].z),a=new Oe.Vector3(e[2].x,e[2].y,e[2].z),o=new Oe.Vector3().subVectors(r,t),n=new Oe.Vector3().subVectors(a,t),s=new Oe.Vector3().crossVectors(o,n).normalize();for(let l=3;l<e.length;l++){const i=new Oe.Vector3(e[l].x,e[l].y,e[l].z),c=new Oe.Vector3().subVectors(i,t),d=s.dot(c);if(Math.abs(d)>1e-6)return console.log("Vertices are not on the same plane"),{isCoplanar:!1}}return{isCoplanar:!0,normal:s}}function Zc({safetyZones:e,...t}){return b.jsx("group",{...t,children:e.map((r,a)=>{let o=[];return r.geometry&&(r.geometry.compound?o=r.geometry.compound.child_geometries:r.geometry.convex_hull&&(o=[r.geometry])),o.map((n,s)=>{if(!n.convex_hull)return null;const l=n.convex_hull.vertices.map(d=>new Oe.Vector3(d.x/1e3,d.y/1e3,d.z/1e3)),i=Xc(l);if(i.isCoplanar&&i.normal){const p=new Oe.Vector3().addVectors(l[0],i.normal.multiplyScalar(1e-4));l.push(p)}let c;try{c=new Nc.ConvexGeometry(l)}catch(d){return console.log("Error creating ConvexGeometry:",d),null}return b.jsx("mesh",{geometry:c,children:b.jsx("meshStandardMaterial",{attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-s},a)},`${a}-${s}`)})})})}function ed({trajectory:e,...t}){var a;const r=((a=e.trajectory)==null?void 0:a.map(o=>o.tcp_pose?new Oe.Vector3(o.tcp_pose.position.x/1e3,o.tcp_pose.position.z/1e3,-o.tcp_pose.position.y/1e3):null).filter(o=>o!==null))||[];return b.jsx("group",{...t,children:r.length>0&&b.jsx(et.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}function _t(e,...t){const r=new URL(`https://mui.com/production-error/?code=${e}`);return t.forEach(a=>r.searchParams.append("args[]",a)),`Minified MUI error #${e}; 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*/function id(e,t){const r=Gc(e,t);return process.env.NODE_ENV!=="production"?(...a)=>{const o=typeof e=="string"?`"${e}"`:"component";return a.length===0?console.error([`MUI: Seems like you called \`styled(${o})()\` without a \`style\` argument.`,'You must provide a `styles` argument: `styled("div")(styleYouForgotToPass)`.'].join(`
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`)):a.some(n=>n===void 0)&&console.error(`MUI: the styled(${o})(...args) API requires all its args to be defined.`),r(...a)}:r}function cd(e,t){Array.isArray(e.__emotion_styles)&&(e.__emotion_styles=t(e.__emotion_styles))}const Zn=[];function es(e){return Zn[0]=e,ld(Zn)}var ma={exports:{}},le={};/**
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For example, \`@sm\` or \`@600\` or \`@40rem/sidebar\`.`:_t(18,`(${t})`));return null}const[,a,o]=r,n=Number.isNaN(+a)?a||0:+a;return e.containerQueries(o).up(n)}function
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`))}return x}const u=({color:
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The color object needs to have a \`main\` property or a \`${T}\` property.`:_t(11,x?` (${x})`:"",T));if(typeof
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\`color.main\` should be a string, but \`${JSON.stringify(
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+
The following color spaces are supported: srgb, display-p3, a98-rgb, prophoto-rgb, rec-2020.`:_t(10,o))}else a=a.split(",");return a=a.map(n=>parseFloat(n)),{type:r,values:a,colorSpace:o}}const Ip=e=>{const t=At(e);return t.values.slice(0,3).map((r,a)=>t.type.includes("hsl")&&a!==0?`${r}%`:r).join(" ")},Fr=(e,t)=>{try{return Ip(e)}catch{return t&&process.env.NODE_ENV!=="production"&&console.warn(t),e}};function so(e){const{type:t,colorSpace:r}=e;let{values:a}=e;return t.includes("rgb")?a=a.map((o,n)=>n<3?parseInt(o,10):o):t.includes("hsl")&&(a[1]=`${a[1]}%`,a[2]=`${a[2]}%`),t.includes("color")?a=`${r} ${a.join(" ")}`:a=`${a.join(", ")}`,`${t}(${a})`}function Yl(e){e=At(e);const{values:t}=e,r=t[0],a=t[1]/100,o=t[2]/100,n=a*Math.min(o,1-o),s=(c,d=(c+r/30)%12)=>o-n*Math.max(Math.min(d-3,9-d,1),-1);let l="rgb";const i=[Math.round(s(0)*255),Math.round(s(8)*255),Math.round(s(4)*255)];return e.type==="hsla"&&(l+="a",i.push(t[3])),so({type:l,values:i})}function rn(e){e=At(e);let 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process.env.NODE_ENV!=="production"&&(s.propTypes={children:S.node,direction:S.oneOfType([S.oneOf(["column-reverse","column","row-reverse","row"]),S.arrayOf(S.oneOf(["column-reverse","column","row-reverse","row"])),S.object]),divider:S.node,spacing:S.oneOfType([S.arrayOf(S.oneOfType([S.number,S.string])),S.number,S.object,S.string]),sx:S.oneOfType([S.arrayOf(S.oneOfType([S.func,S.object,S.bool])),S.func,S.object])}),s}const Hr={black:"#000",white:"#fff"},Yp={50:"#fafafa",100:"#f5f5f5",200:"#eeeeee",300:"#e0e0e0",400:"#bdbdbd",500:"#9e9e9e",600:"#757575",700:"#616161",800:"#424242",900:"#212121",A100:"#f5f5f5",A200:"#eeeeee",A400:"#bdbdbd",A700:"#616161"},Kt={50:"#f3e5f5",200:"#ce93d8",300:"#ba68c8",400:"#ab47bc",500:"#9c27b0",700:"#7b1fa2"},Yt={300:"#e57373",400:"#ef5350",500:"#f44336",700:"#d32f2f",800:"#c62828"},Tr={300:"#ffb74d",400:"#ffa726",500:"#ff9800",700:"#f57c00",900:"#e65100"},Xt={50:"#e3f2fd",200:"#90caf9",400:"#42a5f5",700:"#1976d2",800:"#1565c0"},Zt={300:"#4fc3f7",400:"#29b6f6",500:"#03a9f4",700:"#0288d1",900:"#01579b"},er={300:"#81c784",400:"#66bb6a",500:"#4caf50",700:"#388e3c",800:"#2e7d32",900:"#1b5e20"};function Xl(){return{text:{primary:"rgba(0, 0, 0, 0.87)",secondary:"rgba(0, 0, 0, 0.6)",disabled:"rgba(0, 0, 0, 0.38)"},divider:"rgba(0, 0, 0, 0.12)",background:{paper:Hr.white,default:Hr.white},action:{active:"rgba(0, 0, 0, 0.54)",hover:"rgba(0, 0, 0, 0.04)",hoverOpacity:.04,selected:"rgba(0, 0, 0, 0.08)",selectedOpacity:.08,disabled:"rgba(0, 0, 0, 0.26)",disabledBackground:"rgba(0, 0, 0, 0.12)",disabledOpacity:.38,focus:"rgba(0, 0, 0, 0.12)",focusOpacity:.12,activatedOpacity:.12}}}const Xp=Xl();function Zl(){return{text:{primary:Hr.white,secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.5)",icon:"rgba(255, 255, 255, 0.5)"},divider:"rgba(255, 255, 255, 0.12)",background:{paper:"#121212",default:"#121212"},action:{active:Hr.white,hover:"rgba(255, 255, 255, 0.08)",hoverOpacity:.08,selected:"rgba(255, 255, 255, 0.16)",selectedOpacity:.16,disabled:"rgba(255, 255, 255, 0.3)",disabledBackground:"rgba(255, 255, 255, 0.12)",disabledOpacity:.38,focus:"rgba(255, 255, 255, 0.12)",focusOpacity:.12,activatedOpacity:.24}}}const ps=Zl();function us(e,t,r,a){const o=a.light||a,n=a.dark||a*1.5;e[t]||(e.hasOwnProperty(r)?e[t]=e[r]:t==="light"?e.light=qr(e.main,o):t==="dark"&&(e.dark=Jr(e.main,n)))}function Zp(e="light"){return e==="dark"?{main:Xt[200],light:Xt[50],dark:Xt[400]}:{main:Xt[700],light:Xt[400],dark:Xt[800]}}function eu(e="light"){return e==="dark"?{main:Kt[200],light:Kt[50],dark:Kt[400]}:{main:Kt[500],light:Kt[300],dark:Kt[700]}}function tu(e="light"){return e==="dark"?{main:Yt[500],light:Yt[300],dark:Yt[700]}:{main:Yt[700],light:Yt[400],dark:Yt[800]}}function ru(e="light"){return e==="dark"?{main:Zt[400],light:Zt[300],dark:Zt[700]}:{main:Zt[700],light:Zt[500],dark:Zt[900]}}function au(e="light"){return e==="dark"?{main:er[400],light:er[300],dark:er[700]}:{main:er[800],light:er[500],dark:er[900]}}function ou(e="light"){return e==="dark"?{main:Tr[400],light:Tr[300],dark:Tr[700]}:{main:"#ed6c02",light:Tr[500],dark:Tr[900]}}function En(e){const{mode:t="light",contrastThreshold:r=3,tonalOffset:a=.2,...o}=e,n=e.primary||Zp(t),s=e.secondary||eu(t),l=e.error||tu(t),i=e.info||ru(t),c=e.success||au(t),d=e.warning||ou(t);function p(h){const x=is(h,ps.text.primary)>=r?ps.text.primary:Xp.text.primary;if(process.env.NODE_ENV!=="production"){const T=is(h,x);T<3&&console.error([`MUI: The contrast ratio of ${T}:1 for ${x} on ${h}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
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`))}return x}const u=({color:h,name:x,mainShade:T=500,lightShade:D=300,darkShade:N=700})=>{if(h={...h},!h.main&&h[T]&&(h.main=h[T]),!h.hasOwnProperty("main"))throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${x?` (${x})`:""} provided to augmentColor(color) is invalid.
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The color object needs to have a \`main\` property or a \`${T}\` property.`:_t(11,x?` (${x})`:"",T));if(typeof h.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${x?` (${x})`:""} provided to augmentColor(color) is invalid.
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\`color.main\` should be a string, but \`${JSON.stringify(h.main)}\` was provided instead.
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Did you intend to use one of the following approaches?
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@@ -63,20 +63,20 @@ const theme1 = createTheme({ palette: {
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} });`:_t(12,x?` (${x})`:"",JSON.stringify(
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`)),Object.keys(c).length!==0&&console.error(`MUI: Unrecognized argument(s) [${Object.keys(c).join(",")}].`)}return(Array.isArray(o)?o:[o]).map(d=>`${d} ${typeof s=="string"?s:fs(s)} ${l} ${typeof i=="string"?i:fs(i)}`).join(",")},...e,easing:t,duration:r}}const
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} });`:_t(12,x?` (${x})`:"",JSON.stringify(h.main)));return us(h,"light",D,a),us(h,"dark",N,a),h.contrastText||(h.contrastText=p(h.main)),h};let y;return t==="light"?y=Xl():t==="dark"&&(y=Zl()),process.env.NODE_ENV!=="production"&&(y||console.error(`MUI: The palette mode \`${t}\` is not supported.`)),Be({common:{...Hr},mode:t,primary:u({color:n,name:"primary"}),secondary:u({color:s,name:"secondary",mainShade:"A400",lightShade:"A200",darkShade:"A700"}),error:u({color:l,name:"error"}),warning:u({color:d,name:"warning"}),info:u({color:i,name:"info"}),success:u({color:c,name:"success"}),grey:Yp,contrastThreshold:r,getContrastText:p,augmentColor:u,tonalOffset:a,...y},o)}function nu(e){const t={};return Object.entries(e).forEach(a=>{const[o,n]=a;typeof n=="object"&&(t[o]=`${n.fontStyle?`${n.fontStyle} `:""}${n.fontVariant?`${n.fontVariant} `:""}${n.fontWeight?`${n.fontWeight} `:""}${n.fontStretch?`${n.fontStretch} `:""}${n.fontSize||""}${n.lineHeight?`/${n.lineHeight} `:""}${n.fontFamily||""}`)}),t}function su(e,t){return{toolbar:{minHeight:56,[e.up("xs")]:{"@media (orientation: landscape)":{minHeight:48}},[e.up("sm")]:{minHeight:64}},...t}}function lu(e){return Math.round(e*1e5)/1e5}const hs={textTransform:"uppercase"},ms='"Roboto", "Helvetica", "Arial", sans-serif';function iu(e,t){const{fontFamily:r=ms,fontSize:a=14,fontWeightLight:o=300,fontWeightRegular:n=400,fontWeightMedium:s=500,fontWeightBold:l=700,htmlFontSize:i=16,allVariants:c,pxToRem:d,...p}=typeof t=="function"?t(e):t;process.env.NODE_ENV!=="production"&&(typeof a!="number"&&console.error("MUI: `fontSize` is required to be a number."),typeof i!="number"&&console.error("MUI: `htmlFontSize` is required to be a number."));const u=a/14,y=d||(x=>`${x/i*u}rem`),g=(x,T,D,N,z)=>({fontFamily:r,fontWeight:x,fontSize:y(T),lineHeight:D,...r===ms?{letterSpacing:`${lu(N/T)}em`}:{},...z,...c}),h={h1:g(o,96,1.167,-1.5),h2:g(o,60,1.2,-.5),h3:g(n,48,1.167,0),h4:g(n,34,1.235,.25),h5:g(n,24,1.334,0),h6:g(s,20,1.6,.15),subtitle1:g(n,16,1.75,.15),subtitle2:g(s,14,1.57,.1),body1:g(n,16,1.5,.15),body2:g(n,14,1.43,.15),button:g(s,14,1.75,.4,hs),caption:g(n,12,1.66,.4),overline:g(n,12,2.66,1,hs),inherit:{fontFamily:"inherit",fontWeight:"inherit",fontSize:"inherit",lineHeight:"inherit",letterSpacing:"inherit"}};return Be({htmlFontSize:i,pxToRem:y,fontFamily:r,fontSize:a,fontWeightLight:o,fontWeightRegular:n,fontWeightMedium:s,fontWeightBold:l,...h},p,{clone:!1})}const cu=.2,du=.14,pu=.12;function ge(...e){return[`${e[0]}px ${e[1]}px ${e[2]}px ${e[3]}px rgba(0,0,0,${cu})`,`${e[4]}px ${e[5]}px ${e[6]}px ${e[7]}px rgba(0,0,0,${du})`,`${e[8]}px ${e[9]}px ${e[10]}px ${e[11]}px rgba(0,0,0,${pu})`].join(",")}const uu=["none",ge(0,2,1,-1,0,1,1,0,0,1,3,0),ge(0,3,1,-2,0,2,2,0,0,1,5,0),ge(0,3,3,-2,0,3,4,0,0,1,8,0),ge(0,2,4,-1,0,4,5,0,0,1,10,0),ge(0,3,5,-1,0,5,8,0,0,1,14,0),ge(0,3,5,-1,0,6,10,0,0,1,18,0),ge(0,4,5,-2,0,7,10,1,0,2,16,1),ge(0,5,5,-3,0,8,10,1,0,3,14,2),ge(0,5,6,-3,0,9,12,1,0,3,16,2),ge(0,6,6,-3,0,10,14,1,0,4,18,3),ge(0,6,7,-4,0,11,15,1,0,4,20,3),ge(0,7,8,-4,0,12,17,2,0,5,22,4),ge(0,7,8,-4,0,13,19,2,0,5,24,4),ge(0,7,9,-4,0,14,21,2,0,5,26,4),ge(0,8,9,-5,0,15,22,2,0,6,28,5),ge(0,8,10,-5,0,16,24,2,0,6,30,5),ge(0,8,11,-5,0,17,26,2,0,6,32,5),ge(0,9,11,-5,0,18,28,2,0,7,34,6),ge(0,9,12,-6,0,19,29,2,0,7,36,6),ge(0,10,13,-6,0,20,31,3,0,8,38,7),ge(0,10,13,-6,0,21,33,3,0,8,40,7),ge(0,10,14,-6,0,22,35,3,0,8,42,7),ge(0,11,14,-7,0,23,36,3,0,9,44,8),ge(0,11,15,-7,0,24,38,3,0,9,46,8)],hu={easeInOut:"cubic-bezier(0.4, 0, 0.2, 1)",easeOut:"cubic-bezier(0.0, 0, 0.2, 1)",easeIn:"cubic-bezier(0.4, 0, 1, 1)",sharp:"cubic-bezier(0.4, 0, 0.6, 1)"},mu={shortest:150,shorter:200,short:250,standard:300,complex:375,enteringScreen:225,leavingScreen:195};function fs(e){return`${Math.round(e)}ms`}function fu(e){if(!e)return 0;const t=e/36;return Math.min(Math.round((4+15*t**.25+t/5)*10),3e3)}function yu(e){const t={...hu,...e.easing},r={...mu,...e.duration};return{getAutoHeightDuration:fu,create:(o=["all"],n={})=>{const{duration:s=r.standard,easing:l=t.easeInOut,delay:i=0,...c}=n;if(process.env.NODE_ENV!=="production"){const d=u=>typeof u=="string",p=u=>!Number.isNaN(parseFloat(u));!d(o)&&!Array.isArray(o)&&console.error('MUI: Argument "props" must be a string or Array.'),!p(s)&&!d(s)&&console.error(`MUI: Argument "duration" must be a number or a string but found ${s}.`),d(l)||console.error('MUI: Argument "easing" must be a string.'),!p(i)&&!d(i)&&console.error('MUI: Argument "delay" must be a number or a string.'),typeof n!="object"&&console.error(["MUI: Secong argument of transition.create must be an object.","Arguments should be either `create('prop1', options)` or `create(['prop1', 'prop2'], options)`"].join(`
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`)),Object.keys(c).length!==0&&console.error(`MUI: Unrecognized argument(s) [${Object.keys(c).join(",")}].`)}return(Array.isArray(o)?o:[o]).map(d=>`${d} ${typeof s=="string"?s:fs(s)} ${l} ${typeof i=="string"?i:fs(i)}`).join(",")},...e,easing:t,duration:r}}const gu={mobileStepper:1e3,fab:1050,speedDial:1050,appBar:1100,drawer:1200,modal:1300,snackbar:1400,tooltip:1500};function bu(e){return lt(e)||typeof e>"u"||typeof e=="string"||typeof e=="boolean"||typeof e=="number"||Array.isArray(e)}function ei(e={}){const t={...e};function r(a){const o=Object.entries(a);for(let n=0;n<o.length;n++){const[s,l]=o[n];!bu(l)||s.startsWith("unstable_")?delete a[s]:lt(l)&&(a[s]={...l},r(a[s]))}}return r(t),`import { unstable_createBreakpoints as createBreakpoints, createTransitions } from '@mui/material/styles';
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const theme = ${JSON.stringify(t,null,2)};
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export default theme;`}function on(e={},...t){const{breakpoints:r,mixins:a={},spacing:o,palette:n={},transitions:s={},typography:l={},shape:i,...c}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":_t(20));const d=En(n),p=no(e);let u=Be(p,{mixins:
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To suppress this warning, you need to explicitly provide the \`palette.${t}Channel\` as a string (in rgb format, for example "12 12 12") or undefined if you want to remove the channel token.`))}function _u(e){return typeof e=="number"?`${e}px`:typeof e=="string"||typeof e=="function"||Array.isArray(e)?e:"8px"}const ot=e=>{try{return e()}catch{}},Au=(e="mui")=>Np(e);function Uo(e,t,r,a){if(!t)return;t=t===!0?{}:t;const o=a==="dark"?"dark":"light";if(!r){e[a]=wu({...t,palette:{mode:o,...t==null?void 0:t.palette}});return}const{palette:n,...s}=on({...r,palette:{mode:o,...t==null?void 0:t.palette}});return e[a]={...t,palette:n,opacity:{...ai(o),...t==null?void 0:t.opacity},overlays:(t==null?void 0:t.overlays)||oi(o)},s}function Tu(e={},...t){const{colorSchemes:r={light:!0},defaultColorScheme:a,disableCssColorScheme:o=!1,cssVarPrefix:n="mui",shouldSkipGeneratingVar:s=Cu,colorSchemeSelector:l=r.light&&r.dark?"media":void 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mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Geschwindigkeit","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Cartesian.MotionType.lb":"Bewegungstyp","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Gelenkwerte","Jogging.Increment.Continuous.dd":"Fortlaufend","Jogging.Cartesian.Orientation.lb":"Orientierung","Jogging.JointLimitsReached.lb":"Gelenkgrenzen für Gelenk {{jointNumbers}} erreicht","Jogging.Orientation.coordsys":"Roboterbasis","Jogging.Orientation.tool":"Werkzeug","SafetyBar.ActivationToggle.Activate.bt":"Aktivieren","SafetyBar.ActivationToggle.Activated.bt":"Aktiviert","SafetyBar.ActivationToggle.Activating.bt":"Wird aktiviert…","SafetyBar.ActivationToggle.Deactivating.bt":"Wird deaktiviert…","SafetyBar.ControllerType.Physical.lb":"Physische Robotersteuerung","SafetyBar.ControllerType.Virtual.lb":"Virtuelle Robotersteuerung","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> ist ein physische Robotersteuerung. Für die Bewegung dieses Roboters sind <strong>Sicherheitsmaßnahmen</strong> aktiv.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> ist eine virtuelle Robotersteuerung ohne physisches Gegenstück. Der Roboter kann ohne Sicherheitsmaßnahmen bewegt werden.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatischer Betriebsmodus der Robotersteuerung aktiv. Automatisierte Bewegung ohne manuelle Bestätigung freigegeben.","SafetyBar.OperationMode.Automatic.ti":"Automatisch","SafetyBar.OperationMode.Error.Explanation.lb":"Fehler beim Abrufen des Betriebsmodus. Originalhandbediengerät des Roboters verwenden, um Fehler zu lösen.","SafetyBar.OperationMode.Error.lb":"Fehler","SafetyBar.OperationMode.Manual.Explanation.lb":`Die Robotersteuerung befindet sich im manuellen Betriebsmodus.
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Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. Bis der Stoppzustand aufgelöst ist, ist keine Bewegung mehr möglich.","SafetyBar.SafetyState.Stop.lb":"Stopp","SafetyBar.SafetyState.ti":"Sicherheitszustand","SafetyBar.StopState.Estop.Explanation.lb":"NOT-AUS aktiviert. NOT-AUS freischalten, um Roboter zu bewegen.","Jogging.Increment.hlb":"Schrittgröße","Jogging.CoordinateSystem.hlb":"Koordinatensystem","Jogging.Cartesian.bt":"Kartesisch","Jogging.Joints.bt":"Gelenke","Jogging.Velocity.bt":"Geschwindigkeit"},$u={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Velocity","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Cartesian.MotionType.lb":"Motion type","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Joint values","Jogging.Increment.Continuous.dd":"Continuous","Jogging.Cartesian.Orientation.lb":"Orientation","Jogging.Activating.lb":"Activating jogging","Jogging.JointLimitsReached.lb":"Joint limit reached for joint {{jointNumbers}}","Jogging.Orientation.coordsys":"Robot base","Jogging.Orientation.tool":"Tool","SafetyBar.ActivationToggle.Activate.bt":"Activate","SafetyBar.ActivationToggle.Activated.bt":"Activated","SafetyBar.ActivationToggle.Activating.bt":"Activating","SafetyBar.ActivationToggle.Deactivating.bt":"Deactivating","SafetyBar.ControllerType.Physical.lb":"Physical controller","SafetyBar.ControllerType.Virtual.lb":"Virtual controller","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> is a physical robot controller. <strong>Safety precautions</strong> are active for the movement of this robot.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> is a virtual robot controller with no physical counterpart. It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully.","SafetyBar.OperationMode.Manual.lb":"Manual","SafetyBar.OperationMode.ti":"Operation mode","SafetyBar.SafetyState.Error.Explanation.lb":"The robot controller has entered an unexpected safety state.","SafetyBar.SafetyState.Error.lb":"Error","SafetyBar.SafetyState.Estop.lb":"E-Stop","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"The robot controller has entered a safety state requiring manual action to resolve.","SafetyBar.SafetyState.ManualActionRequired.lb":"Action required","SafetyBar.SafetyState.Normal.Explanation.lb":"The robot controller is in a safe state. Robot movement is enabled.","SafetyBar.SafetyState.Normal.lb":"Safe","SafetyBar.SafetyState.Stop.Explanation.lb":"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved.","SafetyBar.SafetyState.Stop.lb":"Stop","SafetyBar.SafetyState.ti":"Safety state","SafetyBar.StopState.Estop.Explanation.lb":"An emergency stop of the robot controller has been triggered. Movement of the robot is no longer possible until the estop is released.","Jogging.Increment.hlb":"Increment","Jogging.CoordinateSystem.hlb":"Coordinate system","Jogging.Cartesian.bt":"Cartesian","Jogging.Joints.bt":"Joints","Jogging.Velocity.bt":"Velocity"},$n=Gc.createInstance();$n.use(Jc).init({supportedLngs:["en","de"],resources:{en:{translations:$u},de:{translations:ju}},ns:["translations"],defaultNS:"translations",detection:{order:["navigator","htmlTag"]}});function yr(e){return r=>b.jsx(Uu,{children:b.jsx(e,{...r})})}const Uu=({children:e})=>b.jsx(we.I18nextProvider,{i18n:$n,children:e}),ku=({title:e,titleId:t,...r},a)=>L.createElement("svg",{width:21,height:21,viewBox:"0 0 21 21",fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:a,"aria-labelledby":t,...r},e?L.createElement("title",{id:t},e):null,L.createElement("g",{id:"JogMinus"},L.createElement("path",{id:"Minus",d:"M0 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0:i.call(l,24))||"1.5rem"}},{props:{fontSize:"large"},style:{fontSize:((d=(c=e.typography)==null?void 0:c.pxToRem)==null?void 0:d.call(c,35))||"2.1875rem"}},...Object.entries((e.vars??e).palette).filter(([,m])=>m&&m.main).map(([m])=>{var x,T;return{props:{color:m},style:{color:(T=(x=(e.vars??e).palette)==null?void 0:x[m])==null?void 0:T.main}}}),{props:{color:"action"},style:{color:(u=(p=(e.vars??e).palette)==null?void 0:p.action)==null?void 0:u.active}},{props:{color:"disabled"},style:{color:(g=(y=(e.vars??e).palette)==null?void 0:y.action)==null?void 0:g.disabled}},{props:{color:"inherit"},style:{color:void 0}}]}})),Da=L.forwardRef(function(t,r){const a=jn({props:t,name:"MuiSvgIcon"}),{children:o,className:n,color:s="inherit",component:l="svg",fontSize:i="medium",htmlColor:c,inheritViewBox:d=!1,titleAccess:p,viewBox:u="0 0 24 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r(a,o){return b.jsx(Da,{"data-testid":process.env.NODE_ENV!=="production"?`${t}Icon`:void 0,ref:o,...a,children:e})}return process.env.NODE_ENV!=="production"&&(r.displayName=`${t}Icon`),r.muiName=Da.muiName,L.memo(L.forwardRef(r))}function Ea(e){return e&&e.ownerDocument||document}function Gu(e){const{controlled:t,default:r,name:a,state:o="value"}=e,{current:n}=L.useRef(t!==void 0),[s,l]=L.useState(r),i=n?t:s;if(process.env.NODE_ENV!=="production"){L.useEffect(()=>{n!==(t!==void 0)&&console.error([`MUI: A component is changing the ${n?"":"un"}controlled ${o} state of ${a} to be ${n?"un":""}controlled.`,"Elements should not switch from uncontrolled to controlled (or vice versa).",`Decide between using a controlled or uncontrolled ${a} element for the lifetime of the component.`,"The nature of the state is determined during the first render. It's considered controlled if the value is not `undefined`.","More info: https://fb.me/react-controlled-components"].join(`
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export default theme;`}function on(e={},...t){const{breakpoints:r,mixins:a={},spacing:o,palette:n={},transitions:s={},typography:l={},shape:i,...c}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":_t(20));const d=En(n),p=no(e);let u=Be(p,{mixins:su(p.breakpoints,a),palette:d,shadows:uu.slice(),typography:iu(d,l),transitions:yu(s),zIndex:{...gu}});if(u=Be(u,c),u=t.reduce((y,g)=>Be(y,g),u),process.env.NODE_ENV!=="production"){const y=["active","checked","completed","disabled","error","expanded","focused","focusVisible","required","selected"],g=(h,x)=>{let T;for(T in h){const D=h[T];if(y.includes(T)&&Object.keys(D).length>0){if(process.env.NODE_ENV!=="production"){const N=ra("",T);console.error([`MUI: The \`${x}\` component increases the CSS specificity of the \`${T}\` internal state.`,"You can not override it like this: ",JSON.stringify(h,null,2),"",`Instead, you need to use the '&.${N}' syntax:`,JSON.stringify({root:{[`&.${N}`]:D}},null,2),"","https://mui.com/r/state-classes-guide"].join(`
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`))}h[T]={}}}};Object.keys(u.components).forEach(h=>{const x=u.components[h].styleOverrides;x&&h.startsWith("Mui")&&g(x,h)})}return u.unstable_sxConfig={...ta,...c==null?void 0:c.unstable_sxConfig},u.unstable_sx=function(g){return mr({sx:g,theme:this})},u.toRuntimeSource=ei,u}function Su(e){let t;return e<1?t=5.11916*e**2:t=4.5*Math.log(e+1)+2,Math.round(t*10)/1e3}const vu=[...Array(25)].map((e,t)=>{if(t===0)return"none";const r=Su(t);return`linear-gradient(rgba(255 255 255 / ${r}), rgba(255 255 255 / ${r}))`});function ti(e){return{inputPlaceholder:e==="dark"?.5:.42,inputUnderline:e==="dark"?.7:.42,switchTrackDisabled:e==="dark"?.2:.12,switchTrack:e==="dark"?.3:.38}}function ri(e){return e==="dark"?vu:[]}function xu(e){const{palette:t={mode:"light"},opacity:r,overlays:a,...o}=e,n=En(t);return{palette:n,opacity:{...ti(n.mode),...r},overlays:a||ri(n.mode),...o}}function Ou(e){var t;return!!e[0].match(/(cssVarPrefix|colorSchemeSelector|rootSelector|typography|mixins|breakpoints|direction|transitions)/)||!!e[0].match(/sxConfig$/)||e[0]==="palette"&&!!((t=e[1])!=null&&t.match(/(mode|contrastThreshold|tonalOffset)/))}const wu=e=>[...[...Array(25)].map((t,r)=>`--${e?`${e}-`:""}overlays-${r}`),`--${e?`${e}-`:""}palette-AppBar-darkBg`,`--${e?`${e}-`:""}palette-AppBar-darkColor`],Cu=e=>(t,r)=>{const a=e.rootSelector||":root",o=e.colorSchemeSelector;let n=o;if(o==="class"&&(n=".%s"),o==="data"&&(n="[data-%s]"),o!=null&&o.startsWith("data-")&&!o.includes("%s")&&(n=`[${o}="%s"]`),e.defaultColorScheme===t){if(t==="dark"){const s={};return wu(e.cssVarPrefix).forEach(l=>{s[l]=r[l],delete r[l]}),n==="media"?{[a]:r,"@media (prefers-color-scheme: dark)":{[a]:s}}:n?{[n.replace("%s",t)]:s,[`${a}, ${n.replace("%s",t)}`]:r}:{[a]:{...r,...s}}}if(n&&n!=="media")return`${a}, ${n.replace("%s",String(t))}`}else if(t){if(n==="media")return{[`@media (prefers-color-scheme: ${String(t)})`]:{[a]:r}};if(n)return n.replace("%s",String(t))}return a};function Vu(e,t){t.forEach(r=>{e[r]||(e[r]={})})}function E(e,t,r){!e[t]&&r&&(e[t]=r)}function Nr(e){return typeof e!="string"||!e.startsWith("hsl")?e:Yl(e)}function ht(e,t){`${t}Channel`in e||(e[`${t}Channel`]=Fr(Nr(e[t]),`MUI: Can't create \`palette.${t}Channel\` because \`palette.${t}\` is not one of these formats: #nnn, #nnnnnn, rgb(), rgba(), hsl(), hsla(), color().
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|
|
77
|
+
Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. 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* Reconnecting WebSocket
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|
-
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|
|
97
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+
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|
|
100
100
|
`+n.map(Zs).join(`
|
|
101
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-
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|
|
102
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-
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l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteApp:async(t,r,a,o={})=>{h("deleteApp","cell",t),h("deleteApp","app",r);const n="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"DELETE",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.completionTimeout=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getApp:async(t,r,a={})=>{h("getApp","cell",t),h("getApp","app",r);const o="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listApps:async(t,r={})=>{h("listApps","cell",t);const a="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},updateApp:async(t,r,a,o,n={})=>{h("updateApp","cell",t),h("updateApp","app",r),h("updateApp","app2",a);const s="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};P(c,e),await V(d,e),o!==void 0&&(p.completionTimeout=o),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(a,c,e),{url:_(l),options:c}}}},tr=function(e){const t=M0(e);return{async addApp(r,a,o,n){var c,d;const s=await t.addApp(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ApplicationApi.addApp"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async clearApps(r,a,o){var i,c;const n=await t.clearApps(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ApplicationApi.clearApps"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteApp(r,a,o,n){var c,d;const s=await t.deleteApp(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ApplicationApi.deleteApp"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getApp(r,a,o){var i,c;const n=await t.getApp(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ApplicationApi.getApp"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listApps(r,a){var l,i;const o=await t.listApps(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ApplicationApi.listApps"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async updateApp(r,a,o,n,s){var d,p;const l=await t.updateApp(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["ApplicationApi.updateApp"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)}}};class rl extends fe{addApp(t,r,a,o){return tr(this.configuration).addApp(t,r,a,o).then(n=>n(this.axios,this.basePath))}clearApps(t,r,a){return tr(this.configuration).clearApps(t,r,a).then(o=>o(this.axios,this.basePath))}deleteApp(t,r,a,o){return tr(this.configuration).deleteApp(t,r,a,o).then(n=>n(this.axios,this.basePath))}getApp(t,r,a){return tr(this.configuration).getApp(t,r,a).then(o=>o(this.axios,this.basePath))}listApps(t,r){return tr(this.configuration).listApps(t,r).then(a=>a(this.axios,this.basePath))}updateApp(t,r,a,o,n){return tr(this.configuration).updateApp(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const j0=function(e){return{deleteCell:async(t,r,a={})=>{h("deleteCell","cell",t);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),r!==void 0&&(c.completionTimeout=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deployCell:async(t,r,a={})=>{h("deployCell","cell",t);const o="/cells",n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),r!==void 0&&(c.completionTimeout=r),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(t,l,e),{url:_(n),options:l}},getCell:async(t,r={})=>{h("getCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},getCellStatus:async(t,r={})=>{h("getCellStatus","cell",t);const a="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listCells:async(t={})=>{const r="/cells",a=new URL(r,C);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};P(n,e),await V(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},updateCell:async(t,r,a,o={})=>{h("updateCell","cell",t),h("updateCell","cell2",r);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}}}},rr=function(e){const t=j0(e);return{async deleteCell(r,a,o){var i,c;const n=await t.deleteCell(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CellApi.deleteCell"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deployCell(r,a,o){var i,c;const n=await t.deployCell(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CellApi.deployCell"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getCell(r,a){var l,i;const o=await t.getCell(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["CellApi.getCell"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async getCellStatus(r,a){var l,i;const o=await t.getCellStatus(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["CellApi.getCellStatus"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listCells(r){var s,l;const a=await t.listCells(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=w["CellApi.listCells"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async updateCell(r,a,o,n){var c,d;const s=await t.updateCell(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["CellApi.updateCell"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class $0 extends fe{deleteCell(t,r,a){return rr(this.configuration).deleteCell(t,r,a).then(o=>o(this.axios,this.basePath))}deployCell(t,r,a){return rr(this.configuration).deployCell(t,r,a).then(o=>o(this.axios,this.basePath))}getCell(t,r){return rr(this.configuration).getCell(t,r).then(a=>a(this.axios,this.basePath))}getCellStatus(t,r){return rr(this.configuration).getCellStatus(t,r).then(a=>a(this.axios,this.basePath))}listCells(t){return rr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,a,o){return rr(this.configuration).updateCell(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const U0=function(e){return{addRobotController:async(t,r,a,o={})=>{h("addRobotController","cell",t),h("addRobotController","robotController",r);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}},clearRobotControllers:async(t,r,a={})=>{h("clearRobotControllers","cell",t);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),r!==void 0&&(c.completionTimeout=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteRobotController:async(t,r,a,o={})=>{h("deleteRobotController","cell",t),h("deleteRobotController","controller",r);const n="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"DELETE",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.completionTimeout=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getCurrentRobotControllerState:async(t,r,a={})=>{h("getCurrentRobotControllerState","cell",t),h("getCurrentRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getMode:async(t,r,a={})=>{h("getMode","cell",t),h("getMode","controller",r);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getRobotController:async(t,r,a={})=>{h("getRobotController","cell",t),h("getRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getSupportedModes:async(t,r,a={})=>{h("getSupportedModes","cell",t),h("getSupportedModes","controller",r);const o="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getVirtualRobotConfiguration:async(t,r,a={})=>{h("getVirtualRobotConfiguration","cell",t),h("getVirtualRobotConfiguration","controller",r);const o="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listControllers:async(t,r={})=>{h("listControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},setDefaultMode:async(t,r,a,o={})=>{h("setDefaultMode","cell",t),h("setDefaultMode","controller",r),h("setDefaultMode","mode",a);const n="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.mode=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},streamFreeDrive:async(t,r,a,o={})=>{h("streamFreeDrive","cell",t),h("streamFreeDrive","controller",r);const n="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.response_rate=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},streamModeChange:async(t,r,a={})=>{h("streamModeChange","cell",t),h("streamModeChange","controller",r);const o="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},streamRobotControllerState:async(t,r,a,o={})=>{h("streamRobotControllerState","cell",t),h("streamRobotControllerState","controller",r);const n="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.response_rate=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},updateRobotController:async(t,r,a,o,n={})=>{h("updateRobotController","cell",t),h("updateRobotController","controller",r),h("updateRobotController","robotController",a);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};P(c,e),await V(d,e),o!==void 0&&(p.completionTimeout=o),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(a,c,e),{url:_(l),options:c}}}},Ne=function(e){const t=U0(e);return{async addRobotController(r,a,o,n){var c,d;const s=await t.addRobotController(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.addRobotController"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async clearRobotControllers(r,a,o){var i,c;const n=await t.clearRobotControllers(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.clearRobotControllers"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteRobotController(r,a,o,n){var c,d;const s=await t.deleteRobotController(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.deleteRobotController"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getCurrentRobotControllerState(r,a,o){var i,c;const n=await t.getCurrentRobotControllerState(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getCurrentRobotControllerState"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getMode(r,a,o){var i,c;const n=await t.getMode(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getMode"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getRobotController(r,a,o){var i,c;const n=await t.getRobotController(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getRobotController"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getSupportedModes(r,a,o){var i,c;const n=await t.getSupportedModes(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getSupportedModes"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getVirtualRobotConfiguration(r,a,o){var i,c;const n=await t.getVirtualRobotConfiguration(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listControllers(r,a){var l,i;const o=await t.listControllers(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ControllerApi.listControllers"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async setDefaultMode(r,a,o,n){var c,d;const s=await t.setDefaultMode(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.setDefaultMode"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async streamFreeDrive(r,a,o,n){var c,d;const s=await t.streamFreeDrive(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.streamFreeDrive"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async streamModeChange(r,a,o){var i,c;const n=await t.streamModeChange(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.streamModeChange"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async streamRobotControllerState(r,a,o,n){var c,d;const s=await t.streamRobotControllerState(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.streamRobotControllerState"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async updateRobotController(r,a,o,n,s){var d,p;const l=await t.updateRobotController(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["ControllerApi.updateRobotController"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)}}};class k0 extends fe{addRobotController(t,r,a,o){return Ne(this.configuration).addRobotController(t,r,a,o).then(n=>n(this.axios,this.basePath))}clearRobotControllers(t,r,a){return Ne(this.configuration).clearRobotControllers(t,r,a).then(o=>o(this.axios,this.basePath))}deleteRobotController(t,r,a,o){return Ne(this.configuration).deleteRobotController(t,r,a,o).then(n=>n(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,a){return Ne(this.configuration).getCurrentRobotControllerState(t,r,a).then(o=>o(this.axios,this.basePath))}getMode(t,r,a){return Ne(this.configuration).getMode(t,r,a).then(o=>o(this.axios,this.basePath))}getRobotController(t,r,a){return Ne(this.configuration).getRobotController(t,r,a).then(o=>o(this.axios,this.basePath))}getSupportedModes(t,r,a){return Ne(this.configuration).getSupportedModes(t,r,a).then(o=>o(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,a){return Ne(this.configuration).getVirtualRobotConfiguration(t,r,a).then(o=>o(this.axios,this.basePath))}listControllers(t,r){return Ne(this.configuration).listControllers(t,r).then(a=>a(this.axios,this.basePath))}setDefaultMode(t,r,a,o){return Ne(this.configuration).setDefaultMode(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamFreeDrive(t,r,a,o){return Ne(this.configuration).streamFreeDrive(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamModeChange(t,r,a){return Ne(this.configuration).streamModeChange(t,r,a).then(o=>o(this.axios,this.basePath))}streamRobotControllerState(t,r,a,o){return Ne(this.configuration).streamRobotControllerState(t,r,a,o).then(n=>n(this.axios,this.basePath))}updateRobotController(t,r,a,o,n){return Ne(this.configuration).updateRobotController(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const L0=function(e){return{listIODescriptions:async(t,r,a,o={})=>{h("listIODescriptions","cell",t),h("listIODescriptions","controller",r);const n="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a&&(d.ios=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},listIOValues:async(t,r,a,o={})=>{h("listIOValues","cell",t),h("listIOValues","controller",r);const n="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a&&(d.ios=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},setOutputValues:async(t,r,a,o={})=>{h("setOutputValues","cell",t),h("setOutputValues","controller",r),h("setOutputValues","iOValue",a);const n="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},streamIOValues:async(t,r,a,o={})=>{h("streamIOValues","cell",t),h("streamIOValues","controller",r);const n="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a&&(d.ios=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},waitForIOEvent:async(t,r,a,o,n,s,l,i={})=>{h("waitForIOEvent","cell",t),h("waitForIOEvent","controller",r),h("waitForIOEvent","io",a),h("waitForIOEvent","comparisonType",o);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),d=new URL(c,C);let p;e&&(p=e.baseOptions);const u={method:"GET",...p,...i},y={},g={};P(u,e),await V(y,e),a!==void 0&&(g.io=a),o!==void 0&&(g.comparison_type=o),n!==void 0&&(g.boolean_value=n),s!==void 0&&(g.integer_value=s),l!==void 0&&(g.floating_value=l),R(d,g);let m=p&&p.headers?p.headers:{};return u.headers={...y,...m,...i.headers},{url:_(d),options:u}}}},jr=function(e){const t=L0(e);return{async listIODescriptions(r,a,o,n){var c,d;const s=await t.listIODescriptions(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.listIODescriptions"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async listIOValues(r,a,o,n){var c,d;const s=await t.listIOValues(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.listIOValues"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async setOutputValues(r,a,o,n){var c,d;const s=await t.setOutputValues(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.setOutputValues"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async streamIOValues(r,a,o,n){var c,d;const s=await t.streamIOValues(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.streamIOValues"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async waitForIOEvent(r,a,o,n,s,l,i,c){var y,g;const d=await t.waitForIOEvent(r,a,o,n,s,l,i,c),p=(e==null?void 0:e.serverIndex)??0,u=(g=(y=w["ControllerIOsApi.waitForIOEvent"])==null?void 0:y[p])==null?void 0:g.url;return(m,x)=>A(d,v,O,e)(m,u||x)}}};class B0 extends fe{listIODescriptions(t,r,a,o){return jr(this.configuration).listIODescriptions(t,r,a,o).then(n=>n(this.axios,this.basePath))}listIOValues(t,r,a,o){return jr(this.configuration).listIOValues(t,r,a,o).then(n=>n(this.axios,this.basePath))}setOutputValues(t,r,a,o){return jr(this.configuration).setOutputValues(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamIOValues(t,r,a,o){return jr(this.configuration).streamIOValues(t,r,a,o).then(n=>n(this.axios,this.basePath))}waitForIOEvent(t,r,a,o,n,s,l,i){return jr(this.configuration).waitForIOEvent(t,r,a,o,n,s,l,i).then(c=>c(this.axios,this.basePath))}}const F0=function(e){return{addCoordinateSystem:async(t,r,a={})=>{h("addCoordinateSystem","cell",t),h("addCoordinateSystem","addRequest",r);const o="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},deleteCoordinateSystem:async(t,r,a={})=>{h("deleteCoordinateSystem","cell",t),h("deleteCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getCoordinateSystem:async(t,r,a,o={})=>{h("getCoordinateSystem","cell",t),h("getCoordinateSystem","coordinateSystem",r);const n="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},listCoordinateSystems:async(t,r,a={})=>{h("listCoordinateSystems","cell",t);const o="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),r!==void 0&&(c.rotation_type=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},transformInCoordinateSystem:async(t,r,a,o={})=>{h("transformInCoordinateSystem","cell",t),h("transformInCoordinateSystem","coordinateSystem",r),h("transformInCoordinateSystem","pose",a);const n="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},$r=function(e){const t=F0(e);return{async addCoordinateSystem(r,a,o){var i,c;const n=await t.addCoordinateSystem(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteCoordinateSystem(r,a,o){var i,c;const n=await t.deleteCoordinateSystem(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getCoordinateSystem(r,a,o,n){var c,d;const s=await t.getCoordinateSystem(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async listCoordinateSystems(r,a,o){var i,c;const n=await t.listCoordinateSystems(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async transformInCoordinateSystem(r,a,o,n){var c,d;const s=await t.transformInCoordinateSystem(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class N0 extends fe{addCoordinateSystem(t,r,a){return $r(this.configuration).addCoordinateSystem(t,r,a).then(o=>o(this.axios,this.basePath))}deleteCoordinateSystem(t,r,a){return $r(this.configuration).deleteCoordinateSystem(t,r,a).then(o=>o(this.axios,this.basePath))}getCoordinateSystem(t,r,a,o){return $r(this.configuration).getCoordinateSystem(t,r,a,o).then(n=>n(this.axios,this.basePath))}listCoordinateSystems(t,r,a){return $r(this.configuration).listCoordinateSystems(t,r,a).then(o=>o(this.axios,this.basePath))}transformInCoordinateSystem(t,r,a,o){return $r(this.configuration).transformInCoordinateSystem(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const D0=function(e){return{clearDevices:async(t,r={})=>{h("clearDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},createDevice:async(t,r,a={})=>{h("createDevice","cell",t),h("createDevice","createDeviceRequestInner",r);const o="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},deleteDevice:async(t,r,a={})=>{h("deleteDevice","cell",t),h("deleteDevice","identifier",r);const o="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getDevice:async(t,r,a={})=>{h("getDevice","cell",t),h("getDevice","identifier",r);const o="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listDevices:async(t,r={})=>{h("listDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}}}},Ur=function(e){const t=D0(e);return{async clearDevices(r,a){var l,i;const o=await t.clearDevices(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["DeviceConfigurationApi.clearDevices"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async createDevice(r,a,o){var i,c;const n=await t.createDevice(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["DeviceConfigurationApi.createDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteDevice(r,a,o){var i,c;const n=await t.deleteDevice(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["DeviceConfigurationApi.deleteDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getDevice(r,a,o){var i,c;const n=await t.getDevice(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["DeviceConfigurationApi.getDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listDevices(r,a){var l,i;const o=await t.listDevices(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["DeviceConfigurationApi.listDevices"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)}}};class z0 extends fe{clearDevices(t,r){return Ur(this.configuration).clearDevices(t,r).then(a=>a(this.axios,this.basePath))}createDevice(t,r,a){return Ur(this.configuration).createDevice(t,r,a).then(o=>o(this.axios,this.basePath))}deleteDevice(t,r,a){return Ur(this.configuration).deleteDevice(t,r,a).then(o=>o(this.axios,this.basePath))}getDevice(t,r,a){return Ur(this.configuration).getDevice(t,r,a).then(o=>o(this.axios,this.basePath))}listDevices(t,r){return Ur(this.configuration).listDevices(t,r).then(a=>a(this.axios,this.basePath))}}const G0=function(e){return{createProgram:async(t,r,a,o={})=>{h("createProgram","cell",t),h("createProgram","body",r);const n="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.name=a),c["Content-Type"]="text/plain",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}},deleteProgram:async(t,r,a={})=>{h("deleteProgram","cell",t),h("deleteProgram","program",r);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteProgramList:async(t,r,a={})=>{h("deleteProgramList","cell",t),h("deleteProgramList","programIds",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),r&&(c.program_ids=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getProgram:async(t,r,a={})=>{h("getProgram","cell",t),h("getProgram","program",r);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},updateProgram:async(t,r,a,o={})=>{h("updateProgram","cell",t),h("updateProgram","program",r),h("updateProgram","body",a);const n="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="text/plain",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},kr=function(e){const t=G0(e);return{async createProgram(r,a,o,n){var c,d;const s=await t.createProgram(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramApi.createProgram"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async deleteProgram(r,a,o){var i,c;const n=await t.deleteProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramApi.deleteProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteProgramList(r,a,o){var i,c;const n=await t.deleteProgramList(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramApi.deleteProgramList"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getProgram(r,a,o){var i,c;const n=await t.getProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramApi.getProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async updateProgram(r,a,o,n){var c,d;const s=await t.updateProgram(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramApi.updateProgram"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class J0 extends fe{createProgram(t,r,a,o){return kr(this.configuration).createProgram(t,r,a,o).then(n=>n(this.axios,this.basePath))}deleteProgram(t,r,a){return kr(this.configuration).deleteProgram(t,r,a).then(o=>o(this.axios,this.basePath))}deleteProgramList(t,r,a){return kr(this.configuration).deleteProgramList(t,r,a).then(o=>o(this.axios,this.basePath))}getProgram(t,r,a){return kr(this.configuration).getProgram(t,r,a).then(o=>o(this.axios,this.basePath))}updateProgram(t,r,a,o){return kr(this.configuration).updateProgram(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const q0=function(e){return{getProgramMetadata:async(t,r,a={})=>{h("getProgramMetadata","cell",t),h("getProgramMetadata","program",r);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listProgramMetadata:async(t,r,a={})=>{h("listProgramMetadata","cell",t);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),r!==void 0&&(c.show_hidden=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},updateProgramMetadata:async(t,r,a,o={})=>{h("updateProgramMetadata","cell",t),h("updateProgramMetadata","program",r),h("updateProgramMetadata","updateProgramMetadataRequest",a);const n="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},uploadProgramMetadataImage:async(t,r,a,o={})=>{h("uploadProgramMetadataImage","cell",t),h("uploadProgramMetadataImage","program",r),h("uploadProgramMetadataImage","file",a);const n="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={},p=new(e&&e.formDataCtor||FormData);P(i,e),await V(c,e),a!==void 0&&p.append("file",a),c["Content-Type"]="multipart/form-data",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=p,{url:_(s),options:i}}}},ba=function(e){const t=q0(e);return{async getProgramMetadata(r,a,o){var i,c;const n=await t.getProgramMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listProgramMetadata(r,a,o){var i,c;const n=await t.listProgramMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async updateProgramMetadata(r,a,o,n){var c,d;const s=await t.updateProgramMetadata(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async uploadProgramMetadataImage(r,a,o,n){var c,d;const s=await t.uploadProgramMetadataImage(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class H0 extends fe{getProgramMetadata(t,r,a){return ba(this.configuration).getProgramMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}listProgramMetadata(t,r,a){return ba(this.configuration).listProgramMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}updateProgramMetadata(t,r,a,o){return ba(this.configuration).updateProgramMetadata(t,r,a,o).then(n=>n(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,a,o){return ba(this.configuration).uploadProgramMetadataImage(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const W0=function(e){return{createRecipe:async(t,r,a,o,n={})=>{h("createRecipe","cell",t),h("createRecipe","programId",r),h("createRecipe","body",a);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"POST",...i,...n},d={},p={};P(c,e),await V(d,e),r!==void 0&&(p.program_id=r),o!==void 0&&(p.name=o),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(a,c,e),{url:_(l),options:c}},deleteRecipe:async(t,r,a={})=>{h("deleteRecipe","cell",t),h("deleteRecipe","recipe",r);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteRecipeList:async(t,r,a={})=>{h("deleteRecipeList","cell",t),h("deleteRecipeList","recipeIds",r);const o="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),r&&(c.recipe_ids=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getRecipe:async(t,r,a={})=>{h("getRecipe","cell",t),h("getRecipe","recipe",r);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},updateRecipe:async(t,r,a,o={})=>{h("updateRecipe","cell",t),h("updateRecipe","recipe",r),h("updateRecipe","body",a);const n="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},Lr=function(e){const t=W0(e);return{async createRecipe(r,a,o,n,s){var d,p;const l=await t.createRecipe(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["LibraryRecipeApi.createRecipe"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async deleteRecipe(r,a,o){var i,c;const n=await t.deleteRecipe(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeApi.deleteRecipe"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteRecipeList(r,a,o){var i,c;const n=await t.deleteRecipeList(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeApi.deleteRecipeList"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getRecipe(r,a,o){var i,c;const n=await t.getRecipe(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeApi.getRecipe"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async updateRecipe(r,a,o,n){var c,d;const s=await t.updateRecipe(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryRecipeApi.updateRecipe"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class Q0 extends fe{createRecipe(t,r,a,o,n){return Lr(this.configuration).createRecipe(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,a){return Lr(this.configuration).deleteRecipe(t,r,a).then(o=>o(this.axios,this.basePath))}deleteRecipeList(t,r,a){return Lr(this.configuration).deleteRecipeList(t,r,a).then(o=>o(this.axios,this.basePath))}getRecipe(t,r,a){return Lr(this.configuration).getRecipe(t,r,a).then(o=>o(this.axios,this.basePath))}updateRecipe(t,r,a,o){return Lr(this.configuration).updateRecipe(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const K0=function(e){return{getRecipeMetadata:async(t,r,a={})=>{h("getRecipeMetadata","cell",t),h("getRecipeMetadata","recipe",r);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listRecipeMetadata:async(t,r={})=>{h("listRecipeMetadata","cell",t);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},updateRecipeMetadata:async(t,r,a,o={})=>{h("updateRecipeMetadata","cell",t),h("updateRecipeMetadata","recipe",r),h("updateRecipeMetadata","updateRecipeMetadataRequest",a);const n="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},uploadRecipeMetadataImage:async(t,r,a,o={})=>{h("uploadRecipeMetadataImage","cell",t),h("uploadRecipeMetadataImage","recipe",r),h("uploadRecipeMetadataImage","file",a);const n="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={},p=new(e&&e.formDataCtor||FormData);P(i,e),await V(c,e),a!==void 0&&p.append("file",a),c["Content-Type"]="multipart/form-data",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=p,{url:_(s),options:i}}}},Sa=function(e){const t=K0(e);return{async getRecipeMetadata(r,a,o){var i,c;const n=await t.getRecipeMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listRecipeMetadata(r,a){var l,i;const o=await t.listRecipeMetadata(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async updateRecipeMetadata(r,a,o,n){var c,d;const s=await t.updateRecipeMetadata(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async uploadRecipeMetadataImage(r,a,o,n){var c,d;const s=await t.uploadRecipeMetadataImage(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class Y0 extends fe{getRecipeMetadata(t,r,a){return Sa(this.configuration).getRecipeMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}listRecipeMetadata(t,r){return Sa(this.configuration).listRecipeMetadata(t,r).then(a=>a(this.axios,this.basePath))}updateRecipeMetadata(t,r,a,o){return Sa(this.configuration).updateRecipeMetadata(t,r,a,o).then(n=>n(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,a,o){return Sa(this.configuration).uploadRecipeMetadataImage(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const X0=function(e){return{deleteAllMotions:async(t,r={})=>{h("deleteAllMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},deleteMotion:async(t,r,a={})=>{h("deleteMotion","cell",t),h("deleteMotion","motion",r);const o="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},executeTrajectory:async(t,r,a={})=>{h("executeTrajectory","cell",t),h("executeTrajectory","executeTrajectoryRequest",r);const o="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},getMotionTrajectory:async(t,r,a,o,n={})=>{h("getMotionTrajectory","cell",t),h("getMotionTrajectory","motion",r),h("getMotionTrajectory","sampleTime",a);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...n},d={},p={};P(c,e),await V(d,e),a!==void 0&&(p.sample_time=a),o!==void 0&&(p.responses_coordinate_system=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},getMotionTrajectorySample:async(t,r,a,o,n={})=>{h("getMotionTrajectorySample","cell",t),h("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...n},d={},p={};P(c,e),await V(d,e),a!==void 0&&(p.location_on_trajectory=a),o!==void 0&&(p.response_coordinate_system=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},getPlannedMotion:async(t,r,a,o={})=>{h("getPlannedMotion","cell",t),h("getPlannedMotion","motion",r);const n="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.sample_time=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getPlanningMotionGroupModels:async(t,r={})=>{h("getPlanningMotionGroupModels","cell",t);const a="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listMotions:async(t,r={})=>{h("listMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},loadPlannedMotion:async(t,r,a={})=>{h("loadPlannedMotion","cell",t),h("loadPlannedMotion","plannedMotion",r);const o="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planCollisionFreePTP:async(t,r,a={})=>{h("planCollisionFreePTP","cell",t);const o="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planMotion:async(t,r,a={})=>{h("planMotion","cell",t),h("planMotion","planRequest",r);const o="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planTrajectory:async(t,r,a={})=>{h("planTrajectory","cell",t);const o="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},stopExecution:async(t,r,a={})=>{h("stopExecution","cell",t),h("stopExecution","motion",r);const o="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},streamMove:async(t,r,a={})=>{h("streamMove","cell",t),h("streamMove","streamMoveRequest",r);const o="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},streamMoveBackward:async(t,r,a,o,n,s,l={})=>{h("streamMoveBackward","cell",t),h("streamMoveBackward","motion",r),h("streamMoveBackward","playbackSpeedInPercent",a);const i="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(i,C);let d;e&&(d=e.baseOptions);const p={method:"GET",...d,...l},u={},y={};P(p,e),await V(u,e),a!==void 0&&(y.playback_speed_in_percent=a),o!==void 0&&(y.response_rate=o),n!==void 0&&(y.response_coordinate_system=n),s!==void 0&&(y.start_location_on_trajectory=s),R(c,y);let g=d&&d.headers?d.headers:{};return p.headers={...u,...g,...l.headers},{url:_(c),options:p}},streamMoveForward:async(t,r,a,o,n,s,l={})=>{h("streamMoveForward","cell",t),h("streamMoveForward","motion",r),h("streamMoveForward","playbackSpeedInPercent",a);const i="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(i,C);let d;e&&(d=e.baseOptions);const p={method:"GET",...d,...l},u={},y={};P(p,e),await V(u,e),a!==void 0&&(y.playback_speed_in_percent=a),o!==void 0&&(y.response_rate=o),n!==void 0&&(y.response_coordinate_system=n),s!==void 0&&(y.start_location_on_trajectory=s),R(c,y);let g=d&&d.headers?d.headers:{};return p.headers={...u,...g,...l.headers},{url:_(c),options:p}},streamMoveToTrajectoryViaJointPTP:async(t,r,a,o,n,s,l,i,c,d,p={})=>{h("streamMoveToTrajectoryViaJointPTP","cell",t),h("streamMoveToTrajectoryViaJointPTP","motion",r),h("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",a);const u="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),y=new URL(u,C);let g;e&&(g=e.baseOptions);const m={method:"GET",...g,...p},x={},T={};P(m,e),await V(x,e),a!==void 0&&(T.location_on_trajectory=a),o&&(T["limit_override.joint_velocity_limits.joints"]=o),n&&(T["limit_override.joint_acceleration_limits.joints"]=n),s!==void 0&&(T["limit_override.tcp_velocity_limit"]=s),l!==void 0&&(T["limit_override.tcp_acceleration_limit"]=l),i!==void 0&&(T["limit_override.tcp_orientation_velocity_limit"]=i),c!==void 0&&(T["limit_override.tcp_orientation_acceleration_limit"]=c),d!==void 0&&(T.responses_coordinate_system=d),R(y,T);let N=g&&g.headers?g.headers:{};return m.headers={...x,...N,...p.headers},{url:_(y),options:m}}}},Ee=function(e){const t=X0(e);return{async deleteAllMotions(r,a){var l,i;const o=await t.deleteAllMotions(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionApi.deleteAllMotions"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async deleteMotion(r,a,o){var i,c;const n=await t.deleteMotion(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.deleteMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async executeTrajectory(r,a,o){var i,c;const n=await t.executeTrajectory(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.executeTrajectory"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getMotionTrajectory(r,a,o,n,s){var d,p;const l=await t.getMotionTrajectory(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["MotionApi.getMotionTrajectory"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async getMotionTrajectorySample(r,a,o,n,s){var d,p;const l=await t.getMotionTrajectorySample(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["MotionApi.getMotionTrajectorySample"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async getPlannedMotion(r,a,o,n){var c,d;const s=await t.getPlannedMotion(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionApi.getPlannedMotion"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getPlanningMotionGroupModels(r,a){var l,i;const o=await t.getPlanningMotionGroupModels(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionApi.getPlanningMotionGroupModels"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listMotions(r,a){var l,i;const o=await t.listMotions(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionApi.listMotions"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async loadPlannedMotion(r,a,o){var i,c;const n=await t.loadPlannedMotion(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.loadPlannedMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async planCollisionFreePTP(r,a,o){var i,c;const n=await t.planCollisionFreePTP(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.planCollisionFreePTP"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async planMotion(r,a,o){var i,c;const n=await t.planMotion(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.planMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async planTrajectory(r,a,o){var i,c;const n=await t.planTrajectory(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.planTrajectory"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async stopExecution(r,a,o){var i,c;const n=await t.stopExecution(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.stopExecution"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async streamMove(r,a,o){var i,c;const n=await t.streamMove(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.streamMove"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async streamMoveBackward(r,a,o,n,s,l,i){var u,y;const c=await t.streamMoveBackward(r,a,o,n,s,l,i),d=(e==null?void 0:e.serverIndex)??0,p=(y=(u=w["MotionApi.streamMoveBackward"])==null?void 0:u[d])==null?void 0:y.url;return(g,m)=>A(c,v,O,e)(g,p||m)},async streamMoveForward(r,a,o,n,s,l,i){var u,y;const c=await t.streamMoveForward(r,a,o,n,s,l,i),d=(e==null?void 0:e.serverIndex)??0,p=(y=(u=w["MotionApi.streamMoveForward"])==null?void 0:u[d])==null?void 0:y.url;return(g,m)=>A(c,v,O,e)(g,p||m)},async streamMoveToTrajectoryViaJointPTP(r,a,o,n,s,l,i,c,d,p,u){var x,T;const y=await t.streamMoveToTrajectoryViaJointPTP(r,a,o,n,s,l,i,c,d,p,u),g=(e==null?void 0:e.serverIndex)??0,m=(T=(x=w["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:x[g])==null?void 0:T.url;return(N,D)=>A(y,v,O,e)(N,m||D)}}};class Z0 extends fe{deleteAllMotions(t,r){return Ee(this.configuration).deleteAllMotions(t,r).then(a=>a(this.axios,this.basePath))}deleteMotion(t,r,a){return Ee(this.configuration).deleteMotion(t,r,a).then(o=>o(this.axios,this.basePath))}executeTrajectory(t,r,a){return Ee(this.configuration).executeTrajectory(t,r,a).then(o=>o(this.axios,this.basePath))}getMotionTrajectory(t,r,a,o,n){return Ee(this.configuration).getMotionTrajectory(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,a,o,n){return Ee(this.configuration).getMotionTrajectorySample(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,a,o){return Ee(this.configuration).getPlannedMotion(t,r,a,o).then(n=>n(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ee(this.configuration).getPlanningMotionGroupModels(t,r).then(a=>a(this.axios,this.basePath))}listMotions(t,r){return Ee(this.configuration).listMotions(t,r).then(a=>a(this.axios,this.basePath))}loadPlannedMotion(t,r,a){return Ee(this.configuration).loadPlannedMotion(t,r,a).then(o=>o(this.axios,this.basePath))}planCollisionFreePTP(t,r,a){return Ee(this.configuration).planCollisionFreePTP(t,r,a).then(o=>o(this.axios,this.basePath))}planMotion(t,r,a){return Ee(this.configuration).planMotion(t,r,a).then(o=>o(this.axios,this.basePath))}planTrajectory(t,r,a){return Ee(this.configuration).planTrajectory(t,r,a).then(o=>o(this.axios,this.basePath))}stopExecution(t,r,a){return Ee(this.configuration).stopExecution(t,r,a).then(o=>o(this.axios,this.basePath))}streamMove(t,r,a){return Ee(this.configuration).streamMove(t,r,a).then(o=>o(this.axios,this.basePath))}streamMoveBackward(t,r,a,o,n,s,l){return Ee(this.configuration).streamMoveBackward(t,r,a,o,n,s,l).then(i=>i(this.axios,this.basePath))}streamMoveForward(t,r,a,o,n,s,l){return Ee(this.configuration).streamMoveForward(t,r,a,o,n,s,l).then(i=>i(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,a,o,n,s,l,i,c,d,p){return Ee(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,a,o,n,s,l,i,c,d,p).then(u=>u(this.axios,this.basePath))}}const eS=function(e){return{activateAllMotionGroups:async(t,r,a={})=>{h("activateAllMotionGroups","cell",t),h("activateAllMotionGroups","controller",r);const o="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),r!==void 0&&(c.controller=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},activateMotionGroup:async(t,r,a={})=>{h("activateMotionGroup","cell",t),h("activateMotionGroup","motionGroup",r);const o="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),r!==void 0&&(c.motion_group=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deactivateMotionGroup:async(t,r,a={})=>{h("deactivateMotionGroup","cell",t),h("deactivateMotionGroup","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listMotionGroups:async(t,r={})=>{h("listMotionGroups","cell",t);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}}}},va=function(e){const t=eS(e);return{async activateAllMotionGroups(r,a,o){var i,c;const n=await t.activateAllMotionGroups(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupApi.activateAllMotionGroups"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async activateMotionGroup(r,a,o){var i,c;const n=await t.activateMotionGroup(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupApi.activateMotionGroup"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deactivateMotionGroup(r,a,o){var i,c;const n=await t.deactivateMotionGroup(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupApi.deactivateMotionGroup"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listMotionGroups(r,a){var l,i;const o=await t.listMotionGroups(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionGroupApi.listMotionGroups"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)}}};class tS extends fe{activateAllMotionGroups(t,r,a){return va(this.configuration).activateAllMotionGroups(t,r,a).then(o=>o(this.axios,this.basePath))}activateMotionGroup(t,r,a){return va(this.configuration).activateMotionGroup(t,r,a).then(o=>o(this.axios,this.basePath))}deactivateMotionGroup(t,r,a){return va(this.configuration).deactivateMotionGroup(t,r,a).then(o=>o(this.axios,this.basePath))}listMotionGroups(t,r){return va(this.configuration).listMotionGroups(t,r).then(a=>a(this.axios,this.basePath))}}const rS=function(e){return{getActivePayload:async(t,r,a={})=>{h("getActivePayload","cell",t),h("getActivePayload","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getActiveTcp:async(t,r,a,o={})=>{h("getActiveTcp","cell",t),h("getActiveTcp","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getCurrentMotionGroupState:async(t,r,a,o,n={})=>{h("getCurrentMotionGroupState","cell",t),h("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...n},d={},p={};P(c,e),await V(d,e),a!==void 0&&(p.tcp=a),o!==void 0&&(p.response_coordinate_system=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},getInfoCapabilities:async(t,r,a={})=>{h("getInfoCapabilities","cell",t),h("getInfoCapabilities","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getMotionGroupSpecification:async(t,r,a={})=>{h("getMotionGroupSpecification","cell",t),h("getMotionGroupSpecification","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getMounting:async(t,r,a={})=>{h("getMounting","cell",t),h("getMounting","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getOptimizerConfiguration:async(t,r,a,o={})=>{h("getOptimizerConfiguration","cell",t),h("getOptimizerConfiguration","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.tcp=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getSafetySetup:async(t,r,a={})=>{h("getSafetySetup","cell",t),h("getSafetySetup","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listPayloads:async(t,r,a={})=>{h("listPayloads","cell",t),h("listPayloads","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listTcps:async(t,r,a,o={})=>{h("listTcps","cell",t),h("listTcps","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},streamMotionGroupState:async(t,r,a,o,n,s={})=>{h("streamMotionGroupState","cell",t),h("streamMotionGroupState","motionGroup",r);const l="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(l,C);let c;e&&(c=e.baseOptions);const d={method:"GET",...c,...s},p={},u={};P(d,e),await V(p,e),a!==void 0&&(u.response_rate=a),o!==void 0&&(u.response_coordinate_system=o),n!==void 0&&(u.tcp=n),R(i,u);let y=c&&c.headers?c.headers:{};return d.headers={...p,...y,...s.headers},{url:_(i),options:d}}}},Xe=function(e){const t=rS(e);return{async getActivePayload(r,a,o){var i,c;const n=await t.getActivePayload(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getActivePayload"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getActiveTcp(r,a,o,n){var c,d;const s=await t.getActiveTcp(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getCurrentMotionGroupState(r,a,o,n,s){var d,p;const l=await t.getCurrentMotionGroupState(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async getInfoCapabilities(r,a,o){var i,c;const n=await t.getInfoCapabilities(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getMotionGroupSpecification(r,a,o){var i,c;const n=await t.getMotionGroupSpecification(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getMounting(r,a,o){var i,c;const n=await t.getMounting(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getMounting"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getOptimizerConfiguration(r,a,o,n){var c,d;const s=await t.getOptimizerConfiguration(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getSafetySetup(r,a,o){var i,c;const n=await t.getSafetySetup(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getSafetySetup"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listPayloads(r,a,o){var i,c;const n=await t.listPayloads(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.listPayloads"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listTcps(r,a,o,n){var c,d;const s=await t.listTcps(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupInfosApi.listTcps"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async streamMotionGroupState(r,a,o,n,s,l){var p,u;const i=await t.streamMotionGroupState(r,a,o,n,s,l),c=(e==null?void 0:e.serverIndex)??0,d=(u=(p=w["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:p[c])==null?void 0:u.url;return(y,g)=>A(i,v,O,e)(y,d||g)}}};class aS extends fe{getActivePayload(t,r,a){return Xe(this.configuration).getActivePayload(t,r,a).then(o=>o(this.axios,this.basePath))}getActiveTcp(t,r,a,o){return Xe(this.configuration).getActiveTcp(t,r,a,o).then(n=>n(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,a,o,n){return Xe(this.configuration).getCurrentMotionGroupState(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,a){return Xe(this.configuration).getInfoCapabilities(t,r,a).then(o=>o(this.axios,this.basePath))}getMotionGroupSpecification(t,r,a){return Xe(this.configuration).getMotionGroupSpecification(t,r,a).then(o=>o(this.axios,this.basePath))}getMounting(t,r,a){return Xe(this.configuration).getMounting(t,r,a).then(o=>o(this.axios,this.basePath))}getOptimizerConfiguration(t,r,a,o){return Xe(this.configuration).getOptimizerConfiguration(t,r,a,o).then(n=>n(this.axios,this.basePath))}getSafetySetup(t,r,a){return Xe(this.configuration).getSafetySetup(t,r,a).then(o=>o(this.axios,this.basePath))}listPayloads(t,r,a){return Xe(this.configuration).listPayloads(t,r,a).then(o=>o(this.axios,this.basePath))}listTcps(t,r,a,o){return Xe(this.configuration).listTcps(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamMotionGroupState(t,r,a,o,n,s){return Xe(this.configuration).streamMotionGroupState(t,r,a,o,n,s).then(l=>l(this.axios,this.basePath))}}const oS=function(e){return{directionJogging:async(t,r,a={})=>{h("directionJogging","cell",t),h("directionJogging","directionJoggingRequest",r);const o="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},getJoggingCapabilities:async(t,r,a={})=>{h("getJoggingCapabilities","cell",t),h("getJoggingCapabilities","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},jointJogging:async(t,r,a={})=>{h("jointJogging","cell",t),h("jointJogging","jointJoggingRequest",r);const o="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},stopJogging:async(t,r,a={})=>{h("stopJogging","cell",t),h("stopJogging","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}}}},xa=function(e){const t=oS(e);return{async directionJogging(r,a,o){var i,c;const n=await t.directionJogging(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.directionJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getJoggingCapabilities(r,a,o){var i,c;const n=await t.getJoggingCapabilities(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async jointJogging(r,a,o){var i,c;const n=await t.jointJogging(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.jointJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async stopJogging(r,a,o){var i,c;const n=await t.stopJogging(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.stopJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)}}};class nS extends fe{directionJogging(t,r,a){return xa(this.configuration).directionJogging(t,r,a).then(o=>o(this.axios,this.basePath))}getJoggingCapabilities(t,r,a){return xa(this.configuration).getJoggingCapabilities(t,r,a).then(o=>o(this.axios,this.basePath))}jointJogging(t,r,a){return xa(this.configuration).jointJogging(t,r,a).then(o=>o(this.axios,this.basePath))}stopJogging(t,r,a){return xa(this.configuration).stopJogging(t,r,a).then(o=>o(this.axios,this.basePath))}}const sS=function(e){return{calculateAllInverseKinematic:async(t,r,a,o={})=>{h("calculateAllInverseKinematic","cell",t),h("calculateAllInverseKinematic","motionGroup",r),h("calculateAllInverseKinematic","allJointPositionsRequest",a);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},calculateForwardKinematic:async(t,r,a,o={})=>{h("calculateForwardKinematic","cell",t),h("calculateForwardKinematic","motionGroup",r),h("calculateForwardKinematic","tcpPoseRequest",a);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},calculateInverseKinematic:async(t,r,a,o={})=>{h("calculateInverseKinematic","cell",t),h("calculateInverseKinematic","motionGroup",r),h("calculateInverseKinematic","jointPositionRequest",a);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},getKinematicCapabilities:async(t,r,a={})=>{h("getKinematicCapabilities","cell",t),h("getKinematicCapabilities","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}}}},Oa=function(e){const t=sS(e);return{async calculateAllInverseKinematic(r,a,o,n){var c,d;const s=await t.calculateAllInverseKinematic(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async calculateForwardKinematic(r,a,o,n){var c,d;const s=await t.calculateForwardKinematic(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async calculateInverseKinematic(r,a,o,n){var c,d;const s=await t.calculateInverseKinematic(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getKinematicCapabilities(r,a,o){var i,c;const n=await t.getKinematicCapabilities(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)}}};class lS extends fe{calculateAllInverseKinematic(t,r,a,o){return Oa(this.configuration).calculateAllInverseKinematic(t,r,a,o).then(n=>n(this.axios,this.basePath))}calculateForwardKinematic(t,r,a,o){return Oa(this.configuration).calculateForwardKinematic(t,r,a,o).then(n=>n(this.axios,this.basePath))}calculateInverseKinematic(t,r,a,o){return Oa(this.configuration).calculateInverseKinematic(t,r,a,o).then(n=>n(this.axios,this.basePath))}getKinematicCapabilities(t,r,a){return Oa(this.configuration).getKinematicCapabilities(t,r,a).then(o=>o(this.axios,this.basePath))}}const iS=function(e){return{createProgramRunner:async(t,r,a={})=>{h("createProgramRunner","cell",t),h("createProgramRunner","request",r);const o="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="text/plain",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},executeProgram:async(t,r,a={})=>{h("executeProgram","cell",t),h("executeProgram","codeWithArguments",r);const o="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},getProgramRunner:async(t,r,a={})=>{h("getProgramRunner","cell",t),h("getProgramRunner","runner",r);const o="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listProgramRunners:async(t,r={})=>{h("listProgramRunners","cell",t);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},migrateProgram:async(t,r,a={})=>{h("migrateProgram","cell",t),h("migrateProgram","request1",r);const o="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="text/plain",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planProgram:async(t,r,a,o={})=>{h("planProgram","cell",t),h("planProgram","request",r);const n="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.identifier=a),c["Content-Type"]="text/plain",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}},stopAllProgramRunner:async(t,r={})=>{h("stopAllProgramRunner","cell",t);const a="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"POST",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},stopProgramRunner:async(t,r,a={})=>{h("stopProgramRunner","cell",t),h("stopProgramRunner","runner",r);const o="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}}}},Ot=function(e){const t=iS(e);return{async createProgramRunner(r,a,o){var i,c;const n=await t.createProgramRunner(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.createProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async executeProgram(r,a,o){var i,c;const n=await t.executeProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.executeProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getProgramRunner(r,a,o){var i,c;const n=await t.getProgramRunner(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.getProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listProgramRunners(r,a){var l,i;const o=await t.listProgramRunners(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramApi.listProgramRunners"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async migrateProgram(r,a,o){var i,c;const n=await t.migrateProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.migrateProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async planProgram(r,a,o,n){var c,d;const s=await t.planProgram(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ProgramApi.planProgram"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async stopAllProgramRunner(r,a){var l,i;const o=await t.stopAllProgramRunner(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramApi.stopAllProgramRunner"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async stopProgramRunner(r,a,o){var i,c;const n=await t.stopProgramRunner(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.stopProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)}}};class cS extends fe{createProgramRunner(t,r,a){return Ot(this.configuration).createProgramRunner(t,r,a).then(o=>o(this.axios,this.basePath))}executeProgram(t,r,a){return Ot(this.configuration).executeProgram(t,r,a).then(o=>o(this.axios,this.basePath))}getProgramRunner(t,r,a){return Ot(this.configuration).getProgramRunner(t,r,a).then(o=>o(this.axios,this.basePath))}listProgramRunners(t,r){return Ot(this.configuration).listProgramRunners(t,r).then(a=>a(this.axios,this.basePath))}migrateProgram(t,r,a){return Ot(this.configuration).migrateProgram(t,r,a).then(o=>o(this.axios,this.basePath))}planProgram(t,r,a,o){return Ot(this.configuration).planProgram(t,r,a,o).then(n=>n(this.axios,this.basePath))}stopAllProgramRunner(t,r){return Ot(this.configuration).stopAllProgramRunner(t,r).then(a=>a(this.axios,this.basePath))}stopProgramRunner(t,r,a){return Ot(this.configuration).stopProgramRunner(t,r,a).then(o=>o(this.axios,this.basePath))}}const dS=function(e){return{clearProgramsValues:async(t,r={})=>{h("clearProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},createProgramsValue:async(t,r,a={})=>{h("createProgramsValue","cell",t),h("createProgramsValue","requestBody",r);const o="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};P(l,e),await V(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},deleteProgramValue:async(t,r,a={})=>{h("deleteProgramValue","cell",t),h("deleteProgramValue","key",r);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getProgramValue:async(t,r,a={})=>{h("getProgramValue","cell",t),h("getProgramValue","key",r);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listProgramsValues:async(t,r={})=>{h("listProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},updateProgramValue:async(t,r,a,o={})=>{h("updateProgramValue","cell",t),h("updateProgramValue","key",r),h("updateProgramValue","value",a);const n="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},ar=function(e){const t=dS(e);return{async clearProgramsValues(r,a){var l,i;const o=await t.clearProgramsValues(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramValuesApi.clearProgramsValues"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async createProgramsValue(r,a,o){var i,c;const n=await t.createProgramsValue(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramValuesApi.createProgramsValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteProgramValue(r,a,o){var i,c;const n=await t.deleteProgramValue(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramValuesApi.deleteProgramValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getProgramValue(r,a,o){var i,c;const n=await t.getProgramValue(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramValuesApi.getProgramValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listProgramsValues(r,a){var l,i;const o=await t.listProgramsValues(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramValuesApi.listProgramsValues"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async updateProgramValue(r,a,o,n){var c,d;const s=await t.updateProgramValue(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ProgramValuesApi.updateProgramValue"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class pS extends fe{clearProgramsValues(t,r){return ar(this.configuration).clearProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}createProgramsValue(t,r,a){return ar(this.configuration).createProgramsValue(t,r,a).then(o=>o(this.axios,this.basePath))}deleteProgramValue(t,r,a){return ar(this.configuration).deleteProgramValue(t,r,a).then(o=>o(this.axios,this.basePath))}getProgramValue(t,r,a){return ar(this.configuration).getProgramValue(t,r,a).then(o=>o(this.axios,this.basePath))}listProgramsValues(t,r){return ar(this.configuration).listProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}updateProgramValue(t,r,a,o){return ar(this.configuration).updateProgramValue(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const uS=function(e){return{deleteStoredCollider:async(t,r,a={})=>{h("deleteStoredCollider","cell",t),h("deleteStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteStoredCollisionLinkChain:async(t,r,a={})=>{h("deleteStoredCollisionLinkChain","cell",t),h("deleteStoredCollisionLinkChain","linkChain",r);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteStoredCollisionTool:async(t,r,a={})=>{h("deleteStoredCollisionTool","cell",t),h("deleteStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getDefaultLinkChain:async(t,r,a={})=>{h("getDefaultLinkChain","cell",t),h("getDefaultLinkChain","motionGroupModel",r);const o="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollider:async(t,r,a={})=>{h("getStoredCollider","cell",t),h("getStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollisionLinkChain:async(t,r,a={})=>{h("getStoredCollisionLinkChain","cell",t),h("getStoredCollisionLinkChain","linkChain",r);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollisionTool:async(t,r,a={})=>{h("getStoredCollisionTool","cell",t),h("getStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listCollisionLinkChains:async(t,r={})=>{h("listCollisionLinkChains","cell",t);const a="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listStoredColliders:async(t,r={})=>{h("listStoredColliders","cell",t);const a="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listStoredCollisionTools:async(t,r={})=>{h("listStoredCollisionTools","cell",t);const a="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},storeCollider:async(t,r,a,o={})=>{h("storeCollider","cell",t),h("storeCollider","collider",r),h("storeCollider","collider2",a);const n="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},storeCollisionLinkChain:async(t,r,a,o={})=>{h("storeCollisionLinkChain","cell",t),h("storeCollisionLinkChain","linkChain",r),h("storeCollisionLinkChain","collider",a);const n="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},storeCollisionTool:async(t,r,a,o={})=>{h("storeCollisionTool","cell",t),h("storeCollisionTool","tool",r),h("storeCollisionTool","requestBody",a);const n="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},ze=function(e){const t=uS(e);return{async deleteStoredCollider(r,a,o){var i,c;const n=await t.deleteStoredCollider(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteStoredCollisionLinkChain(r,a,o){var i,c;const n=await t.deleteStoredCollisionLinkChain(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteStoredCollisionTool(r,a,o){var i,c;const n=await t.deleteStoredCollisionTool(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getDefaultLinkChain(r,a,o){var i,c;const n=await t.getDefaultLinkChain(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getStoredCollider(r,a,o){var i,c;const n=await t.getStoredCollider(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getStoredCollisionLinkChain(r,a,o){var i,c;const n=await t.getStoredCollisionLinkChain(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getStoredCollisionTool(r,a,o){var i,c;const n=await t.getStoredCollisionTool(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listCollisionLinkChains(r,a){var l,i;const o=await t.listCollisionLinkChains(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listStoredColliders(r,a){var l,i;const o=await t.listStoredColliders(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listStoredCollisionTools(r,a){var l,i;const o=await t.listStoredCollisionTools(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async storeCollider(r,a,o,n){var c,d;const s=await t.storeCollider(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async storeCollisionLinkChain(r,a,o,n){var c,d;const s=await t.storeCollisionLinkChain(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async storeCollisionTool(r,a,o,n){var c,d;const s=await t.storeCollisionTool(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class hS extends fe{deleteStoredCollider(t,r,a){return ze(this.configuration).deleteStoredCollider(t,r,a).then(o=>o(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,a){return ze(this.configuration).deleteStoredCollisionLinkChain(t,r,a).then(o=>o(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,a){return ze(this.configuration).deleteStoredCollisionTool(t,r,a).then(o=>o(this.axios,this.basePath))}getDefaultLinkChain(t,r,a){return ze(this.configuration).getDefaultLinkChain(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollider(t,r,a){return ze(this.configuration).getStoredCollider(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,a){return ze(this.configuration).getStoredCollisionLinkChain(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollisionTool(t,r,a){return ze(this.configuration).getStoredCollisionTool(t,r,a).then(o=>o(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ze(this.configuration).listCollisionLinkChains(t,r).then(a=>a(this.axios,this.basePath))}listStoredColliders(t,r){return ze(this.configuration).listStoredColliders(t,r).then(a=>a(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ze(this.configuration).listStoredCollisionTools(t,r).then(a=>a(this.axios,this.basePath))}storeCollider(t,r,a,o){return ze(this.configuration).storeCollider(t,r,a,o).then(n=>n(this.axios,this.basePath))}storeCollisionLinkChain(t,r,a,o){return ze(this.configuration).storeCollisionLinkChain(t,r,a,o).then(n=>n(this.axios,this.basePath))}storeCollisionTool(t,r,a,o){return ze(this.configuration).storeCollisionTool(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const mS=function(e){return{deleteStoredCollisionScene:async(t,r,a={})=>{h("deleteStoredCollisionScene","cell",t),h("deleteStoredCollisionScene","scene",r);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollisionScene:async(t,r,a={})=>{h("getStoredCollisionScene","cell",t),h("getStoredCollisionScene","scene",r);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listStoredCollisionScenes:async(t,r={})=>{h("listStoredCollisionScenes","cell",t);const a="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},storeCollisionScene:async(t,r,a,o={})=>{h("storeCollisionScene","cell",t),h("storeCollisionScene","scene",r),h("storeCollisionScene","collisionSceneAssembly",a);const n="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},wa=function(e){const t=mS(e);return{async deleteStoredCollisionScene(r,a,o){var i,c;const n=await t.deleteStoredCollisionScene(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getStoredCollisionScene(r,a,o){var i,c;const n=await t.getStoredCollisionScene(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listStoredCollisionScenes(r,a){var l,i;const o=await t.listStoredCollisionScenes(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async storeCollisionScene(r,a,o,n){var c,d;const s=await t.storeCollisionScene(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class fS extends fe{deleteStoredCollisionScene(t,r,a){return wa(this.configuration).deleteStoredCollisionScene(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollisionScene(t,r,a){return wa(this.configuration).getStoredCollisionScene(t,r,a).then(o=>o(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return wa(this.configuration).listStoredCollisionScenes(t,r).then(a=>a(this.axios,this.basePath))}storeCollisionScene(t,r,a,o){return wa(this.configuration).storeCollisionScene(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const yS=function(e){return{clearAllObjects:async(t,r={})=>{h("clearAllObjects","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},deleteObject:async(t,r,a={})=>{h("deleteObject","cell",t),h("deleteObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getObject:async(t,r,a={})=>{h("getObject","cell",t),h("getObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getObjectMetadata:async(t,r,a={})=>{h("getObjectMetadata","cell",t),h("getObjectMetadata","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"HEAD",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listAllObjectKeys:async(t,r={})=>{h("listAllObjectKeys","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},storeObject:async(t,r,a,o,n={})=>{h("storeObject","cell",t),h("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={},u=new(e&&e.formDataCtor||FormData);P(c,e),await V(d,e),o!==void 0&&u.append("AnyValue",new Blob([JSON.stringify(o)],{type:"application/json"})),d["Content-Type"]="multipart/form-data",a!=null&&(d["X-Metadata"]=typeof a=="string"?a:JSON.stringify(a)),R(l,p);let y=i&&i.headers?i.headers:{};return c.headers={...d,...y,...n.headers},c.data=u,{url:_(l),options:c}}}},or=function(e){const t=yS(e);return{async clearAllObjects(r,a){var l,i;const o=await t.clearAllObjects(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreObjectApi.clearAllObjects"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async deleteObject(r,a,o){var i,c;const n=await t.deleteObject(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreObjectApi.deleteObject"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getObject(r,a,o){var i,c;const n=await t.getObject(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreObjectApi.getObject"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getObjectMetadata(r,a,o){var i,c;const n=await t.getObjectMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreObjectApi.getObjectMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listAllObjectKeys(r,a){var l,i;const o=await t.listAllObjectKeys(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreObjectApi.listAllObjectKeys"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async storeObject(r,a,o,n,s){var d,p;const l=await t.storeObject(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["StoreObjectApi.storeObject"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)}}};class gS extends fe{clearAllObjects(t,r){return or(this.configuration).clearAllObjects(t,r).then(a=>a(this.axios,this.basePath))}deleteObject(t,r,a){return or(this.configuration).deleteObject(t,r,a).then(o=>o(this.axios,this.basePath))}getObject(t,r,a){return or(this.configuration).getObject(t,r,a).then(o=>o(this.axios,this.basePath))}getObjectMetadata(t,r,a){return or(this.configuration).getObjectMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}listAllObjectKeys(t,r){return or(this.configuration).listAllObjectKeys(t,r).then(a=>a(this.axios,this.basePath))}storeObject(t,r,a,o,n){return or(this.configuration).storeObject(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const bS=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{h("checkNovaVersionUpdate","channel",t);const a="/system/update",o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};P(s,e),await V(l,e),t!==void 0&&(i.channel=t),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",a=new URL(r,C);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};P(n,e),await V(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},getSystemStatus:async(t={})=>{const r="/system/status",a=new URL(r,C);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};P(n,e),await V(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},getSystemVersion:async(t={})=>{const r="/system/version",a=new URL(r,C);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};P(n,e),await V(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},updateNovaVersion:async(t,r={})=>{h("updateNovaVersion","updateNovaVersionRequest",t);const a="/system/update",o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"PUT",...n,...r},l={},i={};P(s,e),await V(l,e),l["Content-Type"]="application/json",R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},s.data=re(t,s,e),{url:_(o),options:s}}}},Br=function(e){const t=bS(e);return{async checkNovaVersionUpdate(r,a){var l,i;const o=await t.checkNovaVersionUpdate(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["SystemApi.checkNovaVersionUpdate"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async getDiagnosePackage(r){var s,l;const a=await t.getDiagnosePackage(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=w["SystemApi.getDiagnosePackage"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async getSystemStatus(r){var s,l;const a=await t.getSystemStatus(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=w["SystemApi.getSystemStatus"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async getSystemVersion(r){var s,l;const a=await t.getSystemVersion(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=w["SystemApi.getSystemVersion"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async updateNovaVersion(r,a){var l,i;const o=await t.updateNovaVersion(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["SystemApi.updateNovaVersion"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)}}};class SS extends fe{checkNovaVersionUpdate(t,r){return Br(this.configuration).checkNovaVersionUpdate(t,r).then(a=>a(this.axios,this.basePath))}getDiagnosePackage(t){return Br(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Br(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Br(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Br(this.configuration).updateNovaVersion(t,r).then(a=>a(this.axios,this.basePath))}}const vS=function(e){return{getMotionGroupState:async(t,r,a,o={})=>{h("getMotionGroupState","cell",t),h("getMotionGroupState","controller",r),h("getMotionGroupState","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getMotionGroups:async(t,r,a={})=>{h("getMotionGroups","cell",t),h("getMotionGroups","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getVirtualRobotIOValue:async(t,r,a,o={})=>{h("getVirtualRobotIOValue","cell",t),h("getVirtualRobotIOValue","controller",r),h("getVirtualRobotIOValue","io",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},listIOs:async(t,r,a={})=>{h("listIOs","cell",t),h("listIOs","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},setMotionGroupState:async(t,r,a,o,n={})=>{h("setMotionGroupState","cell",t),h("setMotionGroupState","controller",r),h("setMotionGroupState","id",a),h("setMotionGroupState","motionGroupJoints",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};P(c,e),await V(d,e),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(o,c,e),{url:_(l),options:c}},setVirtualRobotIOValue:async(t,r,a,o,n,s,l={})=>{h("setVirtualRobotIOValue","cell",t),h("setVirtualRobotIOValue","controller",r),h("setVirtualRobotIOValue","io",a);const i="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(a))),c=new URL(i,C);let d;e&&(d=e.baseOptions);const p={method:"PUT",...d,...l},u={},y={};P(p,e),await V(u,e),o!==void 0&&(y.bool=o),n!==void 0&&(y.integer=n),s!==void 0&&(y.double=s),R(c,y);let g=d&&d.headers?d.headers:{};return p.headers={...u,...g,...l.headers},{url:_(c),options:p}}}},nr=function(e){const t=vS(e);return{async getMotionGroupState(r,a,o,n){var c,d;const s=await t.getMotionGroupState(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getMotionGroups(r,a,o){var i,c;const n=await t.getMotionGroups(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotApi.getMotionGroups"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getVirtualRobotIOValue(r,a,o,n){var c,d;const s=await t.getVirtualRobotIOValue(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async listIOs(r,a,o){var i,c;const n=await t.listIOs(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotApi.listIOs"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async setMotionGroupState(r,a,o,n,s){var d,p;const l=await t.setMotionGroupState(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotApi.setMotionGroupState"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async setVirtualRobotIOValue(r,a,o,n,s,l,i){var u,y;const c=await t.setVirtualRobotIOValue(r,a,o,n,s,l,i),d=(e==null?void 0:e.serverIndex)??0,p=(y=(u=w["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:u[d])==null?void 0:y.url;return(g,m)=>A(c,v,O,e)(g,p||m)}}};class xS extends fe{getMotionGroupState(t,r,a,o){return nr(this.configuration).getMotionGroupState(t,r,a,o).then(n=>n(this.axios,this.basePath))}getMotionGroups(t,r,a){return nr(this.configuration).getMotionGroups(t,r,a).then(o=>o(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,a,o){return nr(this.configuration).getVirtualRobotIOValue(t,r,a,o).then(n=>n(this.axios,this.basePath))}listIOs(t,r,a){return nr(this.configuration).listIOs(t,r,a).then(o=>o(this.axios,this.basePath))}setMotionGroupState(t,r,a,o,n){return nr(this.configuration).setMotionGroupState(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,a,o,n,s,l){return nr(this.configuration).setVirtualRobotIOValue(t,r,a,o,n,s,l).then(i=>i(this.axios,this.basePath))}}const OS=function(e){return{externalJointsStream:async(t,r,a,o={})=>{h("externalJointsStream","cell",t),h("externalJointsStream","controller",r),h("externalJointsStream","externalJointStreamDatapoint",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},getMotionGroupBehavior:async(t,r,a,o={})=>{h("getMotionGroupBehavior","cell",t),h("getMotionGroupBehavior","controller",r),h("getMotionGroupBehavior","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},setMotionGroupBehavior:async(t,r,a,o,n={})=>{h("setMotionGroupBehavior","cell",t),h("setMotionGroupBehavior","controller",r),h("setMotionGroupBehavior","id",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};P(c,e),await V(d,e),o!==void 0&&(p.behavior=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}}}},Wo=function(e){const t=OS(e);return{async externalJointsStream(r,a,o,n){var c,d;const s=await t.externalJointsStream(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getMotionGroupBehavior(r,a,o,n){var c,d;const s=await t.getMotionGroupBehavior(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async setMotionGroupBehavior(r,a,o,n,s){var d,p;const l=await t.setMotionGroupBehavior(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)}}};class wS extends fe{externalJointsStream(t,r,a,o){return Wo(this.configuration).externalJointsStream(t,r,a,o).then(n=>n(this.axios,this.basePath))}getMotionGroupBehavior(t,r,a,o){return Wo(this.configuration).getMotionGroupBehavior(t,r,a,o).then(n=>n(this.axios,this.basePath))}setMotionGroupBehavior(t,r,a,o,n){return Wo(this.configuration).setMotionGroupBehavior(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const CS=function(e){return{getCycleTime:async(t,r,a={})=>{h("getCycleTime","cell",t),h("getCycleTime","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getEStop:async(t,r,a={})=>{h("getEStop","cell",t),h("getEStop","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getOperationMode:async(t,r,a={})=>{h("getOperationMode","cell",t),h("getOperationMode","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},pushEStop:async(t,r,a={})=>{h("pushEStop","cell",t),h("pushEStop","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},releaseEStop:async(t,r,a={})=>{h("releaseEStop","cell",t),h("releaseEStop","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},setOperationMode:async(t,r,a,o={})=>{h("setOperationMode","cell",t),h("setOperationMode","controller",r),h("setOperationMode","mode",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),a!==void 0&&(d.mode=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}}}},sr=function(e){const t=CS(e);return{async getCycleTime(r,a,o){var i,c;const n=await t.getCycleTime(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.getCycleTime"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getEStop(r,a,o){var i,c;const n=await t.getEStop(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.getEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getOperationMode(r,a,o){var i,c;const n=await t.getOperationMode(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.getOperationMode"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async pushEStop(r,a,o){var i,c;const n=await t.pushEStop(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.pushEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async releaseEStop(r,a,o){var i,c;const n=await t.releaseEStop(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.releaseEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async setOperationMode(r,a,o,n){var c,d;const s=await t.setOperationMode(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class PS extends fe{getCycleTime(t,r,a){return sr(this.configuration).getCycleTime(t,r,a).then(o=>o(this.axios,this.basePath))}getEStop(t,r,a){return sr(this.configuration).getEStop(t,r,a).then(o=>o(this.axios,this.basePath))}getOperationMode(t,r,a){return sr(this.configuration).getOperationMode(t,r,a).then(o=>o(this.axios,this.basePath))}pushEStop(t,r,a){return sr(this.configuration).pushEStop(t,r,a).then(o=>o(this.axios,this.basePath))}releaseEStop(t,r,a){return sr(this.configuration).releaseEStop(t,r,a).then(o=>o(this.axios,this.basePath))}setOperationMode(t,r,a,o){return sr(this.configuration).setOperationMode(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const VS=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,a,o={})=>{h("addVirtualRobotCoordinateSystem","cell",t),h("addVirtualRobotCoordinateSystem","controller",r),h("addVirtualRobotCoordinateSystem","coordinateSystem",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};P(i,e),await V(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},addVirtualRobotTcp:async(t,r,a,o,n={})=>{h("addVirtualRobotTcp","cell",t),h("addVirtualRobotTcp","controller",r),h("addVirtualRobotTcp","id",a),h("addVirtualRobotTcp","robotTcp",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};P(c,e),await V(d,e),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(o,c,e),{url:_(l),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,a,o,n={})=>{h("deleteVirtualRobotCoordinateSystem","cell",t),h("deleteVirtualRobotCoordinateSystem","controller",r),h("deleteVirtualRobotCoordinateSystem","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"DELETE",...i,...n},d={},p={};P(c,e),await V(d,e),o!==void 0&&(p.delete_dependent=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},deleteVirtualRobotTcp:async(t,r,a,o,n={})=>{h("deleteVirtualRobotTcp","cell",t),h("deleteVirtualRobotTcp","controller",r),h("deleteVirtualRobotTcp","id",a),h("deleteVirtualRobotTcp","tcp",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))).replace("{tcp}",encodeURIComponent(String(o))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"DELETE",...i,...n},d={},p={};P(c,e),await V(d,e),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},getVirtualRobotMounting:async(t,r,a,o={})=>{h("getVirtualRobotMounting","cell",t),h("getVirtualRobotMounting","controller",r),h("getVirtualRobotMounting","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},listVirtualRobotCoordinateSystems:async(t,r,a={})=>{h("listVirtualRobotCoordinateSystems","cell",t),h("listVirtualRobotCoordinateSystems","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};P(l,e),await V(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listVirtualRobotTcps:async(t,r,a,o={})=>{h("listVirtualRobotTcps","cell",t),h("listVirtualRobotTcps","controller",r),h("listVirtualRobotTcps","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};P(i,e),await V(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},setVirtualRobotMounting:async(t,r,a,o,n={})=>{h("setVirtualRobotMounting","cell",t),h("setVirtualRobotMounting","controller",r),h("setVirtualRobotMounting","id",a),h("setVirtualRobotMounting","coordinateSystem",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};P(c,e),await V(d,e),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(o,c,e),{url:_(l),options:c}}}},wt=function(e){const t=VS(e);return{async addVirtualRobotCoordinateSystem(r,a,o,n){var c,d;const s=await t.addVirtualRobotCoordinateSystem(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async addVirtualRobotTcp(r,a,o,n,s){var d,p;const l=await t.addVirtualRobotTcp(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async deleteVirtualRobotCoordinateSystem(r,a,o,n,s){var d,p;const l=await t.deleteVirtualRobotCoordinateSystem(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async deleteVirtualRobotTcp(r,a,o,n,s){var d,p;const l=await t.deleteVirtualRobotTcp(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async getVirtualRobotMounting(r,a,o,n){var c,d;const s=await t.getVirtualRobotMounting(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async listVirtualRobotCoordinateSystems(r,a,o){var i,c;const n=await t.listVirtualRobotCoordinateSystems(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listVirtualRobotTcps(r,a,o,n){var c,d;const s=await t.listVirtualRobotTcps(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async setVirtualRobotMounting(r,a,o,n,s){var d,p;const l=await t.setVirtualRobotMounting(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)}}};class RS extends fe{addVirtualRobotCoordinateSystem(t,r,a,o){return wt(this.configuration).addVirtualRobotCoordinateSystem(t,r,a,o).then(n=>n(this.axios,this.basePath))}addVirtualRobotTcp(t,r,a,o,n){return wt(this.configuration).addVirtualRobotTcp(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,a,o,n){return wt(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,a,o,n){return wt(this.configuration).deleteVirtualRobotTcp(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,a,o){return wt(this.configuration).getVirtualRobotMounting(t,r,a,o).then(n=>n(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,a){return wt(this.configuration).listVirtualRobotCoordinateSystems(t,r,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotTcps(t,r,a,o){return wt(this.configuration).listVirtualRobotTcps(t,r,a,o).then(n=>n(this.axios,this.basePath))}setVirtualRobotMounting(t,r,a,o,n){return wt(this.configuration).setVirtualRobotMounting(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}function mt(e,t,r){return Math.max(t,Math.min(r,e))}class _S{constructor(t=0,r=0,a=0,o=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=a,this._w=o}static slerpFlat(t,r,a,o,n,s,l){let i=a[o+0],c=a[o+1],d=a[o+2],p=a[o+3];const u=n[s+0],y=n[s+1],g=n[s+2],m=n[s+3];if(l===0){t[r+0]=i,t[r+1]=c,t[r+2]=d,t[r+3]=p;return}if(l===1){t[r+0]=u,t[r+1]=y,t[r+2]=g,t[r+3]=m;return}if(p!==m||i!==u||c!==y||d!==g){let x=1-l;const T=i*u+c*y+d*g+p*m,N=T>=0?1:-1,D=1-T*T;if(D>Number.EPSILON){const G=Math.sqrt(D),W=Math.atan2(G,T*N);x=Math.sin(x*W)/G,l=Math.sin(l*W)/G}const z=l*N;if(i=i*x+u*z,c=c*x+y*z,d=d*x+g*z,p=p*x+m*z,x===1-l){const G=1/Math.sqrt(i*i+c*c+d*d+p*p);i*=G,c*=G,d*=G,p*=G}}t[r]=i,t[r+1]=c,t[r+2]=d,t[r+3]=p}static multiplyQuaternionsFlat(t,r,a,o,n,s){const l=a[o],i=a[o+1],c=a[o+2],d=a[o+3],p=n[s],u=n[s+1],y=n[s+2],g=n[s+3];return t[r]=l*g+d*p+i*y-c*u,t[r+1]=i*g+d*u+c*p-l*y,t[r+2]=c*g+d*y+l*u-i*p,t[r+3]=d*g-l*p-i*u-c*y,t}get x(){return this._x}set x(t){this._x=t,this._onChangeCallback()}get y(){return this._y}set y(t){this._y=t,this._onChangeCallback()}get z(){return this._z}set z(t){this._z=t,this._onChangeCallback()}get w(){return this._w}set w(t){this._w=t,this._onChangeCallback()}set(t,r,a,o){return this._x=t,this._y=r,this._z=a,this._w=o,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._w)}copy(t){return this._x=t.x,this._y=t.y,this._z=t.z,this._w=t.w,this._onChangeCallback(),this}setFromEuler(t,r=!0){const a=t._x,o=t._y,n=t._z,s=t._order,l=Math.cos,i=Math.sin,c=l(a/2),d=l(o/2),p=l(n/2),u=i(a/2),y=i(o/2),g=i(n/2);switch(s){case"XYZ":this._x=u*d*p+c*y*g,this._y=c*y*p-u*d*g,this._z=c*d*g+u*y*p,this._w=c*d*p-u*y*g;break;case"YXZ":this._x=u*d*p+c*y*g,this._y=c*y*p-u*d*g,this._z=c*d*g-u*y*p,this._w=c*d*p+u*y*g;break;case"ZXY":this._x=u*d*p-c*y*g,this._y=c*y*p+u*d*g,this._z=c*d*g+u*y*p,this._w=c*d*p-u*y*g;break;case"ZYX":this._x=u*d*p-c*y*g,this._y=c*y*p+u*d*g,this._z=c*d*g-u*y*p,this._w=c*d*p+u*y*g;break;case"YZX":this._x=u*d*p+c*y*g,this._y=c*y*p+u*d*g,this._z=c*d*g-u*y*p,this._w=c*d*p-u*y*g;break;case"XZY":this._x=u*d*p-c*y*g,this._y=c*y*p-u*d*g,this._z=c*d*g+u*y*p,this._w=c*d*p+u*y*g;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const a=r/2,o=Math.sin(a);return this._x=t.x*o,this._y=t.y*o,this._z=t.z*o,this._w=Math.cos(a),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,a=r[0],o=r[4],n=r[8],s=r[1],l=r[5],i=r[9],c=r[2],d=r[6],p=r[10],u=a+l+p;if(u>0){const y=.5/Math.sqrt(u+1);this._w=.25/y,this._x=(d-i)*y,this._y=(n-c)*y,this._z=(s-o)*y}else if(a>l&&a>p){const y=2*Math.sqrt(1+a-l-p);this._w=(d-i)/y,this._x=.25*y,this._y=(o+s)/y,this._z=(n+c)/y}else if(l>p){const y=2*Math.sqrt(1+l-a-p);this._w=(n-c)/y,this._x=(o+s)/y,this._y=.25*y,this._z=(i+d)/y}else{const y=2*Math.sqrt(1+p-a-l);this._w=(s-o)/y,this._x=(n+c)/y,this._y=(i+d)/y,this._z=.25*y}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let a=t.dot(r)+1;return a<Number.EPSILON?(a=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=a):(this._x=0,this._y=-t.z,this._z=t.y,this._w=a)):(this._x=t.y*r.z-t.z*r.y,this._y=t.z*r.x-t.x*r.z,this._z=t.x*r.y-t.y*r.x,this._w=a),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(mt(this.dot(t),-1,1)))}rotateTowards(t,r){const a=this.angleTo(t);if(a===0)return this;const o=Math.min(1,r/a);return this.slerp(t,o),this}identity(){return this.set(0,0,0,1)}invert(){return this.conjugate()}conjugate(){return this._x*=-1,this._y*=-1,this._z*=-1,this._onChangeCallback(),this}dot(t){return this._x*t._x+this._y*t._y+this._z*t._z+this._w*t._w}lengthSq(){return this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w}length(){return Math.sqrt(this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w)}normalize(){let t=this.length();return t===0?(this._x=0,this._y=0,this._z=0,this._w=1):(t=1/t,this._x=this._x*t,this._y=this._y*t,this._z=this._z*t,this._w=this._w*t),this._onChangeCallback(),this}multiply(t){return this.multiplyQuaternions(this,t)}premultiply(t){return this.multiplyQuaternions(t,this)}multiplyQuaternions(t,r){const a=t._x,o=t._y,n=t._z,s=t._w,l=r._x,i=r._y,c=r._z,d=r._w;return this._x=a*d+s*l+o*c-n*i,this._y=o*d+s*i+n*l-a*c,this._z=n*d+s*c+a*i-o*l,this._w=s*d-a*l-o*i-n*c,this._onChangeCallback(),this}slerp(t,r){if(r===0)return this;if(r===1)return this.copy(t);const a=this._x,o=this._y,n=this._z,s=this._w;let l=s*t._w+a*t._x+o*t._y+n*t._z;if(l<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,l=-l):this.copy(t),l>=1)return this._w=s,this._x=a,this._y=o,this._z=n,this;const i=1-l*l;if(i<=Number.EPSILON){const y=1-r;return this._w=y*s+r*this._w,this._x=y*a+r*this._x,this._y=y*o+r*this._y,this._z=y*n+r*this._z,this.normalize(),this}const c=Math.sqrt(i),d=Math.atan2(c,l),p=Math.sin((1-r)*d)/c,u=Math.sin(r*d)/c;return this._w=s*p+this._w*u,this._x=a*p+this._x*u,this._y=o*p+this._y*u,this._z=n*p+this._z*u,this._onChangeCallback(),this}slerpQuaternions(t,r,a){return this.copy(t).slerp(r,a)}random(){const t=2*Math.PI*Math.random(),r=2*Math.PI*Math.random(),a=Math.random(),o=Math.sqrt(1-a),n=Math.sqrt(a);return this.set(o*Math.sin(t),o*Math.cos(t),n*Math.sin(r),n*Math.cos(r))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,r=0){return this._x=t[r],this._y=t[r+1],this._z=t[r+2],this._w=t[r+3],this._onChangeCallback(),this}toArray(t=[],r=0){return t[r]=this._x,t[r+1]=this._y,t[r+2]=this._z,t[r+3]=this._w,t}fromBufferAttribute(t,r){return this._x=t.getX(r),this._y=t.getY(r),this._z=t.getZ(r),this._w=t.getW(r),this._onChangeCallback(),this}toJSON(){return this.toArray()}_onChange(t){return this._onChangeCallback=t,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._w}}class hr{constructor(t=0,r=0,a=0){hr.prototype.isVector3=!0,this.x=t,this.y=r,this.z=a}set(t,r,a){return a===void 0&&(a=this.z),this.x=t,this.y=r,this.z=a,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,r){switch(t){case 0:this.x=r;break;case 1:this.y=r;break;case 2:this.z=r;break;default:throw new Error("index is out of range: "+t)}return this}getComponent(t){switch(t){case 0:return this.x;case 1:return this.y;case 2:return this.z;default:throw new Error("index is out of range: "+t)}}clone(){return new this.constructor(this.x,this.y,this.z)}copy(t){return this.x=t.x,this.y=t.y,this.z=t.z,this}add(t){return this.x+=t.x,this.y+=t.y,this.z+=t.z,this}addScalar(t){return this.x+=t,this.y+=t,this.z+=t,this}addVectors(t,r){return this.x=t.x+r.x,this.y=t.y+r.y,this.z=t.z+r.z,this}addScaledVector(t,r){return this.x+=t.x*r,this.y+=t.y*r,this.z+=t.z*r,this}sub(t){return this.x-=t.x,this.y-=t.y,this.z-=t.z,this}subScalar(t){return this.x-=t,this.y-=t,this.z-=t,this}subVectors(t,r){return this.x=t.x-r.x,this.y=t.y-r.y,this.z=t.z-r.z,this}multiply(t){return this.x*=t.x,this.y*=t.y,this.z*=t.z,this}multiplyScalar(t){return this.x*=t,this.y*=t,this.z*=t,this}multiplyVectors(t,r){return this.x=t.x*r.x,this.y=t.y*r.y,this.z=t.z*r.z,this}applyEuler(t){return this.applyQuaternion(al.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(al.setFromAxisAngle(t,r))}applyMatrix3(t){const r=this.x,a=this.y,o=this.z,n=t.elements;return this.x=n[0]*r+n[3]*a+n[6]*o,this.y=n[1]*r+n[4]*a+n[7]*o,this.z=n[2]*r+n[5]*a+n[8]*o,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const r=this.x,a=this.y,o=this.z,n=t.elements,s=1/(n[3]*r+n[7]*a+n[11]*o+n[15]);return this.x=(n[0]*r+n[4]*a+n[8]*o+n[12])*s,this.y=(n[1]*r+n[5]*a+n[9]*o+n[13])*s,this.z=(n[2]*r+n[6]*a+n[10]*o+n[14])*s,this}applyQuaternion(t){const r=this.x,a=this.y,o=this.z,n=t.x,s=t.y,l=t.z,i=t.w,c=2*(s*o-l*a),d=2*(l*r-n*o),p=2*(n*a-s*r);return this.x=r+i*c+s*p-l*d,this.y=a+i*d+l*c-n*p,this.z=o+i*p+n*d-s*c,this}project(t){return this.applyMatrix4(t.matrixWorldInverse).applyMatrix4(t.projectionMatrix)}unproject(t){return this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,a=this.y,o=this.z,n=t.elements;return this.x=n[0]*r+n[4]*a+n[8]*o,this.y=n[1]*r+n[5]*a+n[9]*o,this.z=n[2]*r+n[6]*a+n[10]*o,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,r){return this.x=mt(this.x,t.x,r.x),this.y=mt(this.y,t.y,r.y),this.z=mt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=mt(this.x,t,r),this.y=mt(this.y,t,r),this.z=mt(this.z,t,r),this}clampLength(t,r){const a=this.length();return this.divideScalar(a||1).multiplyScalar(mt(a,t,r))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)}normalize(){return this.divideScalar(this.length()||1)}setLength(t){return this.normalize().multiplyScalar(t)}lerp(t,r){return this.x+=(t.x-this.x)*r,this.y+=(t.y-this.y)*r,this.z+=(t.z-this.z)*r,this}lerpVectors(t,r,a){return this.x=t.x+(r.x-t.x)*a,this.y=t.y+(r.y-t.y)*a,this.z=t.z+(r.z-t.z)*a,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,r){const a=t.x,o=t.y,n=t.z,s=r.x,l=r.y,i=r.z;return this.x=o*i-n*l,this.y=n*s-a*i,this.z=a*l-o*s,this}projectOnVector(t){const r=t.lengthSq();if(r===0)return this.set(0,0,0);const a=t.dot(this)/r;return this.copy(t).multiplyScalar(a)}projectOnPlane(t){return Qo.copy(this).projectOnVector(t),this.sub(Qo)}reflect(t){return this.sub(Qo.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const r=Math.sqrt(this.lengthSq()*t.lengthSq());if(r===0)return Math.PI/2;const a=this.dot(t)/r;return Math.acos(mt(a,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const r=this.x-t.x,a=this.y-t.y,o=this.z-t.z;return r*r+a*a+o*o}manhattanDistanceTo(t){return Math.abs(this.x-t.x)+Math.abs(this.y-t.y)+Math.abs(this.z-t.z)}setFromSpherical(t){return this.setFromSphericalCoords(t.radius,t.phi,t.theta)}setFromSphericalCoords(t,r,a){const o=Math.sin(r)*t;return this.x=o*Math.sin(a),this.y=Math.cos(r)*t,this.z=o*Math.cos(a),this}setFromCylindrical(t){return this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,r,a){return this.x=t*Math.sin(r),this.y=a,this.z=t*Math.cos(r),this}setFromMatrixPosition(t){const r=t.elements;return this.x=r[12],this.y=r[13],this.z=r[14],this}setFromMatrixScale(t){const r=this.setFromMatrixColumn(t,0).length(),a=this.setFromMatrixColumn(t,1).length(),o=this.setFromMatrixColumn(t,2).length();return this.x=r,this.y=a,this.z=o,this}setFromMatrixColumn(t,r){return this.fromArray(t.elements,r*4)}setFromMatrix3Column(t,r){return this.fromArray(t.elements,r*3)}setFromEuler(t){return this.x=t._x,this.y=t._y,this.z=t._z,this}setFromColor(t){return this.x=t.r,this.y=t.g,this.z=t.b,this}equals(t){return t.x===this.x&&t.y===this.y&&t.z===this.z}fromArray(t,r=0){return this.x=t[r],this.y=t[r+1],this.z=t[r+2],this}toArray(t=[],r=0){return t[r]=this.x,t[r+1]=this.y,t[r+2]=this.z,t}fromBufferAttribute(t,r){return this.x=t.getX(r),this.y=t.getY(r),this.z=t.getZ(r),this}random(){return 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a+=Math.abs(e.orientation.x-t.orientation.x),a+=Math.abs(e.orientation.y-t.orientation.y),a+=Math.abs(e.orientation.z-t.orientation.z),a+=Math.abs(e.position.x-t.position.x),a+=Math.abs(e.position.y-t.position.y),a+=Math.abs(e.position.z-t.position.z),a>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var nl=1e-4,ES=class Zi{constructor(t,r,a,o,n,s,l,i,c,d,p,u){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=o,this.motionStateSocket=n,this.isVirtual=s,this.tcps=l,this.motionGroupSpecification=i,this.safetySetup=c,this.mounting=d,this.initialControllerState=p,this.controllerStateSocket=u,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=o,this.controllerState=p,u.addEventListener("message",y=>{var g;const m=(g=Rt(y.data))==null?void 0:g.result;m&&Ae.runInAction(()=>{this.controllerState=m})}),n.addEventListener("message",y=>{var g;const m=(g=Rt(y.data))==null?void 0:g.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${y.data}`);Yi(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,nl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),Xi(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,nl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),Ae.makeAutoObservable(this)}static connect(t,r,a){return me(this,null,function*(){var o,n;const[s,l]=r.split("@"),i=a.find(W=>W.controller===l),c=i==null?void 0:i.physical_motion_groups.find(W=>W.motion_group===r);if(!i||!c)throw new Error(`Controller ${l} or motion group ${r} not found`);const d=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),p=yield d.firstMessage(),u=(o=Rt(p.data))==null?void 0:o.result;if(!u)throw new Error(`Unable to parse initial motion state message ${p.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
|
|
103
|
-
`,u);const g=(yield t.api.controller.getRobotController(i.controller)).configuration.kind==="VirtualController",
|
|
104
|
-
`,N);const{tcps:D}=yield t.api.motionGroupInfos.listTcps(r),z=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),G=yield t.api.motionGroupInfos.getSafetySetup(r);return new Zi(t,i,c,u,d,g,D,z,G,m,N,x)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}get dhParameters(){return this.motionGroupSpecification.dh_parameters}get safetyZones(){return this.safetySetup.safety_zones}get mountingPosition(){return this.mounting?[this.mounting.pose.position.x/1e3,this.mounting.pose.position.y/1e3,this.mounting.pose.position.z/1e3]:[0,0,0]}get mountingQuaternion(){var t,r,a,o,n,s;const l=new Oe.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((o=(a=this.mounting)==null?void 0:a.pose.orientation)==null?void 0:o.y)||0,((s=(n=this.mounting)==null?void 0:n.pose.orientation)==null?void 0:s.z)||0),i=l.length(),c=l.normalize();return new Oe.Quaternion().setFromAxisAngle(c,i)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return me(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Ae.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Ae.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Ae.runInAction(()=>{this.activationState="active"}),t}})}activate(){return me(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Ae.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Ae.runInAction(()=>{this.activationState="active"})}catch(t){throw Ae.runInAction(()=>{this.activationState="inactive"}),t}})}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingCartesianSocket&&this.connectedJoggingCartesianSocket.close(),this.connectedJoggingJointsSocket&&this.connectedJoggingJointsSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}},MS=class ec{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return me(this,arguments,function*(a,o,n={}){const s=yield a.connectMotionStream(o);return new ec(s,n)})}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}get activeJoggingMode(){return this.cartesianWebsocket?"cartesian":this.jointWebsocket?"joint":"increment"}get activeWebsocket(){return this.cartesianWebsocket||this.jointWebsocket}stop(){return me(this,null,function*(){this.cartesianWebsocket&&this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:{x:0,y:0,z:0},rotation_direction:{x:0,y:0,z:0},position_velocity:0,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId}),this.jointWebsocket&&this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:new Array(this.numJoints).fill(0)})})}dispose(){this.cartesianWebsocket&&this.cartesianWebsocket.dispose(),this.jointWebsocket&&this.jointWebsocket.dispose()}setJoggingMode(t,r){console.log("Setting jogging mode to",t),r&&(kg(this.cartesianJoggingOpts,r)||this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),this.cartesianJoggingOpts=r),t!=="cartesian"&&this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),t!=="joint"&&this.jointWebsocket&&(this.jointWebsocket.dispose(),this.jointWebsocket=null),t==="cartesian"&&!this.cartesianWebsocket&&(this.cartesianWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-tcp"),this.cartesianWebsocket.addEventListener("message",a=>{const o=Rt(a.data);if(o&&"error"in o)if(this.opts.onError)this.opts.onError(a.data);else throw new Error(a.data)})),t==="joint"&&!this.jointWebsocket&&(this.jointWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-joint"),this.jointWebsocket.addEventListener("message",a=>{const o=Rt(a.data);if(o&&"error"in o)if(this.opts.onError)this.opts.onError(a.data);else throw new Error(a.data)}))}startJointRotation(t){return me(this,arguments,function*({joint:r,direction:a,velocityRadsPerSec:o}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const n=new Array(this.numJoints).fill(0);n[r]=a==="-"?-o:o,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:n})})}startTCPTranslation(t){return me(this,arguments,function*({axis:r,direction:a,velocityMmPerSec:o}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const n={x:0,y:0,z:0},s=Object.assign({},n);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:n,position_velocity:o,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return me(this,arguments,function*({axis:r,direction:a,velocityRadsPerSec:o}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const n={x:0,y:0,z:0},s=Object.assign({},n);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:n,rotation_direction:s,position_velocity:0,rotation_velocity:o,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return me(this,arguments,function*({currentTcpPose:r,currentJoints:a,coordSystemId:o,velocityInRelevantUnits:n,axis:s,direction:l,motion:i}){var c;const d=[];if(!Zg(r.coordinate_system,o))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${o}`);if(i.type==="translate"){const y=Object.assign({},r.position);y[s]+=i.distanceMm*(l==="-"?-1:1),d.push({settings:{limits_override:{tcp_velocity_limit:n}},line:{position:y,orientation:r.orientation,coordinate_system:o}})}else if(i.type==="rotate"){const y=new hr(r.orientation.x,r.orientation.y,r.orientation.z),g=y.length(),m=y.clone().normalize(),x=i.distanceRads*(l==="-"?-1:1),T=new hr(0,0,0);T[s]=1;const N=Math.cos(.5*x)*Math.cos(.5*g),D=Math.sin(.5*x)*Math.sin(.5*g),z=Math.sin(.5*x)*Math.cos(.5*g),G=Math.cos(.5*x)*Math.sin(.5*g),W=T.dot(m),j=T.clone().cross(m),U=2*Math.acos(N-D*W),k=U/Math.sin(.5*U),f=new hr().addScaledVector(j,D).addScaledVector(T,z).addScaledVector(m,G).multiplyScalar(k);d.push({settings:{limits_override:{tcp_orientation_velocity_limit:n}},line:{position:r.position,orientation:f,coordinate_system:o}})}const p=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:a,tcp:this.cartesianJoggingOpts.tcpId,commands:d}),u=(c=p.plan_successful_response)==null?void 0:c.motion;if(!u)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(p)}`);yield this.nova.api.motion.streamMoveForward(u,100,void 0,void 0,void 0,{timeout:1e3*60})})}runIncrementalJointRotation(t){return me(this,arguments,function*({joint:r,currentJoints:a,velocityRadsPerSec:o,direction:n,distanceRads:s}){var l;const i=[...a.joints];i[r]+=s*(n==="-"?-1:1);const c=new Array(a.joints.length).fill(o),d=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:a,commands:[{settings:{limits_override:{joint_velocity_limits:{joints:c}}},joint_ptp:{joints:i}}]}),p=(l=d.plan_successful_response)==null?void 0:l.motion;if(!p){console.error("Failed to plan jogging increment motion",d);return}yield this.nova.api.motion.streamMoveForward(p,100,void 0,void 0,void 0,{timeout:1e3*60})})}},sl=1e-4;function jS(e,t){const r=new Ze.Vector3(t.x,t.y,t.z),a=new Ze.Vector3(e.x,e.y,e.z),o=r.length(),n=r.normalize();let s=a.length(),l=a.normalize();l.dot(n)<0&&(s=-s,l=l.multiplyScalar(-1));let i=s-o;return i-=2*Math.PI*Math.floor((i+Math.PI)/(2*Math.PI)),s=o+i,l.multiplyScalar(s)}var $S=class tc{constructor(t,r,a,o,n){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=o,this.motionStateSocket=n,this.rapidlyChangingMotionState=o,n.addEventListener("message",s=>{var l;const i=(l=Rt(s.data))==null?void 0:l.result;if(!i)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);Yi(this.rapidlyChangingMotionState.state.joint_position.joints,i.state.joint_position.joints,sl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.state=i.state}),Xi(this.rapidlyChangingMotionState.tcp_pose,i.tcp_pose,sl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=i.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:i.tcp_pose.position,orientation:jS(i.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:i.tcp_pose.tcp,coordinate_system:i.tcp_pose.coordinate_system}})}),Ae.makeAutoObservable(this)}static open(t,r){return me(this,null,function*(){var a;const{instances:o}=yield t.api.controller.listControllers(),[n,s]=r.split("@"),l=o.find(u=>u.controller===s),i=l==null?void 0:l.physical_motion_groups.find(u=>u.motion_group===r);if(!l||!i)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield c.firstMessage();console.log("got first message",d);const p=(a=Rt(d.data))==null?void 0:a.result;if(!p)throw new Error(`Unable to parse initial motion state message ${d.data}`);return console.log(`Connected motion state websocket to motion group ${i.motion_group}. Initial state:
|
|
105
|
-
`,p),new tc(t,l,i,p,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},US=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(SS),this.cell=this.withUnwrappedResponsesOnly($0),this.deviceConfig=this.withCellId(z0),this.motionGroup=this.withCellId(tS),this.motionGroupInfos=this.withCellId(aS),this.controller=this.withCellId(k0),this.program=this.withCellId(cS),this.programValues=this.withCellId(pS),this.controllerIOs=this.withCellId(B0),this.motionGroupKinematic=this.withCellId(lS),this.motion=this.withCellId(Z0),this.coordinateSystems=this.withCellId(N0),this.application=this.withCellId(rl),this.applicationGlobal=this.withUnwrappedResponsesOnly(rl),this.motionGroupJogging=this.withCellId(nS),this.virtualRobot=this.withCellId(xS),this.virtualRobotSetup=this.withCellId(RS),this.virtualRobotMode=this.withCellId(PS),this.virtualRobotBehavior=this.withCellId(wS),this.libraryProgramMetadata=this.withCellId(H0),this.libraryProgram=this.withCellId(J0),this.libraryRecipeMetadata=this.withCellId(Y0),this.libraryRecipe=this.withCellId(Q0),this.storeObject=this.withCellId(gS),this.storeCollisionComponents=this.withCellId(hS),this.storeCollisionScenes=this.withCellId(fS)}withCellId(e){var t,r;const a=new e(hn(cr({},this.opts),{isJsonMime:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(o!=="constructor"&&typeof a[o]=="function"){const n=a[o];a[o]=(...s)=>n.apply(a,[this.cellId,...s]).then(l=>l.data)}return a}withUnwrappedResponsesOnly(e){var t,r;const a=new e(hn(cr({},this.opts),{isJsonMime:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(o!=="constructor"&&typeof a[o]=="function"){const n=a[o];a[o]=(...s)=>n.apply(a,s).then(l=>l.data)}return a}},kS=class{constructor(){this.connections=[]}handleAPIRequest(e){return me(this,null,function*(){var t,r,a;const o=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return{instances:[{controller:"mock-ur5e",model_name:"UniversalRobots::Controller",host:"mock-ur5e",allow_software_install_on_controller:!0,physical_motion_groups:[{motion_group:"0@mock-ur5e",name_from_controller:"UR5e",active:!1,model_from_controller:"UniversalRobots_UR5e"}],has_error:!1,error_details:""}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{kind:"VirtualController",manufacturer:"universalrobots",position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/specification",handle(){return{dh_parameters:[{alpha:1.5707963267948966,theta:0,a:0,d:162.25,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-425,d:0,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-392.2,d:0,reverse_rotation_direction:!1},{alpha:1.5707963267948966,theta:0,a:0,d:133.3,reverse_rotation_direction:!1},{alpha:-1.5707963267948966,theta:0,a:0,d:99.7,reverse_rotation_direction:!1},{alpha:0,theta:0,a:0,d:99.6,reverse_rotation_direction:!1}],mechanical_joint_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/safety-setup",handle(){return{safety_settings:[{safety_state:"SAFETY_NORMAL",settings:{joint_position_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-2.96705961227417,upper_limit:2.96705961227417,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-1.7453292608261108,upper_limit:2.7925267219543457,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-3.3161256313323975,upper_limit:.40142571926116943,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-3.4906585216522217,upper_limit:3.4906585216522217,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-2.4434609413146973,upper_limit:2.4434609413146973,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-4.71238899230957,upper_limit:4.71238899230957,unlimited:!1}],joint_velocity_limits:[{joint:"JOINTNAME_AXIS_1",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_2",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_3",limit:3.4906585216522217},{joint:"JOINTNAME_AXIS_4",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_5",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_6",limit:6.981317043304443}],joint_acceleration_limits:[],joint_torque_limits:[],tcp_velocity_limit:1800}}],safety_zones:[{id:1,priority:0,geometry:{compound:{child_geometries:[{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820},{x:-800,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:-1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:-800,y:1330,z:-1820},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500},{x:1650,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:1650,y:-1330,z:1500},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Cell workzone"},motion_group_uid:1},{id:2,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-1850},{x:865,y:1330,z:-1850},{x:865,y:-720,z:-1850},{x:1650,y:-720,z:-1850},{x:1650,y:1330,z:-920},{x:865,y:1330,z:-920},{x:865,y:-720,z:-920},{x:1650,y:-720,z:-920}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Transport"},motion_group_uid:1},{id:3,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-600},{x:865,y:1330,z:-600},{x:865,y:430,z:-600},{x:1650,y:430,z:-600},{x:1650,y:1330,z:-1250},{x:865,y:1330,z:-1250},{x:865,y:430,z:-1250},{x:1650,y:430,z:-1250}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Tunel"},motion_group_uid:1},{id:4,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:-760,z:-440},{x:900,y:-760,z:-440},{x:900,y:-1330,z:-440},{x:1650,y:-1330,z:-440},{x:1650,y:-760,z:-1800},{x:900,y:-760,z:-1800},{x:900,y:-1330,z:-1800},{x:1650,y:-1330,z:-1800}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Fanuc controller"},motion_group_uid:1},{id:6,priority:0,geometry:{convex_hull:{vertices:[{x:-200,y:-200,z:-1900},{x:200,y:-200,z:-1900},{x:200,y:200,z:-1900},{x:-200,y:200,z:-1900},{x:-200,y:-200,z:-350},{x:200,y:-200,z:-350},{x:200,y:200,z:-350},{x:-200,y:200,z:-350}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Robot base"},motion_group_uid:1}],robot_model_geometries:[{link_index:1,geometry:{sphere:{radius:270},init_pose:{position:{x:-70,y:-70,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link1_sphere"}},{link_index:2,geometry:{capsule:{radius:160,cylinder_height:800},init_pose:{position:{x:-450,y:40,z:170},orientation:{x:0,y:-.7071067811865475,z:0,w:.7071067811865476}},id:"link2_capsule"}},{link_index:3,geometry:{sphere:{radius:270},init_pose:{position:{x:-110,y:10,z:-100},orientation:{x:0,y:0,z:0,w:1}},id:"link3_sphere"}},{link_index:4,geometry:{capsule:{radius:110,cylinder_height:600},init_pose:{position:{x:0,y:300,z:40},orientation:{x:-.7071067811865475,y:0,z:0,w:.7071067811865476}},id:"link4_capsule"}},{link_index:5,geometry:{sphere:{radius:75},init_pose:{position:{x:0,y:0,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link5_sphere"}}],tool_geometries:[]}}},{method:"GET",path:"/cells/:cellId/coordinate-systems",handle(){return{coordinatesystems:[{coordinate_system:"",name:"world",reference_uid:"",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0],type:"ROTATION_VECTOR"}}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/tcps",handle(){return{tcps:[{id:"Flange",readable_name:"Default-Flange",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0,0],type:"ROTATION_VECTOR"}},{id:"complex-tcp-position",readable_name:"Complex TCP Position",position:{x:-200,y:300,z:150},rotation:{angles:[-.12139440409113832,-.06356210998212003,-.2023240068185639,0],type:"ROTATION_VECTOR"}}]}}}],n=((t=e.method)==null?void 0:t.toUpperCase())||"GET",s="/cells"+((a=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:a.split("?")[0]);for(const l of o){const i=IS.match(l.path)(s||"");if(n===l.method&&i){const c=l.handle();return{status:200,statusText:"Success",data:JSON.stringify(c),headers:{},config:e,request:{responseURL:e.url}}}}throw new vn(`No mock handler matched this request: ${n} ${s}`,"404",e)})}handleWebsocketConnection(e){this.connections.push(e),setTimeout(()=>{e.dispatchEvent(new Event("open")),console.log("Websocket connection opened from",e.url),e.url.includes("/state-stream")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify(LS)})),e.url.includes("/move-joint")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:48:26.096266444Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3492152690887451,-1.5659207105636597,1.6653711795806885,-1.0991662740707397,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:""},tcp_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"671259"}],sequence_number:"671259"},movement_state:"MOVEMENT_STATE_MOVING"}})})),e.url.includes("/move-tcp")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:43:12.188335774Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3352527618408203,-1.5659207105636597,1.6653711795806885,-1.110615611076355,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:""},tcp_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"627897"}],sequence_number:"627897"},movement_state:"MOVEMENT_STATE_MOVING"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}},LS={result:{state:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",joint_position:{joints:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:""},tcp_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"1"},tcp_pose:{position:{x:302.90748476115556,y:-152.87065869452337,z:424.0454619321661},orientation:{x:2.3403056115045353,y:-1.1706836379431356,z:.9772511964246311},coordinate_system:"",tcp:"Flange"}}},BS=class{constructor(e){this.authPromise=null,this.accessToken=null;var 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l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deployCell:async(t,r,a={})=>{m("deployCell","cell",t);const o="/cells",n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(t,l,e),{url:_(n),options:l}},getCell:async(t,r={})=>{m("getCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},getCellStatus:async(t,r={})=>{m("getCellStatus","cell",t);const a="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listCells:async(t={})=>{const r="/cells",a=new URL(r,C);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};V(n,e),await P(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},updateCell:async(t,r,a,o={})=>{m("updateCell","cell",t),m("updateCell","cell2",r);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}}}},rr=function(e){const t=E0(e);return{async deleteCell(r,a,o){var i,c;const n=await t.deleteCell(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CellApi.deleteCell"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deployCell(r,a,o){var i,c;const n=await t.deployCell(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CellApi.deployCell"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getCell(r,a){var l,i;const o=await t.getCell(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["CellApi.getCell"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async getCellStatus(r,a){var l,i;const o=await t.getCellStatus(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["CellApi.getCellStatus"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listCells(r){var s,l;const a=await t.listCells(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=w["CellApi.listCells"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async updateCell(r,a,o,n){var c,d;const s=await t.updateCell(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["CellApi.updateCell"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class M0 extends fe{deleteCell(t,r,a){return rr(this.configuration).deleteCell(t,r,a).then(o=>o(this.axios,this.basePath))}deployCell(t,r,a){return rr(this.configuration).deployCell(t,r,a).then(o=>o(this.axios,this.basePath))}getCell(t,r){return rr(this.configuration).getCell(t,r).then(a=>a(this.axios,this.basePath))}getCellStatus(t,r){return rr(this.configuration).getCellStatus(t,r).then(a=>a(this.axios,this.basePath))}listCells(t){return rr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,a,o){return rr(this.configuration).updateCell(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const j0=function(e){return{addRobotController:async(t,r,a,o={})=>{m("addRobotController","cell",t),m("addRobotController","robotController",r);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}},clearRobotControllers:async(t,r,a={})=>{m("clearRobotControllers","cell",t);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteRobotController:async(t,r,a,o={})=>{m("deleteRobotController","cell",t),m("deleteRobotController","controller",r);const n="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"DELETE",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.completionTimeout=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getCurrentRobotControllerState:async(t,r,a={})=>{m("getCurrentRobotControllerState","cell",t),m("getCurrentRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getMode:async(t,r,a={})=>{m("getMode","cell",t),m("getMode","controller",r);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getRobotController:async(t,r,a={})=>{m("getRobotController","cell",t),m("getRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getSupportedModes:async(t,r,a={})=>{m("getSupportedModes","cell",t),m("getSupportedModes","controller",r);const o="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getVirtualRobotConfiguration:async(t,r,a={})=>{m("getVirtualRobotConfiguration","cell",t),m("getVirtualRobotConfiguration","controller",r);const o="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listControllers:async(t,r={})=>{m("listControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},setDefaultMode:async(t,r,a,o={})=>{m("setDefaultMode","cell",t),m("setDefaultMode","controller",r),m("setDefaultMode","mode",a);const n="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.mode=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},streamFreeDrive:async(t,r,a,o={})=>{m("streamFreeDrive","cell",t),m("streamFreeDrive","controller",r);const n="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.response_rate=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},streamModeChange:async(t,r,a={})=>{m("streamModeChange","cell",t),m("streamModeChange","controller",r);const o="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},streamRobotControllerState:async(t,r,a,o={})=>{m("streamRobotControllerState","cell",t),m("streamRobotControllerState","controller",r);const n="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.response_rate=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},updateRobotController:async(t,r,a,o,n={})=>{m("updateRobotController","cell",t),m("updateRobotController","controller",r),m("updateRobotController","robotController",a);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};V(c,e),await P(d,e),o!==void 0&&(p.completionTimeout=o),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(a,c,e),{url:_(l),options:c}}}},Ne=function(e){const t=j0(e);return{async addRobotController(r,a,o,n){var c,d;const s=await t.addRobotController(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.addRobotController"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async clearRobotControllers(r,a,o){var i,c;const n=await t.clearRobotControllers(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.clearRobotControllers"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteRobotController(r,a,o,n){var c,d;const s=await t.deleteRobotController(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.deleteRobotController"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getCurrentRobotControllerState(r,a,o){var i,c;const n=await t.getCurrentRobotControllerState(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getCurrentRobotControllerState"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getMode(r,a,o){var i,c;const n=await t.getMode(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getMode"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getRobotController(r,a,o){var i,c;const n=await t.getRobotController(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getRobotController"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getSupportedModes(r,a,o){var i,c;const n=await t.getSupportedModes(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getSupportedModes"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getVirtualRobotConfiguration(r,a,o){var i,c;const n=await t.getVirtualRobotConfiguration(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listControllers(r,a){var l,i;const o=await t.listControllers(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ControllerApi.listControllers"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async setDefaultMode(r,a,o,n){var c,d;const s=await t.setDefaultMode(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.setDefaultMode"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async streamFreeDrive(r,a,o,n){var c,d;const s=await t.streamFreeDrive(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.streamFreeDrive"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async streamModeChange(r,a,o){var i,c;const n=await t.streamModeChange(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.streamModeChange"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async streamRobotControllerState(r,a,o,n){var c,d;const s=await t.streamRobotControllerState(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.streamRobotControllerState"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async updateRobotController(r,a,o,n,s){var d,p;const l=await t.updateRobotController(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["ControllerApi.updateRobotController"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)}}};class $0 extends fe{addRobotController(t,r,a,o){return Ne(this.configuration).addRobotController(t,r,a,o).then(n=>n(this.axios,this.basePath))}clearRobotControllers(t,r,a){return Ne(this.configuration).clearRobotControllers(t,r,a).then(o=>o(this.axios,this.basePath))}deleteRobotController(t,r,a,o){return Ne(this.configuration).deleteRobotController(t,r,a,o).then(n=>n(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,a){return Ne(this.configuration).getCurrentRobotControllerState(t,r,a).then(o=>o(this.axios,this.basePath))}getMode(t,r,a){return Ne(this.configuration).getMode(t,r,a).then(o=>o(this.axios,this.basePath))}getRobotController(t,r,a){return Ne(this.configuration).getRobotController(t,r,a).then(o=>o(this.axios,this.basePath))}getSupportedModes(t,r,a){return Ne(this.configuration).getSupportedModes(t,r,a).then(o=>o(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,a){return Ne(this.configuration).getVirtualRobotConfiguration(t,r,a).then(o=>o(this.axios,this.basePath))}listControllers(t,r){return Ne(this.configuration).listControllers(t,r).then(a=>a(this.axios,this.basePath))}setDefaultMode(t,r,a,o){return Ne(this.configuration).setDefaultMode(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamFreeDrive(t,r,a,o){return Ne(this.configuration).streamFreeDrive(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamModeChange(t,r,a){return Ne(this.configuration).streamModeChange(t,r,a).then(o=>o(this.axios,this.basePath))}streamRobotControllerState(t,r,a,o){return Ne(this.configuration).streamRobotControllerState(t,r,a,o).then(n=>n(this.axios,this.basePath))}updateRobotController(t,r,a,o,n){return Ne(this.configuration).updateRobotController(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const U0=function(e){return{listIODescriptions:async(t,r,a,o={})=>{m("listIODescriptions","cell",t),m("listIODescriptions","controller",r);const n="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a&&(d.ios=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},listIOValues:async(t,r,a,o={})=>{m("listIOValues","cell",t),m("listIOValues","controller",r);const n="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a&&(d.ios=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},setOutputValues:async(t,r,a,o={})=>{m("setOutputValues","cell",t),m("setOutputValues","controller",r),m("setOutputValues","iOValue",a);const n="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},streamIOValues:async(t,r,a,o={})=>{m("streamIOValues","cell",t),m("streamIOValues","controller",r);const n="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a&&(d.ios=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},waitForIOEvent:async(t,r,a,o,n,s,l,i={})=>{m("waitForIOEvent","cell",t),m("waitForIOEvent","controller",r),m("waitForIOEvent","io",a),m("waitForIOEvent","comparisonType",o);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),d=new URL(c,C);let p;e&&(p=e.baseOptions);const u={method:"GET",...p,...i},y={},g={};V(u,e),await P(y,e),a!==void 0&&(g.io=a),o!==void 0&&(g.comparison_type=o),n!==void 0&&(g.boolean_value=n),s!==void 0&&(g.integer_value=s),l!==void 0&&(g.floating_value=l),R(d,g);let h=p&&p.headers?p.headers:{};return u.headers={...y,...h,...i.headers},{url:_(d),options:u}}}},jr=function(e){const t=U0(e);return{async listIODescriptions(r,a,o,n){var c,d;const s=await t.listIODescriptions(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.listIODescriptions"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async listIOValues(r,a,o,n){var c,d;const s=await t.listIOValues(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.listIOValues"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async setOutputValues(r,a,o,n){var c,d;const s=await t.setOutputValues(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.setOutputValues"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async streamIOValues(r,a,o,n){var c,d;const s=await t.streamIOValues(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.streamIOValues"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async waitForIOEvent(r,a,o,n,s,l,i,c){var y,g;const d=await t.waitForIOEvent(r,a,o,n,s,l,i,c),p=(e==null?void 0:e.serverIndex)??0,u=(g=(y=w["ControllerIOsApi.waitForIOEvent"])==null?void 0:y[p])==null?void 0:g.url;return(h,x)=>A(d,v,O,e)(h,u||x)}}};class k0 extends fe{listIODescriptions(t,r,a,o){return jr(this.configuration).listIODescriptions(t,r,a,o).then(n=>n(this.axios,this.basePath))}listIOValues(t,r,a,o){return jr(this.configuration).listIOValues(t,r,a,o).then(n=>n(this.axios,this.basePath))}setOutputValues(t,r,a,o){return jr(this.configuration).setOutputValues(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamIOValues(t,r,a,o){return jr(this.configuration).streamIOValues(t,r,a,o).then(n=>n(this.axios,this.basePath))}waitForIOEvent(t,r,a,o,n,s,l,i){return jr(this.configuration).waitForIOEvent(t,r,a,o,n,s,l,i).then(c=>c(this.axios,this.basePath))}}const L0=function(e){return{addCoordinateSystem:async(t,r,a={})=>{m("addCoordinateSystem","cell",t),m("addCoordinateSystem","addRequest",r);const o="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},deleteCoordinateSystem:async(t,r,a={})=>{m("deleteCoordinateSystem","cell",t),m("deleteCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getCoordinateSystem:async(t,r,a,o={})=>{m("getCoordinateSystem","cell",t),m("getCoordinateSystem","coordinateSystem",r);const n="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},listCoordinateSystems:async(t,r,a={})=>{m("listCoordinateSystems","cell",t);const o="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.rotation_type=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},transformInCoordinateSystem:async(t,r,a,o={})=>{m("transformInCoordinateSystem","cell",t),m("transformInCoordinateSystem","coordinateSystem",r),m("transformInCoordinateSystem","pose",a);const n="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},$r=function(e){const t=L0(e);return{async addCoordinateSystem(r,a,o){var i,c;const n=await t.addCoordinateSystem(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteCoordinateSystem(r,a,o){var i,c;const n=await t.deleteCoordinateSystem(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getCoordinateSystem(r,a,o,n){var c,d;const s=await t.getCoordinateSystem(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async listCoordinateSystems(r,a,o){var i,c;const n=await t.listCoordinateSystems(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async transformInCoordinateSystem(r,a,o,n){var c,d;const s=await t.transformInCoordinateSystem(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class B0 extends fe{addCoordinateSystem(t,r,a){return $r(this.configuration).addCoordinateSystem(t,r,a).then(o=>o(this.axios,this.basePath))}deleteCoordinateSystem(t,r,a){return $r(this.configuration).deleteCoordinateSystem(t,r,a).then(o=>o(this.axios,this.basePath))}getCoordinateSystem(t,r,a,o){return $r(this.configuration).getCoordinateSystem(t,r,a,o).then(n=>n(this.axios,this.basePath))}listCoordinateSystems(t,r,a){return $r(this.configuration).listCoordinateSystems(t,r,a).then(o=>o(this.axios,this.basePath))}transformInCoordinateSystem(t,r,a,o){return $r(this.configuration).transformInCoordinateSystem(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const F0=function(e){return{clearDevices:async(t,r={})=>{m("clearDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},createDevice:async(t,r,a={})=>{m("createDevice","cell",t),m("createDevice","createDeviceRequestInner",r);const o="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},deleteDevice:async(t,r,a={})=>{m("deleteDevice","cell",t),m("deleteDevice","identifier",r);const o="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getDevice:async(t,r,a={})=>{m("getDevice","cell",t),m("getDevice","identifier",r);const o="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listDevices:async(t,r={})=>{m("listDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}}}},Ur=function(e){const t=F0(e);return{async clearDevices(r,a){var l,i;const o=await t.clearDevices(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["DeviceConfigurationApi.clearDevices"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async createDevice(r,a,o){var i,c;const n=await t.createDevice(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["DeviceConfigurationApi.createDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteDevice(r,a,o){var i,c;const n=await t.deleteDevice(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["DeviceConfigurationApi.deleteDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getDevice(r,a,o){var i,c;const n=await t.getDevice(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["DeviceConfigurationApi.getDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listDevices(r,a){var l,i;const o=await t.listDevices(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["DeviceConfigurationApi.listDevices"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)}}};class N0 extends fe{clearDevices(t,r){return Ur(this.configuration).clearDevices(t,r).then(a=>a(this.axios,this.basePath))}createDevice(t,r,a){return Ur(this.configuration).createDevice(t,r,a).then(o=>o(this.axios,this.basePath))}deleteDevice(t,r,a){return Ur(this.configuration).deleteDevice(t,r,a).then(o=>o(this.axios,this.basePath))}getDevice(t,r,a){return Ur(this.configuration).getDevice(t,r,a).then(o=>o(this.axios,this.basePath))}listDevices(t,r){return Ur(this.configuration).listDevices(t,r).then(a=>a(this.axios,this.basePath))}}const D0=function(e){return{createProgram:async(t,r,a,o={})=>{m("createProgram","cell",t),m("createProgram","body",r);const n="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.name=a),c["Content-Type"]="text/plain",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}},deleteProgram:async(t,r,a={})=>{m("deleteProgram","cell",t),m("deleteProgram","program",r);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteProgramList:async(t,r,a={})=>{m("deleteProgramList","cell",t),m("deleteProgramList","programIds",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r&&(c.program_ids=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getProgram:async(t,r,a={})=>{m("getProgram","cell",t),m("getProgram","program",r);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},updateProgram:async(t,r,a,o={})=>{m("updateProgram","cell",t),m("updateProgram","program",r),m("updateProgram","body",a);const n="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="text/plain",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},kr=function(e){const t=D0(e);return{async createProgram(r,a,o,n){var c,d;const s=await t.createProgram(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramApi.createProgram"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async deleteProgram(r,a,o){var i,c;const n=await t.deleteProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramApi.deleteProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteProgramList(r,a,o){var i,c;const n=await t.deleteProgramList(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramApi.deleteProgramList"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getProgram(r,a,o){var i,c;const n=await t.getProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramApi.getProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async updateProgram(r,a,o,n){var c,d;const s=await t.updateProgram(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramApi.updateProgram"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class z0 extends fe{createProgram(t,r,a,o){return kr(this.configuration).createProgram(t,r,a,o).then(n=>n(this.axios,this.basePath))}deleteProgram(t,r,a){return kr(this.configuration).deleteProgram(t,r,a).then(o=>o(this.axios,this.basePath))}deleteProgramList(t,r,a){return kr(this.configuration).deleteProgramList(t,r,a).then(o=>o(this.axios,this.basePath))}getProgram(t,r,a){return kr(this.configuration).getProgram(t,r,a).then(o=>o(this.axios,this.basePath))}updateProgram(t,r,a,o){return kr(this.configuration).updateProgram(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const G0=function(e){return{getProgramMetadata:async(t,r,a={})=>{m("getProgramMetadata","cell",t),m("getProgramMetadata","program",r);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listProgramMetadata:async(t,r,a={})=>{m("listProgramMetadata","cell",t);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.show_hidden=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},updateProgramMetadata:async(t,r,a,o={})=>{m("updateProgramMetadata","cell",t),m("updateProgramMetadata","program",r),m("updateProgramMetadata","updateProgramMetadataRequest",a);const n="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},uploadProgramMetadataImage:async(t,r,a,o={})=>{m("uploadProgramMetadataImage","cell",t),m("uploadProgramMetadataImage","program",r),m("uploadProgramMetadataImage","file",a);const n="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={},p=new(e&&e.formDataCtor||FormData);V(i,e),await P(c,e),a!==void 0&&p.append("file",a),c["Content-Type"]="multipart/form-data",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=p,{url:_(s),options:i}}}},ba=function(e){const t=G0(e);return{async getProgramMetadata(r,a,o){var i,c;const n=await t.getProgramMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listProgramMetadata(r,a,o){var i,c;const n=await t.listProgramMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async updateProgramMetadata(r,a,o,n){var c,d;const s=await t.updateProgramMetadata(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async uploadProgramMetadataImage(r,a,o,n){var c,d;const s=await t.uploadProgramMetadataImage(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class J0 extends fe{getProgramMetadata(t,r,a){return ba(this.configuration).getProgramMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}listProgramMetadata(t,r,a){return ba(this.configuration).listProgramMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}updateProgramMetadata(t,r,a,o){return ba(this.configuration).updateProgramMetadata(t,r,a,o).then(n=>n(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,a,o){return ba(this.configuration).uploadProgramMetadataImage(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const q0=function(e){return{createRecipe:async(t,r,a,o,n={})=>{m("createRecipe","cell",t),m("createRecipe","programId",r),m("createRecipe","body",a);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"POST",...i,...n},d={},p={};V(c,e),await P(d,e),r!==void 0&&(p.program_id=r),o!==void 0&&(p.name=o),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(a,c,e),{url:_(l),options:c}},deleteRecipe:async(t,r,a={})=>{m("deleteRecipe","cell",t),m("deleteRecipe","recipe",r);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteRecipeList:async(t,r,a={})=>{m("deleteRecipeList","cell",t),m("deleteRecipeList","recipeIds",r);const o="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r&&(c.recipe_ids=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getRecipe:async(t,r,a={})=>{m("getRecipe","cell",t),m("getRecipe","recipe",r);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},updateRecipe:async(t,r,a,o={})=>{m("updateRecipe","cell",t),m("updateRecipe","recipe",r),m("updateRecipe","body",a);const n="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},Lr=function(e){const t=q0(e);return{async createRecipe(r,a,o,n,s){var d,p;const l=await t.createRecipe(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["LibraryRecipeApi.createRecipe"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async deleteRecipe(r,a,o){var i,c;const n=await t.deleteRecipe(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeApi.deleteRecipe"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteRecipeList(r,a,o){var i,c;const n=await t.deleteRecipeList(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeApi.deleteRecipeList"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getRecipe(r,a,o){var i,c;const n=await t.getRecipe(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeApi.getRecipe"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async updateRecipe(r,a,o,n){var c,d;const s=await t.updateRecipe(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryRecipeApi.updateRecipe"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class H0 extends fe{createRecipe(t,r,a,o,n){return Lr(this.configuration).createRecipe(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,a){return Lr(this.configuration).deleteRecipe(t,r,a).then(o=>o(this.axios,this.basePath))}deleteRecipeList(t,r,a){return Lr(this.configuration).deleteRecipeList(t,r,a).then(o=>o(this.axios,this.basePath))}getRecipe(t,r,a){return Lr(this.configuration).getRecipe(t,r,a).then(o=>o(this.axios,this.basePath))}updateRecipe(t,r,a,o){return Lr(this.configuration).updateRecipe(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const W0=function(e){return{getRecipeMetadata:async(t,r,a={})=>{m("getRecipeMetadata","cell",t),m("getRecipeMetadata","recipe",r);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listRecipeMetadata:async(t,r={})=>{m("listRecipeMetadata","cell",t);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},updateRecipeMetadata:async(t,r,a,o={})=>{m("updateRecipeMetadata","cell",t),m("updateRecipeMetadata","recipe",r),m("updateRecipeMetadata","updateRecipeMetadataRequest",a);const n="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},uploadRecipeMetadataImage:async(t,r,a,o={})=>{m("uploadRecipeMetadataImage","cell",t),m("uploadRecipeMetadataImage","recipe",r),m("uploadRecipeMetadataImage","file",a);const n="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={},p=new(e&&e.formDataCtor||FormData);V(i,e),await P(c,e),a!==void 0&&p.append("file",a),c["Content-Type"]="multipart/form-data",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=p,{url:_(s),options:i}}}},Sa=function(e){const t=W0(e);return{async getRecipeMetadata(r,a,o){var i,c;const n=await t.getRecipeMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listRecipeMetadata(r,a){var l,i;const o=await t.listRecipeMetadata(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async updateRecipeMetadata(r,a,o,n){var c,d;const s=await t.updateRecipeMetadata(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async uploadRecipeMetadataImage(r,a,o,n){var c,d;const s=await t.uploadRecipeMetadataImage(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class Q0 extends fe{getRecipeMetadata(t,r,a){return Sa(this.configuration).getRecipeMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}listRecipeMetadata(t,r){return Sa(this.configuration).listRecipeMetadata(t,r).then(a=>a(this.axios,this.basePath))}updateRecipeMetadata(t,r,a,o){return Sa(this.configuration).updateRecipeMetadata(t,r,a,o).then(n=>n(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,a,o){return Sa(this.configuration).uploadRecipeMetadataImage(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const K0=function(e){return{deleteAllMotions:async(t,r={})=>{m("deleteAllMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},deleteMotion:async(t,r,a={})=>{m("deleteMotion","cell",t),m("deleteMotion","motion",r);const o="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},executeTrajectory:async(t,r,a={})=>{m("executeTrajectory","cell",t),m("executeTrajectory","executeTrajectoryRequest",r);const o="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},getMotionTrajectory:async(t,r,a,o,n={})=>{m("getMotionTrajectory","cell",t),m("getMotionTrajectory","motion",r),m("getMotionTrajectory","sampleTime",a);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...n},d={},p={};V(c,e),await P(d,e),a!==void 0&&(p.sample_time=a),o!==void 0&&(p.responses_coordinate_system=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},getMotionTrajectorySample:async(t,r,a,o,n={})=>{m("getMotionTrajectorySample","cell",t),m("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...n},d={},p={};V(c,e),await P(d,e),a!==void 0&&(p.location_on_trajectory=a),o!==void 0&&(p.response_coordinate_system=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},getPlannedMotion:async(t,r,a,o={})=>{m("getPlannedMotion","cell",t),m("getPlannedMotion","motion",r);const n="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.sample_time=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getPlanningMotionGroupModels:async(t,r={})=>{m("getPlanningMotionGroupModels","cell",t);const a="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listMotions:async(t,r={})=>{m("listMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},loadPlannedMotion:async(t,r,a={})=>{m("loadPlannedMotion","cell",t),m("loadPlannedMotion","plannedMotion",r);const o="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planCollisionFreePTP:async(t,r,a={})=>{m("planCollisionFreePTP","cell",t);const o="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planMotion:async(t,r,a={})=>{m("planMotion","cell",t),m("planMotion","planRequest",r);const o="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planTrajectory:async(t,r,a={})=>{m("planTrajectory","cell",t);const o="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},stopExecution:async(t,r,a={})=>{m("stopExecution","cell",t),m("stopExecution","motion",r);const o="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},streamMove:async(t,r,a={})=>{m("streamMove","cell",t),m("streamMove","streamMoveRequest",r);const o="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},streamMoveBackward:async(t,r,a,o,n,s,l={})=>{m("streamMoveBackward","cell",t),m("streamMoveBackward","motion",r),m("streamMoveBackward","playbackSpeedInPercent",a);const i="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(i,C);let d;e&&(d=e.baseOptions);const p={method:"GET",...d,...l},u={},y={};V(p,e),await P(u,e),a!==void 0&&(y.playback_speed_in_percent=a),o!==void 0&&(y.response_rate=o),n!==void 0&&(y.response_coordinate_system=n),s!==void 0&&(y.start_location_on_trajectory=s),R(c,y);let g=d&&d.headers?d.headers:{};return p.headers={...u,...g,...l.headers},{url:_(c),options:p}},streamMoveForward:async(t,r,a,o,n,s,l={})=>{m("streamMoveForward","cell",t),m("streamMoveForward","motion",r),m("streamMoveForward","playbackSpeedInPercent",a);const i="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(i,C);let d;e&&(d=e.baseOptions);const p={method:"GET",...d,...l},u={},y={};V(p,e),await P(u,e),a!==void 0&&(y.playback_speed_in_percent=a),o!==void 0&&(y.response_rate=o),n!==void 0&&(y.response_coordinate_system=n),s!==void 0&&(y.start_location_on_trajectory=s),R(c,y);let g=d&&d.headers?d.headers:{};return p.headers={...u,...g,...l.headers},{url:_(c),options:p}},streamMoveToTrajectoryViaJointPTP:async(t,r,a,o,n,s,l,i,c,d,p={})=>{m("streamMoveToTrajectoryViaJointPTP","cell",t),m("streamMoveToTrajectoryViaJointPTP","motion",r),m("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",a);const u="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),y=new URL(u,C);let g;e&&(g=e.baseOptions);const h={method:"GET",...g,...p},x={},T={};V(h,e),await P(x,e),a!==void 0&&(T.location_on_trajectory=a),o&&(T["limit_override.joint_velocity_limits.joints"]=o),n&&(T["limit_override.joint_acceleration_limits.joints"]=n),s!==void 0&&(T["limit_override.tcp_velocity_limit"]=s),l!==void 0&&(T["limit_override.tcp_acceleration_limit"]=l),i!==void 0&&(T["limit_override.tcp_orientation_velocity_limit"]=i),c!==void 0&&(T["limit_override.tcp_orientation_acceleration_limit"]=c),d!==void 0&&(T.responses_coordinate_system=d),R(y,T);let D=g&&g.headers?g.headers:{};return h.headers={...x,...D,...p.headers},{url:_(y),options:h}}}},Ee=function(e){const t=K0(e);return{async deleteAllMotions(r,a){var l,i;const o=await t.deleteAllMotions(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionApi.deleteAllMotions"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async deleteMotion(r,a,o){var i,c;const n=await t.deleteMotion(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.deleteMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async executeTrajectory(r,a,o){var i,c;const n=await t.executeTrajectory(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.executeTrajectory"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getMotionTrajectory(r,a,o,n,s){var d,p;const l=await t.getMotionTrajectory(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["MotionApi.getMotionTrajectory"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async getMotionTrajectorySample(r,a,o,n,s){var d,p;const l=await t.getMotionTrajectorySample(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["MotionApi.getMotionTrajectorySample"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async getPlannedMotion(r,a,o,n){var c,d;const s=await t.getPlannedMotion(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionApi.getPlannedMotion"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getPlanningMotionGroupModels(r,a){var l,i;const o=await t.getPlanningMotionGroupModels(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionApi.getPlanningMotionGroupModels"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listMotions(r,a){var l,i;const o=await t.listMotions(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionApi.listMotions"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async loadPlannedMotion(r,a,o){var i,c;const n=await t.loadPlannedMotion(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.loadPlannedMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async planCollisionFreePTP(r,a,o){var i,c;const n=await t.planCollisionFreePTP(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.planCollisionFreePTP"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async planMotion(r,a,o){var i,c;const n=await t.planMotion(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.planMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async planTrajectory(r,a,o){var i,c;const n=await t.planTrajectory(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.planTrajectory"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async stopExecution(r,a,o){var i,c;const n=await t.stopExecution(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.stopExecution"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async streamMove(r,a,o){var i,c;const n=await t.streamMove(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.streamMove"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async streamMoveBackward(r,a,o,n,s,l,i){var u,y;const c=await t.streamMoveBackward(r,a,o,n,s,l,i),d=(e==null?void 0:e.serverIndex)??0,p=(y=(u=w["MotionApi.streamMoveBackward"])==null?void 0:u[d])==null?void 0:y.url;return(g,h)=>A(c,v,O,e)(g,p||h)},async streamMoveForward(r,a,o,n,s,l,i){var u,y;const c=await t.streamMoveForward(r,a,o,n,s,l,i),d=(e==null?void 0:e.serverIndex)??0,p=(y=(u=w["MotionApi.streamMoveForward"])==null?void 0:u[d])==null?void 0:y.url;return(g,h)=>A(c,v,O,e)(g,p||h)},async streamMoveToTrajectoryViaJointPTP(r,a,o,n,s,l,i,c,d,p,u){var x,T;const y=await t.streamMoveToTrajectoryViaJointPTP(r,a,o,n,s,l,i,c,d,p,u),g=(e==null?void 0:e.serverIndex)??0,h=(T=(x=w["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:x[g])==null?void 0:T.url;return(D,N)=>A(y,v,O,e)(D,h||N)}}};class Y0 extends fe{deleteAllMotions(t,r){return Ee(this.configuration).deleteAllMotions(t,r).then(a=>a(this.axios,this.basePath))}deleteMotion(t,r,a){return Ee(this.configuration).deleteMotion(t,r,a).then(o=>o(this.axios,this.basePath))}executeTrajectory(t,r,a){return Ee(this.configuration).executeTrajectory(t,r,a).then(o=>o(this.axios,this.basePath))}getMotionTrajectory(t,r,a,o,n){return Ee(this.configuration).getMotionTrajectory(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,a,o,n){return Ee(this.configuration).getMotionTrajectorySample(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,a,o){return Ee(this.configuration).getPlannedMotion(t,r,a,o).then(n=>n(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ee(this.configuration).getPlanningMotionGroupModels(t,r).then(a=>a(this.axios,this.basePath))}listMotions(t,r){return Ee(this.configuration).listMotions(t,r).then(a=>a(this.axios,this.basePath))}loadPlannedMotion(t,r,a){return Ee(this.configuration).loadPlannedMotion(t,r,a).then(o=>o(this.axios,this.basePath))}planCollisionFreePTP(t,r,a){return Ee(this.configuration).planCollisionFreePTP(t,r,a).then(o=>o(this.axios,this.basePath))}planMotion(t,r,a){return Ee(this.configuration).planMotion(t,r,a).then(o=>o(this.axios,this.basePath))}planTrajectory(t,r,a){return Ee(this.configuration).planTrajectory(t,r,a).then(o=>o(this.axios,this.basePath))}stopExecution(t,r,a){return Ee(this.configuration).stopExecution(t,r,a).then(o=>o(this.axios,this.basePath))}streamMove(t,r,a){return Ee(this.configuration).streamMove(t,r,a).then(o=>o(this.axios,this.basePath))}streamMoveBackward(t,r,a,o,n,s,l){return Ee(this.configuration).streamMoveBackward(t,r,a,o,n,s,l).then(i=>i(this.axios,this.basePath))}streamMoveForward(t,r,a,o,n,s,l){return Ee(this.configuration).streamMoveForward(t,r,a,o,n,s,l).then(i=>i(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,a,o,n,s,l,i,c,d,p){return Ee(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,a,o,n,s,l,i,c,d,p).then(u=>u(this.axios,this.basePath))}}const X0=function(e){return{activateAllMotionGroups:async(t,r,a={})=>{m("activateAllMotionGroups","cell",t),m("activateAllMotionGroups","controller",r);const o="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.controller=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},activateMotionGroup:async(t,r,a={})=>{m("activateMotionGroup","cell",t),m("activateMotionGroup","motionGroup",r);const o="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.motion_group=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deactivateMotionGroup:async(t,r,a={})=>{m("deactivateMotionGroup","cell",t),m("deactivateMotionGroup","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listMotionGroups:async(t,r={})=>{m("listMotionGroups","cell",t);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}}}},va=function(e){const t=X0(e);return{async activateAllMotionGroups(r,a,o){var i,c;const n=await t.activateAllMotionGroups(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupApi.activateAllMotionGroups"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async activateMotionGroup(r,a,o){var i,c;const n=await t.activateMotionGroup(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupApi.activateMotionGroup"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deactivateMotionGroup(r,a,o){var i,c;const n=await t.deactivateMotionGroup(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupApi.deactivateMotionGroup"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listMotionGroups(r,a){var l,i;const o=await t.listMotionGroups(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionGroupApi.listMotionGroups"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)}}};class Z0 extends fe{activateAllMotionGroups(t,r,a){return va(this.configuration).activateAllMotionGroups(t,r,a).then(o=>o(this.axios,this.basePath))}activateMotionGroup(t,r,a){return va(this.configuration).activateMotionGroup(t,r,a).then(o=>o(this.axios,this.basePath))}deactivateMotionGroup(t,r,a){return va(this.configuration).deactivateMotionGroup(t,r,a).then(o=>o(this.axios,this.basePath))}listMotionGroups(t,r){return va(this.configuration).listMotionGroups(t,r).then(a=>a(this.axios,this.basePath))}}const eS=function(e){return{getActivePayload:async(t,r,a={})=>{m("getActivePayload","cell",t),m("getActivePayload","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getActiveTcp:async(t,r,a,o={})=>{m("getActiveTcp","cell",t),m("getActiveTcp","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getCurrentMotionGroupState:async(t,r,a,o,n={})=>{m("getCurrentMotionGroupState","cell",t),m("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...n},d={},p={};V(c,e),await P(d,e),a!==void 0&&(p.tcp=a),o!==void 0&&(p.response_coordinate_system=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},getInfoCapabilities:async(t,r,a={})=>{m("getInfoCapabilities","cell",t),m("getInfoCapabilities","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getMotionGroupSpecification:async(t,r,a={})=>{m("getMotionGroupSpecification","cell",t),m("getMotionGroupSpecification","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getMounting:async(t,r,a={})=>{m("getMounting","cell",t),m("getMounting","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getOptimizerConfiguration:async(t,r,a,o={})=>{m("getOptimizerConfiguration","cell",t),m("getOptimizerConfiguration","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.tcp=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getSafetySetup:async(t,r,a={})=>{m("getSafetySetup","cell",t),m("getSafetySetup","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listPayloads:async(t,r,a={})=>{m("listPayloads","cell",t),m("listPayloads","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listTcps:async(t,r,a,o={})=>{m("listTcps","cell",t),m("listTcps","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},streamMotionGroupState:async(t,r,a,o,n,s={})=>{m("streamMotionGroupState","cell",t),m("streamMotionGroupState","motionGroup",r);const l="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(l,C);let c;e&&(c=e.baseOptions);const d={method:"GET",...c,...s},p={},u={};V(d,e),await P(p,e),a!==void 0&&(u.response_rate=a),o!==void 0&&(u.response_coordinate_system=o),n!==void 0&&(u.tcp=n),R(i,u);let y=c&&c.headers?c.headers:{};return d.headers={...p,...y,...s.headers},{url:_(i),options:d}}}},Xe=function(e){const t=eS(e);return{async getActivePayload(r,a,o){var i,c;const n=await t.getActivePayload(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getActivePayload"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getActiveTcp(r,a,o,n){var c,d;const s=await t.getActiveTcp(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getCurrentMotionGroupState(r,a,o,n,s){var d,p;const l=await t.getCurrentMotionGroupState(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async getInfoCapabilities(r,a,o){var i,c;const n=await t.getInfoCapabilities(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getMotionGroupSpecification(r,a,o){var i,c;const n=await t.getMotionGroupSpecification(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getMounting(r,a,o){var i,c;const n=await t.getMounting(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getMounting"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getOptimizerConfiguration(r,a,o,n){var c,d;const s=await t.getOptimizerConfiguration(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getSafetySetup(r,a,o){var i,c;const n=await t.getSafetySetup(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getSafetySetup"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listPayloads(r,a,o){var i,c;const n=await t.listPayloads(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.listPayloads"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listTcps(r,a,o,n){var c,d;const s=await t.listTcps(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupInfosApi.listTcps"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async streamMotionGroupState(r,a,o,n,s,l){var p,u;const i=await t.streamMotionGroupState(r,a,o,n,s,l),c=(e==null?void 0:e.serverIndex)??0,d=(u=(p=w["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:p[c])==null?void 0:u.url;return(y,g)=>A(i,v,O,e)(y,d||g)}}};class tS extends fe{getActivePayload(t,r,a){return Xe(this.configuration).getActivePayload(t,r,a).then(o=>o(this.axios,this.basePath))}getActiveTcp(t,r,a,o){return Xe(this.configuration).getActiveTcp(t,r,a,o).then(n=>n(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,a,o,n){return Xe(this.configuration).getCurrentMotionGroupState(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,a){return Xe(this.configuration).getInfoCapabilities(t,r,a).then(o=>o(this.axios,this.basePath))}getMotionGroupSpecification(t,r,a){return Xe(this.configuration).getMotionGroupSpecification(t,r,a).then(o=>o(this.axios,this.basePath))}getMounting(t,r,a){return Xe(this.configuration).getMounting(t,r,a).then(o=>o(this.axios,this.basePath))}getOptimizerConfiguration(t,r,a,o){return Xe(this.configuration).getOptimizerConfiguration(t,r,a,o).then(n=>n(this.axios,this.basePath))}getSafetySetup(t,r,a){return Xe(this.configuration).getSafetySetup(t,r,a).then(o=>o(this.axios,this.basePath))}listPayloads(t,r,a){return Xe(this.configuration).listPayloads(t,r,a).then(o=>o(this.axios,this.basePath))}listTcps(t,r,a,o){return Xe(this.configuration).listTcps(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamMotionGroupState(t,r,a,o,n,s){return Xe(this.configuration).streamMotionGroupState(t,r,a,o,n,s).then(l=>l(this.axios,this.basePath))}}const rS=function(e){return{directionJogging:async(t,r,a={})=>{m("directionJogging","cell",t),m("directionJogging","directionJoggingRequest",r);const o="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},getJoggingCapabilities:async(t,r,a={})=>{m("getJoggingCapabilities","cell",t),m("getJoggingCapabilities","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},jointJogging:async(t,r,a={})=>{m("jointJogging","cell",t),m("jointJogging","jointJoggingRequest",r);const o="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},stopJogging:async(t,r,a={})=>{m("stopJogging","cell",t),m("stopJogging","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}}}},xa=function(e){const t=rS(e);return{async directionJogging(r,a,o){var i,c;const n=await t.directionJogging(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.directionJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getJoggingCapabilities(r,a,o){var i,c;const n=await t.getJoggingCapabilities(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async jointJogging(r,a,o){var i,c;const n=await t.jointJogging(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.jointJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async stopJogging(r,a,o){var i,c;const n=await t.stopJogging(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.stopJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)}}};class aS extends fe{directionJogging(t,r,a){return xa(this.configuration).directionJogging(t,r,a).then(o=>o(this.axios,this.basePath))}getJoggingCapabilities(t,r,a){return xa(this.configuration).getJoggingCapabilities(t,r,a).then(o=>o(this.axios,this.basePath))}jointJogging(t,r,a){return xa(this.configuration).jointJogging(t,r,a).then(o=>o(this.axios,this.basePath))}stopJogging(t,r,a){return xa(this.configuration).stopJogging(t,r,a).then(o=>o(this.axios,this.basePath))}}const oS=function(e){return{calculateAllInverseKinematic:async(t,r,a,o={})=>{m("calculateAllInverseKinematic","cell",t),m("calculateAllInverseKinematic","motionGroup",r),m("calculateAllInverseKinematic","allJointPositionsRequest",a);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},calculateForwardKinematic:async(t,r,a,o={})=>{m("calculateForwardKinematic","cell",t),m("calculateForwardKinematic","motionGroup",r),m("calculateForwardKinematic","tcpPoseRequest",a);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},calculateInverseKinematic:async(t,r,a,o={})=>{m("calculateInverseKinematic","cell",t),m("calculateInverseKinematic","motionGroup",r),m("calculateInverseKinematic","jointPositionRequest",a);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},getKinematicCapabilities:async(t,r,a={})=>{m("getKinematicCapabilities","cell",t),m("getKinematicCapabilities","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}}}},Oa=function(e){const t=oS(e);return{async calculateAllInverseKinematic(r,a,o,n){var c,d;const s=await t.calculateAllInverseKinematic(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async calculateForwardKinematic(r,a,o,n){var c,d;const s=await t.calculateForwardKinematic(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async calculateInverseKinematic(r,a,o,n){var c,d;const s=await t.calculateInverseKinematic(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getKinematicCapabilities(r,a,o){var i,c;const n=await t.getKinematicCapabilities(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)}}};class nS extends fe{calculateAllInverseKinematic(t,r,a,o){return Oa(this.configuration).calculateAllInverseKinematic(t,r,a,o).then(n=>n(this.axios,this.basePath))}calculateForwardKinematic(t,r,a,o){return Oa(this.configuration).calculateForwardKinematic(t,r,a,o).then(n=>n(this.axios,this.basePath))}calculateInverseKinematic(t,r,a,o){return Oa(this.configuration).calculateInverseKinematic(t,r,a,o).then(n=>n(this.axios,this.basePath))}getKinematicCapabilities(t,r,a){return Oa(this.configuration).getKinematicCapabilities(t,r,a).then(o=>o(this.axios,this.basePath))}}const sS=function(e){return{createProgramRunner:async(t,r,a={})=>{m("createProgramRunner","cell",t),m("createProgramRunner","request",r);const o="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="text/plain",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},executeProgram:async(t,r,a={})=>{m("executeProgram","cell",t),m("executeProgram","codeWithArguments",r);const o="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},getProgramRunner:async(t,r,a={})=>{m("getProgramRunner","cell",t),m("getProgramRunner","runner",r);const o="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listProgramRunners:async(t,r={})=>{m("listProgramRunners","cell",t);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},migrateProgram:async(t,r,a={})=>{m("migrateProgram","cell",t),m("migrateProgram","request1",r);const o="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="text/plain",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planProgram:async(t,r,a,o={})=>{m("planProgram","cell",t),m("planProgram","request",r);const n="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.identifier=a),c["Content-Type"]="text/plain",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}},stopAllProgramRunner:async(t,r={})=>{m("stopAllProgramRunner","cell",t);const a="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"POST",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},stopProgramRunner:async(t,r,a={})=>{m("stopProgramRunner","cell",t),m("stopProgramRunner","runner",r);const o="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}}}},Ot=function(e){const t=sS(e);return{async createProgramRunner(r,a,o){var i,c;const n=await t.createProgramRunner(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.createProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async executeProgram(r,a,o){var i,c;const n=await t.executeProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.executeProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getProgramRunner(r,a,o){var i,c;const n=await t.getProgramRunner(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.getProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listProgramRunners(r,a){var l,i;const o=await t.listProgramRunners(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramApi.listProgramRunners"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async migrateProgram(r,a,o){var i,c;const n=await t.migrateProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.migrateProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async planProgram(r,a,o,n){var c,d;const s=await t.planProgram(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ProgramApi.planProgram"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async stopAllProgramRunner(r,a){var l,i;const o=await t.stopAllProgramRunner(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramApi.stopAllProgramRunner"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async stopProgramRunner(r,a,o){var i,c;const n=await t.stopProgramRunner(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.stopProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)}}};class lS extends fe{createProgramRunner(t,r,a){return Ot(this.configuration).createProgramRunner(t,r,a).then(o=>o(this.axios,this.basePath))}executeProgram(t,r,a){return Ot(this.configuration).executeProgram(t,r,a).then(o=>o(this.axios,this.basePath))}getProgramRunner(t,r,a){return Ot(this.configuration).getProgramRunner(t,r,a).then(o=>o(this.axios,this.basePath))}listProgramRunners(t,r){return Ot(this.configuration).listProgramRunners(t,r).then(a=>a(this.axios,this.basePath))}migrateProgram(t,r,a){return Ot(this.configuration).migrateProgram(t,r,a).then(o=>o(this.axios,this.basePath))}planProgram(t,r,a,o){return Ot(this.configuration).planProgram(t,r,a,o).then(n=>n(this.axios,this.basePath))}stopAllProgramRunner(t,r){return Ot(this.configuration).stopAllProgramRunner(t,r).then(a=>a(this.axios,this.basePath))}stopProgramRunner(t,r,a){return Ot(this.configuration).stopProgramRunner(t,r,a).then(o=>o(this.axios,this.basePath))}}const iS=function(e){return{clearProgramsValues:async(t,r={})=>{m("clearProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},createProgramsValue:async(t,r,a={})=>{m("createProgramsValue","cell",t),m("createProgramsValue","requestBody",r);const o="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},deleteProgramValue:async(t,r,a={})=>{m("deleteProgramValue","cell",t),m("deleteProgramValue","key",r);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getProgramValue:async(t,r,a={})=>{m("getProgramValue","cell",t),m("getProgramValue","key",r);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listProgramsValues:async(t,r={})=>{m("listProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},updateProgramValue:async(t,r,a,o={})=>{m("updateProgramValue","cell",t),m("updateProgramValue","key",r),m("updateProgramValue","value",a);const n="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},ar=function(e){const t=iS(e);return{async clearProgramsValues(r,a){var l,i;const o=await t.clearProgramsValues(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramValuesApi.clearProgramsValues"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async createProgramsValue(r,a,o){var i,c;const n=await t.createProgramsValue(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramValuesApi.createProgramsValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteProgramValue(r,a,o){var i,c;const n=await t.deleteProgramValue(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramValuesApi.deleteProgramValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getProgramValue(r,a,o){var i,c;const n=await t.getProgramValue(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramValuesApi.getProgramValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listProgramsValues(r,a){var l,i;const o=await t.listProgramsValues(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramValuesApi.listProgramsValues"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async updateProgramValue(r,a,o,n){var c,d;const s=await t.updateProgramValue(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ProgramValuesApi.updateProgramValue"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class cS extends fe{clearProgramsValues(t,r){return ar(this.configuration).clearProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}createProgramsValue(t,r,a){return ar(this.configuration).createProgramsValue(t,r,a).then(o=>o(this.axios,this.basePath))}deleteProgramValue(t,r,a){return ar(this.configuration).deleteProgramValue(t,r,a).then(o=>o(this.axios,this.basePath))}getProgramValue(t,r,a){return ar(this.configuration).getProgramValue(t,r,a).then(o=>o(this.axios,this.basePath))}listProgramsValues(t,r){return ar(this.configuration).listProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}updateProgramValue(t,r,a,o){return ar(this.configuration).updateProgramValue(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const dS=function(e){return{deleteStoredCollider:async(t,r,a={})=>{m("deleteStoredCollider","cell",t),m("deleteStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteStoredCollisionLinkChain:async(t,r,a={})=>{m("deleteStoredCollisionLinkChain","cell",t),m("deleteStoredCollisionLinkChain","linkChain",r);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteStoredCollisionTool:async(t,r,a={})=>{m("deleteStoredCollisionTool","cell",t),m("deleteStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getDefaultLinkChain:async(t,r,a={})=>{m("getDefaultLinkChain","cell",t),m("getDefaultLinkChain","motionGroupModel",r);const o="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollider:async(t,r,a={})=>{m("getStoredCollider","cell",t),m("getStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollisionLinkChain:async(t,r,a={})=>{m("getStoredCollisionLinkChain","cell",t),m("getStoredCollisionLinkChain","linkChain",r);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollisionTool:async(t,r,a={})=>{m("getStoredCollisionTool","cell",t),m("getStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listCollisionLinkChains:async(t,r={})=>{m("listCollisionLinkChains","cell",t);const a="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listStoredColliders:async(t,r={})=>{m("listStoredColliders","cell",t);const a="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listStoredCollisionTools:async(t,r={})=>{m("listStoredCollisionTools","cell",t);const a="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},storeCollider:async(t,r,a,o={})=>{m("storeCollider","cell",t),m("storeCollider","collider",r),m("storeCollider","collider2",a);const n="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},storeCollisionLinkChain:async(t,r,a,o={})=>{m("storeCollisionLinkChain","cell",t),m("storeCollisionLinkChain","linkChain",r),m("storeCollisionLinkChain","collider",a);const n="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},storeCollisionTool:async(t,r,a,o={})=>{m("storeCollisionTool","cell",t),m("storeCollisionTool","tool",r),m("storeCollisionTool","requestBody",a);const n="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},ze=function(e){const t=dS(e);return{async deleteStoredCollider(r,a,o){var i,c;const n=await t.deleteStoredCollider(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteStoredCollisionLinkChain(r,a,o){var i,c;const n=await t.deleteStoredCollisionLinkChain(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async deleteStoredCollisionTool(r,a,o){var i,c;const n=await t.deleteStoredCollisionTool(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getDefaultLinkChain(r,a,o){var i,c;const n=await t.getDefaultLinkChain(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getStoredCollider(r,a,o){var i,c;const n=await t.getStoredCollider(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getStoredCollisionLinkChain(r,a,o){var i,c;const n=await t.getStoredCollisionLinkChain(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getStoredCollisionTool(r,a,o){var i,c;const n=await t.getStoredCollisionTool(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listCollisionLinkChains(r,a){var l,i;const o=await t.listCollisionLinkChains(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listStoredColliders(r,a){var l,i;const o=await t.listStoredColliders(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listStoredCollisionTools(r,a){var l,i;const o=await t.listStoredCollisionTools(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async storeCollider(r,a,o,n){var c,d;const s=await t.storeCollider(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async storeCollisionLinkChain(r,a,o,n){var c,d;const s=await t.storeCollisionLinkChain(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async storeCollisionTool(r,a,o,n){var c,d;const s=await t.storeCollisionTool(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class pS extends fe{deleteStoredCollider(t,r,a){return ze(this.configuration).deleteStoredCollider(t,r,a).then(o=>o(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,a){return ze(this.configuration).deleteStoredCollisionLinkChain(t,r,a).then(o=>o(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,a){return ze(this.configuration).deleteStoredCollisionTool(t,r,a).then(o=>o(this.axios,this.basePath))}getDefaultLinkChain(t,r,a){return ze(this.configuration).getDefaultLinkChain(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollider(t,r,a){return ze(this.configuration).getStoredCollider(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,a){return ze(this.configuration).getStoredCollisionLinkChain(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollisionTool(t,r,a){return ze(this.configuration).getStoredCollisionTool(t,r,a).then(o=>o(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ze(this.configuration).listCollisionLinkChains(t,r).then(a=>a(this.axios,this.basePath))}listStoredColliders(t,r){return ze(this.configuration).listStoredColliders(t,r).then(a=>a(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ze(this.configuration).listStoredCollisionTools(t,r).then(a=>a(this.axios,this.basePath))}storeCollider(t,r,a,o){return ze(this.configuration).storeCollider(t,r,a,o).then(n=>n(this.axios,this.basePath))}storeCollisionLinkChain(t,r,a,o){return ze(this.configuration).storeCollisionLinkChain(t,r,a,o).then(n=>n(this.axios,this.basePath))}storeCollisionTool(t,r,a,o){return ze(this.configuration).storeCollisionTool(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const uS=function(e){return{deleteStoredCollisionScene:async(t,r,a={})=>{m("deleteStoredCollisionScene","cell",t),m("deleteStoredCollisionScene","scene",r);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollisionScene:async(t,r,a={})=>{m("getStoredCollisionScene","cell",t),m("getStoredCollisionScene","scene",r);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listStoredCollisionScenes:async(t,r={})=>{m("listStoredCollisionScenes","cell",t);const a="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},storeCollisionScene:async(t,r,a,o={})=>{m("storeCollisionScene","cell",t),m("storeCollisionScene","scene",r),m("storeCollisionScene","collisionSceneAssembly",a);const n="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},wa=function(e){const t=uS(e);return{async deleteStoredCollisionScene(r,a,o){var i,c;const n=await t.deleteStoredCollisionScene(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getStoredCollisionScene(r,a,o){var i,c;const n=await t.getStoredCollisionScene(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listStoredCollisionScenes(r,a){var l,i;const o=await t.listStoredCollisionScenes(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async storeCollisionScene(r,a,o,n){var c,d;const s=await t.storeCollisionScene(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class hS extends fe{deleteStoredCollisionScene(t,r,a){return wa(this.configuration).deleteStoredCollisionScene(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollisionScene(t,r,a){return wa(this.configuration).getStoredCollisionScene(t,r,a).then(o=>o(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return wa(this.configuration).listStoredCollisionScenes(t,r).then(a=>a(this.axios,this.basePath))}storeCollisionScene(t,r,a,o){return wa(this.configuration).storeCollisionScene(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const mS=function(e){return{clearAllObjects:async(t,r={})=>{m("clearAllObjects","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},deleteObject:async(t,r,a={})=>{m("deleteObject","cell",t),m("deleteObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getObject:async(t,r,a={})=>{m("getObject","cell",t),m("getObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getObjectMetadata:async(t,r,a={})=>{m("getObjectMetadata","cell",t),m("getObjectMetadata","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"HEAD",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listAllObjectKeys:async(t,r={})=>{m("listAllObjectKeys","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},storeObject:async(t,r,a,o,n={})=>{m("storeObject","cell",t),m("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={},u=new(e&&e.formDataCtor||FormData);V(c,e),await P(d,e),o!==void 0&&u.append("AnyValue",new Blob([JSON.stringify(o)],{type:"application/json"})),d["Content-Type"]="multipart/form-data",a!=null&&(d["X-Metadata"]=typeof a=="string"?a:JSON.stringify(a)),R(l,p);let y=i&&i.headers?i.headers:{};return c.headers={...d,...y,...n.headers},c.data=u,{url:_(l),options:c}}}},or=function(e){const t=mS(e);return{async clearAllObjects(r,a){var l,i;const o=await t.clearAllObjects(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreObjectApi.clearAllObjects"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async deleteObject(r,a,o){var i,c;const n=await t.deleteObject(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreObjectApi.deleteObject"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getObject(r,a,o){var i,c;const n=await t.getObject(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreObjectApi.getObject"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getObjectMetadata(r,a,o){var i,c;const n=await t.getObjectMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreObjectApi.getObjectMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listAllObjectKeys(r,a){var l,i;const o=await t.listAllObjectKeys(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreObjectApi.listAllObjectKeys"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async storeObject(r,a,o,n,s){var d,p;const l=await t.storeObject(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["StoreObjectApi.storeObject"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)}}};class fS extends fe{clearAllObjects(t,r){return or(this.configuration).clearAllObjects(t,r).then(a=>a(this.axios,this.basePath))}deleteObject(t,r,a){return or(this.configuration).deleteObject(t,r,a).then(o=>o(this.axios,this.basePath))}getObject(t,r,a){return or(this.configuration).getObject(t,r,a).then(o=>o(this.axios,this.basePath))}getObjectMetadata(t,r,a){return or(this.configuration).getObjectMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}listAllObjectKeys(t,r){return or(this.configuration).listAllObjectKeys(t,r).then(a=>a(this.axios,this.basePath))}storeObject(t,r,a,o,n){return or(this.configuration).storeObject(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const yS=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{m("checkNovaVersionUpdate","channel",t);const a="/system/update",o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),t!==void 0&&(i.channel=t),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",a=new URL(r,C);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};V(n,e),await P(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},getSystemStatus:async(t={})=>{const r="/system/status",a=new URL(r,C);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};V(n,e),await P(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},getSystemVersion:async(t={})=>{const r="/system/version",a=new URL(r,C);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};V(n,e),await P(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},updateNovaVersion:async(t,r={})=>{m("updateNovaVersion","updateNovaVersionRequest",t);const a="/system/update",o=new URL(a,C);let n;e&&(n=e.baseOptions);const s={method:"PUT",...n,...r},l={},i={};V(s,e),await P(l,e),l["Content-Type"]="application/json",R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},s.data=re(t,s,e),{url:_(o),options:s}}}},Br=function(e){const t=yS(e);return{async checkNovaVersionUpdate(r,a){var l,i;const o=await t.checkNovaVersionUpdate(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["SystemApi.checkNovaVersionUpdate"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async getDiagnosePackage(r){var s,l;const a=await t.getDiagnosePackage(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=w["SystemApi.getDiagnosePackage"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async getSystemStatus(r){var s,l;const a=await t.getSystemStatus(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=w["SystemApi.getSystemStatus"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async getSystemVersion(r){var s,l;const a=await t.getSystemVersion(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=w["SystemApi.getSystemVersion"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async updateNovaVersion(r,a){var l,i;const o=await t.updateNovaVersion(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["SystemApi.updateNovaVersion"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)}}};class gS extends fe{checkNovaVersionUpdate(t,r){return Br(this.configuration).checkNovaVersionUpdate(t,r).then(a=>a(this.axios,this.basePath))}getDiagnosePackage(t){return Br(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Br(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Br(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Br(this.configuration).updateNovaVersion(t,r).then(a=>a(this.axios,this.basePath))}}const bS=function(e){return{getMotionGroupState:async(t,r,a,o={})=>{m("getMotionGroupState","cell",t),m("getMotionGroupState","controller",r),m("getMotionGroupState","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},getMotionGroups:async(t,r,a={})=>{m("getMotionGroups","cell",t),m("getMotionGroups","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getVirtualRobotIOValue:async(t,r,a,o={})=>{m("getVirtualRobotIOValue","cell",t),m("getVirtualRobotIOValue","controller",r),m("getVirtualRobotIOValue","io",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},listIOs:async(t,r,a={})=>{m("listIOs","cell",t),m("listIOs","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},setMotionGroupState:async(t,r,a,o,n={})=>{m("setMotionGroupState","cell",t),m("setMotionGroupState","controller",r),m("setMotionGroupState","id",a),m("setMotionGroupState","motionGroupJoints",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};V(c,e),await P(d,e),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(o,c,e),{url:_(l),options:c}},setVirtualRobotIOValue:async(t,r,a,o,n,s,l={})=>{m("setVirtualRobotIOValue","cell",t),m("setVirtualRobotIOValue","controller",r),m("setVirtualRobotIOValue","io",a);const i="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(a))),c=new URL(i,C);let d;e&&(d=e.baseOptions);const p={method:"PUT",...d,...l},u={},y={};V(p,e),await P(u,e),o!==void 0&&(y.bool=o),n!==void 0&&(y.integer=n),s!==void 0&&(y.double=s),R(c,y);let g=d&&d.headers?d.headers:{};return p.headers={...u,...g,...l.headers},{url:_(c),options:p}}}},nr=function(e){const t=bS(e);return{async getMotionGroupState(r,a,o,n){var c,d;const s=await t.getMotionGroupState(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getMotionGroups(r,a,o){var i,c;const n=await t.getMotionGroups(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotApi.getMotionGroups"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getVirtualRobotIOValue(r,a,o,n){var c,d;const s=await t.getVirtualRobotIOValue(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async listIOs(r,a,o){var i,c;const n=await t.listIOs(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotApi.listIOs"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async setMotionGroupState(r,a,o,n,s){var d,p;const l=await t.setMotionGroupState(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotApi.setMotionGroupState"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async setVirtualRobotIOValue(r,a,o,n,s,l,i){var u,y;const c=await t.setVirtualRobotIOValue(r,a,o,n,s,l,i),d=(e==null?void 0:e.serverIndex)??0,p=(y=(u=w["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:u[d])==null?void 0:y.url;return(g,h)=>A(c,v,O,e)(g,p||h)}}};class SS extends fe{getMotionGroupState(t,r,a,o){return nr(this.configuration).getMotionGroupState(t,r,a,o).then(n=>n(this.axios,this.basePath))}getMotionGroups(t,r,a){return nr(this.configuration).getMotionGroups(t,r,a).then(o=>o(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,a,o){return nr(this.configuration).getVirtualRobotIOValue(t,r,a,o).then(n=>n(this.axios,this.basePath))}listIOs(t,r,a){return nr(this.configuration).listIOs(t,r,a).then(o=>o(this.axios,this.basePath))}setMotionGroupState(t,r,a,o,n){return nr(this.configuration).setMotionGroupState(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,a,o,n,s,l){return nr(this.configuration).setVirtualRobotIOValue(t,r,a,o,n,s,l).then(i=>i(this.axios,this.basePath))}}const vS=function(e){return{externalJointsStream:async(t,r,a,o={})=>{m("externalJointsStream","cell",t),m("externalJointsStream","controller",r),m("externalJointsStream","externalJointStreamDatapoint",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},getMotionGroupBehavior:async(t,r,a,o={})=>{m("getMotionGroupBehavior","cell",t),m("getMotionGroupBehavior","controller",r),m("getMotionGroupBehavior","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},setMotionGroupBehavior:async(t,r,a,o,n={})=>{m("setMotionGroupBehavior","cell",t),m("setMotionGroupBehavior","controller",r),m("setMotionGroupBehavior","id",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};V(c,e),await P(d,e),o!==void 0&&(p.behavior=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}}}},Wo=function(e){const t=vS(e);return{async externalJointsStream(r,a,o,n){var c,d;const s=await t.externalJointsStream(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async getMotionGroupBehavior(r,a,o,n){var c,d;const s=await t.getMotionGroupBehavior(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async setMotionGroupBehavior(r,a,o,n,s){var d,p;const l=await t.setMotionGroupBehavior(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)}}};class xS extends fe{externalJointsStream(t,r,a,o){return Wo(this.configuration).externalJointsStream(t,r,a,o).then(n=>n(this.axios,this.basePath))}getMotionGroupBehavior(t,r,a,o){return Wo(this.configuration).getMotionGroupBehavior(t,r,a,o).then(n=>n(this.axios,this.basePath))}setMotionGroupBehavior(t,r,a,o,n){return Wo(this.configuration).setMotionGroupBehavior(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const OS=function(e){return{getCycleTime:async(t,r,a={})=>{m("getCycleTime","cell",t),m("getCycleTime","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getEStop:async(t,r,a={})=>{m("getEStop","cell",t),m("getEStop","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getOperationMode:async(t,r,a={})=>{m("getOperationMode","cell",t),m("getOperationMode","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},pushEStop:async(t,r,a={})=>{m("pushEStop","cell",t),m("pushEStop","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},releaseEStop:async(t,r,a={})=>{m("releaseEStop","cell",t),m("releaseEStop","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},setOperationMode:async(t,r,a,o={})=>{m("setOperationMode","cell",t),m("setOperationMode","controller",r),m("setOperationMode","mode",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.mode=a),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}}}},sr=function(e){const t=OS(e);return{async getCycleTime(r,a,o){var i,c;const n=await t.getCycleTime(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.getCycleTime"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getEStop(r,a,o){var i,c;const n=await t.getEStop(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.getEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async getOperationMode(r,a,o){var i,c;const n=await t.getOperationMode(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.getOperationMode"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async pushEStop(r,a,o){var i,c;const n=await t.pushEStop(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.pushEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async releaseEStop(r,a,o){var i,c;const n=await t.releaseEStop(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.releaseEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async setOperationMode(r,a,o,n){var c,d;const s=await t.setOperationMode(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)}}};class wS extends fe{getCycleTime(t,r,a){return sr(this.configuration).getCycleTime(t,r,a).then(o=>o(this.axios,this.basePath))}getEStop(t,r,a){return sr(this.configuration).getEStop(t,r,a).then(o=>o(this.axios,this.basePath))}getOperationMode(t,r,a){return sr(this.configuration).getOperationMode(t,r,a).then(o=>o(this.axios,this.basePath))}pushEStop(t,r,a){return sr(this.configuration).pushEStop(t,r,a).then(o=>o(this.axios,this.basePath))}releaseEStop(t,r,a){return sr(this.configuration).releaseEStop(t,r,a).then(o=>o(this.axios,this.basePath))}setOperationMode(t,r,a,o){return sr(this.configuration).setOperationMode(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const CS=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,a,o={})=>{m("addVirtualRobotCoordinateSystem","cell",t),m("addVirtualRobotCoordinateSystem","controller",r),m("addVirtualRobotCoordinateSystem","coordinateSystem",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},addVirtualRobotTcp:async(t,r,a,o,n={})=>{m("addVirtualRobotTcp","cell",t),m("addVirtualRobotTcp","controller",r),m("addVirtualRobotTcp","id",a),m("addVirtualRobotTcp","robotTcp",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};V(c,e),await P(d,e),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(o,c,e),{url:_(l),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,a,o,n={})=>{m("deleteVirtualRobotCoordinateSystem","cell",t),m("deleteVirtualRobotCoordinateSystem","controller",r),m("deleteVirtualRobotCoordinateSystem","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"DELETE",...i,...n},d={},p={};V(c,e),await P(d,e),o!==void 0&&(p.delete_dependent=o),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},deleteVirtualRobotTcp:async(t,r,a,o,n={})=>{m("deleteVirtualRobotTcp","cell",t),m("deleteVirtualRobotTcp","controller",r),m("deleteVirtualRobotTcp","id",a),m("deleteVirtualRobotTcp","tcp",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))).replace("{tcp}",encodeURIComponent(String(o))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"DELETE",...i,...n},d={},p={};V(c,e),await P(d,e),R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},{url:_(l),options:c}},getVirtualRobotMounting:async(t,r,a,o={})=>{m("getVirtualRobotMounting","cell",t),m("getVirtualRobotMounting","controller",r),m("getVirtualRobotMounting","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},listVirtualRobotCoordinateSystems:async(t,r,a={})=>{m("listVirtualRobotCoordinateSystems","cell",t),m("listVirtualRobotCoordinateSystems","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listVirtualRobotTcps:async(t,r,a,o={})=>{m("listVirtualRobotTcps","cell",t),m("listVirtualRobotTcps","controller",r),m("listVirtualRobotTcps","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},{url:_(s),options:i}},setVirtualRobotMounting:async(t,r,a,o,n={})=>{m("setVirtualRobotMounting","cell",t),m("setVirtualRobotMounting","controller",r),m("setVirtualRobotMounting","id",a),m("setVirtualRobotMounting","coordinateSystem",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},p={};V(c,e),await P(d,e),d["Content-Type"]="application/json",R(l,p);let u=i&&i.headers?i.headers:{};return c.headers={...d,...u,...n.headers},c.data=re(o,c,e),{url:_(l),options:c}}}},wt=function(e){const t=CS(e);return{async addVirtualRobotCoordinateSystem(r,a,o,n){var c,d;const s=await t.addVirtualRobotCoordinateSystem(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async addVirtualRobotTcp(r,a,o,n,s){var d,p;const l=await t.addVirtualRobotTcp(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async deleteVirtualRobotCoordinateSystem(r,a,o,n,s){var d,p;const l=await t.deleteVirtualRobotCoordinateSystem(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async deleteVirtualRobotTcp(r,a,o,n,s){var d,p;const l=await t.deleteVirtualRobotTcp(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)},async getVirtualRobotMounting(r,a,o,n){var c,d;const s=await t.getVirtualRobotMounting(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async listVirtualRobotCoordinateSystems(r,a,o){var i,c;const n=await t.listVirtualRobotCoordinateSystems(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:i[s])==null?void 0:c.url;return(d,p)=>A(n,v,O,e)(d,l||p)},async listVirtualRobotTcps(r,a,o,n){var c,d;const s=await t.listVirtualRobotTcps(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[l])==null?void 0:d.url;return(p,u)=>A(s,v,O,e)(p,i||u)},async setVirtualRobotMounting(r,a,o,n,s){var d,p;const l=await t.setVirtualRobotMounting(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(p=(d=w["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:d[i])==null?void 0:p.url;return(u,y)=>A(l,v,O,e)(u,c||y)}}};class VS extends fe{addVirtualRobotCoordinateSystem(t,r,a,o){return wt(this.configuration).addVirtualRobotCoordinateSystem(t,r,a,o).then(n=>n(this.axios,this.basePath))}addVirtualRobotTcp(t,r,a,o,n){return wt(this.configuration).addVirtualRobotTcp(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,a,o,n){return wt(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,a,o,n){return wt(this.configuration).deleteVirtualRobotTcp(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,a,o){return wt(this.configuration).getVirtualRobotMounting(t,r,a,o).then(n=>n(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,a){return wt(this.configuration).listVirtualRobotCoordinateSystems(t,r,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotTcps(t,r,a,o){return wt(this.configuration).listVirtualRobotTcps(t,r,a,o).then(n=>n(this.axios,this.basePath))}setVirtualRobotMounting(t,r,a,o,n){return wt(this.configuration).setVirtualRobotMounting(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}function mt(e,t,r){return Math.max(t,Math.min(r,e))}class PS{constructor(t=0,r=0,a=0,o=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=a,this._w=o}static slerpFlat(t,r,a,o,n,s,l){let i=a[o+0],c=a[o+1],d=a[o+2],p=a[o+3];const u=n[s+0],y=n[s+1],g=n[s+2],h=n[s+3];if(l===0){t[r+0]=i,t[r+1]=c,t[r+2]=d,t[r+3]=p;return}if(l===1){t[r+0]=u,t[r+1]=y,t[r+2]=g,t[r+3]=h;return}if(p!==h||i!==u||c!==y||d!==g){let x=1-l;const T=i*u+c*y+d*g+p*h,D=T>=0?1:-1,N=1-T*T;if(N>Number.EPSILON){const G=Math.sqrt(N),W=Math.atan2(G,T*D);x=Math.sin(x*W)/G,l=Math.sin(l*W)/G}const z=l*D;if(i=i*x+u*z,c=c*x+y*z,d=d*x+g*z,p=p*x+h*z,x===1-l){const G=1/Math.sqrt(i*i+c*c+d*d+p*p);i*=G,c*=G,d*=G,p*=G}}t[r]=i,t[r+1]=c,t[r+2]=d,t[r+3]=p}static multiplyQuaternionsFlat(t,r,a,o,n,s){const l=a[o],i=a[o+1],c=a[o+2],d=a[o+3],p=n[s],u=n[s+1],y=n[s+2],g=n[s+3];return t[r]=l*g+d*p+i*y-c*u,t[r+1]=i*g+d*u+c*p-l*y,t[r+2]=c*g+d*y+l*u-i*p,t[r+3]=d*g-l*p-i*u-c*y,t}get x(){return this._x}set x(t){this._x=t,this._onChangeCallback()}get y(){return this._y}set y(t){this._y=t,this._onChangeCallback()}get z(){return this._z}set z(t){this._z=t,this._onChangeCallback()}get w(){return this._w}set w(t){this._w=t,this._onChangeCallback()}set(t,r,a,o){return this._x=t,this._y=r,this._z=a,this._w=o,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._w)}copy(t){return this._x=t.x,this._y=t.y,this._z=t.z,this._w=t.w,this._onChangeCallback(),this}setFromEuler(t,r=!0){const a=t._x,o=t._y,n=t._z,s=t._order,l=Math.cos,i=Math.sin,c=l(a/2),d=l(o/2),p=l(n/2),u=i(a/2),y=i(o/2),g=i(n/2);switch(s){case"XYZ":this._x=u*d*p+c*y*g,this._y=c*y*p-u*d*g,this._z=c*d*g+u*y*p,this._w=c*d*p-u*y*g;break;case"YXZ":this._x=u*d*p+c*y*g,this._y=c*y*p-u*d*g,this._z=c*d*g-u*y*p,this._w=c*d*p+u*y*g;break;case"ZXY":this._x=u*d*p-c*y*g,this._y=c*y*p+u*d*g,this._z=c*d*g+u*y*p,this._w=c*d*p-u*y*g;break;case"ZYX":this._x=u*d*p-c*y*g,this._y=c*y*p+u*d*g,this._z=c*d*g-u*y*p,this._w=c*d*p+u*y*g;break;case"YZX":this._x=u*d*p+c*y*g,this._y=c*y*p+u*d*g,this._z=c*d*g-u*y*p,this._w=c*d*p-u*y*g;break;case"XZY":this._x=u*d*p-c*y*g,this._y=c*y*p-u*d*g,this._z=c*d*g+u*y*p,this._w=c*d*p+u*y*g;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const a=r/2,o=Math.sin(a);return this._x=t.x*o,this._y=t.y*o,this._z=t.z*o,this._w=Math.cos(a),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,a=r[0],o=r[4],n=r[8],s=r[1],l=r[5],i=r[9],c=r[2],d=r[6],p=r[10],u=a+l+p;if(u>0){const y=.5/Math.sqrt(u+1);this._w=.25/y,this._x=(d-i)*y,this._y=(n-c)*y,this._z=(s-o)*y}else if(a>l&&a>p){const y=2*Math.sqrt(1+a-l-p);this._w=(d-i)/y,this._x=.25*y,this._y=(o+s)/y,this._z=(n+c)/y}else if(l>p){const y=2*Math.sqrt(1+l-a-p);this._w=(n-c)/y,this._x=(o+s)/y,this._y=.25*y,this._z=(i+d)/y}else{const y=2*Math.sqrt(1+p-a-l);this._w=(s-o)/y,this._x=(n+c)/y,this._y=(i+d)/y,this._z=.25*y}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let a=t.dot(r)+1;return a<Number.EPSILON?(a=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=a):(this._x=0,this._y=-t.z,this._z=t.y,this._w=a)):(this._x=t.y*r.z-t.z*r.y,this._y=t.z*r.x-t.x*r.z,this._z=t.x*r.y-t.y*r.x,this._w=a),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(mt(this.dot(t),-1,1)))}rotateTowards(t,r){const a=this.angleTo(t);if(a===0)return this;const o=Math.min(1,r/a);return this.slerp(t,o),this}identity(){return this.set(0,0,0,1)}invert(){return this.conjugate()}conjugate(){return this._x*=-1,this._y*=-1,this._z*=-1,this._onChangeCallback(),this}dot(t){return this._x*t._x+this._y*t._y+this._z*t._z+this._w*t._w}lengthSq(){return this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w}length(){return Math.sqrt(this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w)}normalize(){let t=this.length();return t===0?(this._x=0,this._y=0,this._z=0,this._w=1):(t=1/t,this._x=this._x*t,this._y=this._y*t,this._z=this._z*t,this._w=this._w*t),this._onChangeCallback(),this}multiply(t){return this.multiplyQuaternions(this,t)}premultiply(t){return this.multiplyQuaternions(t,this)}multiplyQuaternions(t,r){const a=t._x,o=t._y,n=t._z,s=t._w,l=r._x,i=r._y,c=r._z,d=r._w;return this._x=a*d+s*l+o*c-n*i,this._y=o*d+s*i+n*l-a*c,this._z=n*d+s*c+a*i-o*l,this._w=s*d-a*l-o*i-n*c,this._onChangeCallback(),this}slerp(t,r){if(r===0)return this;if(r===1)return this.copy(t);const a=this._x,o=this._y,n=this._z,s=this._w;let l=s*t._w+a*t._x+o*t._y+n*t._z;if(l<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,l=-l):this.copy(t),l>=1)return this._w=s,this._x=a,this._y=o,this._z=n,this;const i=1-l*l;if(i<=Number.EPSILON){const y=1-r;return this._w=y*s+r*this._w,this._x=y*a+r*this._x,this._y=y*o+r*this._y,this._z=y*n+r*this._z,this.normalize(),this}const c=Math.sqrt(i),d=Math.atan2(c,l),p=Math.sin((1-r)*d)/c,u=Math.sin(r*d)/c;return this._w=s*p+this._w*u,this._x=a*p+this._x*u,this._y=o*p+this._y*u,this._z=n*p+this._z*u,this._onChangeCallback(),this}slerpQuaternions(t,r,a){return this.copy(t).slerp(r,a)}random(){const t=2*Math.PI*Math.random(),r=2*Math.PI*Math.random(),a=Math.random(),o=Math.sqrt(1-a),n=Math.sqrt(a);return this.set(o*Math.sin(t),o*Math.cos(t),n*Math.sin(r),n*Math.cos(r))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,r=0){return this._x=t[r],this._y=t[r+1],this._z=t[r+2],this._w=t[r+3],this._onChangeCallback(),this}toArray(t=[],r=0){return t[r]=this._x,t[r+1]=this._y,t[r+2]=this._z,t[r+3]=this._w,t}fromBufferAttribute(t,r){return this._x=t.getX(r),this._y=t.getY(r),this._z=t.getZ(r),this._w=t.getW(r),this._onChangeCallback(),this}toJSON(){return this.toArray()}_onChange(t){return this._onChangeCallback=t,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._w}}class hr{constructor(t=0,r=0,a=0){hr.prototype.isVector3=!0,this.x=t,this.y=r,this.z=a}set(t,r,a){return a===void 0&&(a=this.z),this.x=t,this.y=r,this.z=a,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,r){switch(t){case 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this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,a=this.y,o=this.z,n=t.elements;return this.x=n[0]*r+n[4]*a+n[8]*o,this.y=n[1]*r+n[5]*a+n[9]*o,this.z=n[2]*r+n[6]*a+n[10]*o,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,r){return this.x=mt(this.x,t.x,r.x),this.y=mt(this.y,t.y,r.y),this.z=mt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=mt(this.x,t,r),this.y=mt(this.y,t,r),this.z=mt(this.z,t,r),this}clampLength(t,r){const a=this.length();return this.divideScalar(a||1).multiplyScalar(mt(a,t,r))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)}normalize(){return this.divideScalar(this.length()||1)}setLength(t){return this.normalize().multiplyScalar(t)}lerp(t,r){return this.x+=(t.x-this.x)*r,this.y+=(t.y-this.y)*r,this.z+=(t.z-this.z)*r,this}lerpVectors(t,r,a){return this.x=t.x+(r.x-t.x)*a,this.y=t.y+(r.y-t.y)*a,this.z=t.z+(r.z-t.z)*a,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,r){const a=t.x,o=t.y,n=t.z,s=r.x,l=r.y,i=r.z;return this.x=o*i-n*l,this.y=n*s-a*i,this.z=a*l-o*s,this}projectOnVector(t){const r=t.lengthSq();if(r===0)return this.set(0,0,0);const a=t.dot(this)/r;return this.copy(t).multiplyScalar(a)}projectOnPlane(t){return Qo.copy(this).projectOnVector(t),this.sub(Qo)}reflect(t){return this.sub(Qo.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const r=Math.sqrt(this.lengthSq()*t.lengthSq());if(r===0)return Math.PI/2;const a=this.dot(t)/r;return Math.acos(mt(a,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const r=this.x-t.x,a=this.y-t.y,o=this.z-t.z;return r*r+a*a+o*o}manhattanDistanceTo(t){return Math.abs(this.x-t.x)+Math.abs(this.y-t.y)+Math.abs(this.z-t.z)}setFromSpherical(t){return this.setFromSphericalCoords(t.radius,t.phi,t.theta)}setFromSphericalCoords(t,r,a){const o=Math.sin(r)*t;return this.x=o*Math.sin(a),this.y=Math.cos(r)*t,this.z=o*Math.cos(a),this}setFromCylindrical(t){return this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,r,a){return this.x=t*Math.sin(r),this.y=a,this.z=t*Math.cos(r),this}setFromMatrixPosition(t){const r=t.elements;return this.x=r[12],this.y=r[13],this.z=r[14],this}setFromMatrixScale(t){const r=this.setFromMatrixColumn(t,0).length(),a=this.setFromMatrixColumn(t,1).length(),o=this.setFromMatrixColumn(t,2).length();return this.x=r,this.y=a,this.z=o,this}setFromMatrixColumn(t,r){return this.fromArray(t.elements,r*4)}setFromMatrix3Column(t,r){return this.fromArray(t.elements,r*3)}setFromEuler(t){return this.x=t._x,this.y=t._y,this.z=t._z,this}setFromColor(t){return this.x=t.r,this.y=t.g,this.z=t.b,this}equals(t){return t.x===this.x&&t.y===this.y&&t.z===this.z}fromArray(t,r=0){return this.x=t[r],this.y=t[r+1],this.z=t[r+2],this}toArray(t=[],r=0){return t[r]=this.x,t[r+1]=this.y,t[r+2]=this.z,t}fromBufferAttribute(t,r){return this.x=t.getX(r),this.y=t.getY(r),this.z=t.getZ(r),this}random(){return 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a+=Math.abs(e.orientation.x-t.orientation.x),a+=Math.abs(e.orientation.y-t.orientation.y),a+=Math.abs(e.orientation.z-t.orientation.z),a+=Math.abs(e.position.x-t.position.x),a+=Math.abs(e.position.y-t.position.y),a+=Math.abs(e.position.z-t.position.z),a>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var nl=1e-4,TS=class Yi{constructor(t,r,a,o,n,s,l,i,c,d,p,u){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=o,this.motionStateSocket=n,this.isVirtual=s,this.tcps=l,this.motionGroupSpecification=i,this.safetySetup=c,this.mounting=d,this.initialControllerState=p,this.controllerStateSocket=u,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=o,this.controllerState=p,u.addEventListener("message",y=>{var g;const h=(g=Rt(y.data))==null?void 0:g.result;h&&Ae.runInAction(()=>{this.controllerState=h})}),n.addEventListener("message",y=>{var g;const h=(g=Rt(y.data))==null?void 0:g.result;if(!h)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${y.data}`);Qi(this.rapidlyChangingMotionState.state.joint_position.joints,h.state.joint_position.joints,nl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.state=h.state}),Ki(this.rapidlyChangingMotionState.tcp_pose,h.tcp_pose,nl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=h.tcp_pose})}),Ae.makeAutoObservable(this)}static connect(t,r,a){return me(this,null,function*(){var o,n;const[s,l]=r.split("@"),i=a.find(W=>W.controller===l),c=i==null?void 0:i.physical_motion_groups.find(W=>W.motion_group===r);if(!i||!c)throw new Error(`Controller ${l} or motion group ${r} not found`);const d=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),p=yield d.firstMessage(),u=(o=Rt(p.data))==null?void 0:o.result;if(!u)throw new Error(`Unable to parse initial motion state message ${p.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
|
|
103
|
+
`,u);const g=(yield t.api.controller.getRobotController(i.controller)).configuration.kind==="VirtualController",h=yield me(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(W){return console.error(`Error fetching mounting for ${c.motion_group}`,W),null}}),x=t.openReconnectingWebsocket(`/controllers/${i.controller}/state-stream?response_rate=1000`),T=yield x.firstMessage(),D=(n=Rt(T.data))==null?void 0:n.result;if(!D)throw new Error(`Unable to parse initial controller state message ${T.data}`);console.log(`Connected controller state websocket to controller ${i.controller}. Initial state:
|
|
104
|
+
`,D);const{tcps:N}=yield t.api.motionGroupInfos.listTcps(r),z=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),G=yield t.api.motionGroupInfos.getSafetySetup(r);return new Yi(t,i,c,u,d,g,N,z,G,h,D,x)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}get dhParameters(){return this.motionGroupSpecification.dh_parameters}get safetyZones(){return this.safetySetup.safety_zones}get mountingPosition(){return this.mounting?[this.mounting.pose.position.x/1e3,this.mounting.pose.position.y/1e3,this.mounting.pose.position.z/1e3]:[0,0,0]}get mountingQuaternion(){var t,r,a,o,n,s;const l=new Oe.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((o=(a=this.mounting)==null?void 0:a.pose.orientation)==null?void 0:o.y)||0,((s=(n=this.mounting)==null?void 0:n.pose.orientation)==null?void 0:s.z)||0),i=l.length(),c=l.normalize();return new Oe.Quaternion().setFromAxisAngle(c,i)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return me(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Ae.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Ae.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Ae.runInAction(()=>{this.activationState="active"}),t}})}activate(){return me(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Ae.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Ae.runInAction(()=>{this.activationState="active"})}catch(t){throw Ae.runInAction(()=>{this.activationState="inactive"}),t}})}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingCartesianSocket&&this.connectedJoggingCartesianSocket.close(),this.connectedJoggingJointsSocket&&this.connectedJoggingJointsSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}},IS=class Xi{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return me(this,arguments,function*(a,o,n={}){const s=yield a.connectMotionStream(o);return new Xi(s,n)})}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}get activeJoggingMode(){return this.cartesianWebsocket?"cartesian":this.jointWebsocket?"joint":"increment"}get activeWebsocket(){return this.cartesianWebsocket||this.jointWebsocket}stop(){return me(this,null,function*(){this.cartesianWebsocket&&this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:{x:0,y:0,z:0},rotation_direction:{x:0,y:0,z:0},position_velocity:0,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId}),this.jointWebsocket&&this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:new Array(this.numJoints).fill(0)})})}dispose(){this.cartesianWebsocket&&this.cartesianWebsocket.dispose(),this.jointWebsocket&&this.jointWebsocket.dispose()}setJoggingMode(t,r){console.log("Setting jogging mode to",t),r&&($g(this.cartesianJoggingOpts,r)||this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),this.cartesianJoggingOpts=r),t!=="cartesian"&&this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),t!=="joint"&&this.jointWebsocket&&(this.jointWebsocket.dispose(),this.jointWebsocket=null),t==="cartesian"&&!this.cartesianWebsocket&&(this.cartesianWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-tcp"),this.cartesianWebsocket.addEventListener("message",a=>{const o=Rt(a.data);if(o&&"error"in o)if(this.opts.onError)this.opts.onError(a.data);else throw new Error(a.data)})),t==="joint"&&!this.jointWebsocket&&(this.jointWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-joint"),this.jointWebsocket.addEventListener("message",a=>{const o=Rt(a.data);if(o&&"error"in o)if(this.opts.onError)this.opts.onError(a.data);else throw new Error(a.data)}))}startJointRotation(t){return me(this,arguments,function*({joint:r,direction:a,velocityRadsPerSec:o}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const n=new Array(this.numJoints).fill(0);n[r]=a==="-"?-o:o,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:n})})}startTCPTranslation(t){return me(this,arguments,function*({axis:r,direction:a,velocityMmPerSec:o}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const n={x:0,y:0,z:0},s=Object.assign({},n);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:n,position_velocity:o,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return me(this,arguments,function*({axis:r,direction:a,velocityRadsPerSec:o}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const n={x:0,y:0,z:0},s=Object.assign({},n);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:n,rotation_direction:s,position_velocity:0,rotation_velocity:o,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return me(this,arguments,function*({currentTcpPose:r,currentJoints:a,coordSystemId:o,velocityInRelevantUnits:n,axis:s,direction:l,motion:i}){var c;const d=[];if(!Yg(r.coordinate_system,o))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${o}`);if(i.type==="translate"){const y=Object.assign({},r.position);y[s]+=i.distanceMm*(l==="-"?-1:1),d.push({settings:{limits_override:{tcp_velocity_limit:n}},line:{position:y,orientation:r.orientation,coordinate_system:o}})}else if(i.type==="rotate"){const y=new hr(r.orientation.x,r.orientation.y,r.orientation.z),g=y.length(),h=y.clone().normalize(),x=i.distanceRads*(l==="-"?-1:1),T=new hr(0,0,0);T[s]=1;const D=Math.cos(.5*x)*Math.cos(.5*g),N=Math.sin(.5*x)*Math.sin(.5*g),z=Math.sin(.5*x)*Math.cos(.5*g),G=Math.cos(.5*x)*Math.sin(.5*g),W=T.dot(h),j=T.clone().cross(h),U=2*Math.acos(D-N*W),k=U/Math.sin(.5*U),f=new hr().addScaledVector(j,N).addScaledVector(T,z).addScaledVector(h,G).multiplyScalar(k);d.push({settings:{limits_override:{tcp_orientation_velocity_limit:n}},line:{position:r.position,orientation:f,coordinate_system:o}})}const p=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:a,tcp:this.cartesianJoggingOpts.tcpId,commands:d}),u=(c=p.plan_successful_response)==null?void 0:c.motion;if(!u)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(p)}`);yield this.nova.api.motion.streamMoveForward(u,100,void 0,void 0,void 0,{timeout:1e3*60})})}runIncrementalJointRotation(t){return me(this,arguments,function*({joint:r,currentJoints:a,velocityRadsPerSec:o,direction:n,distanceRads:s}){var l;const i=[...a.joints];i[r]+=s*(n==="-"?-1:1);const c=new Array(a.joints.length).fill(o),d=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:a,commands:[{settings:{limits_override:{joint_velocity_limits:{joints:c}}},joint_ptp:{joints:i}}]}),p=(l=d.plan_successful_response)==null?void 0:l.motion;if(!p){console.error("Failed to plan jogging increment motion",d);return}yield this.nova.api.motion.streamMoveForward(p,100,void 0,void 0,void 0,{timeout:1e3*60})})}},sl=1e-4;function ES(e,t){const r=new Ze.Vector3(t.x,t.y,t.z),a=new Ze.Vector3(e.x,e.y,e.z),o=r.length(),n=r.normalize();let s=a.length(),l=a.normalize();l.dot(n)<0&&(s=-s,l=l.multiplyScalar(-1));let i=s-o;return i-=2*Math.PI*Math.floor((i+Math.PI)/(2*Math.PI)),s=o+i,l.multiplyScalar(s)}var MS=class Zi{constructor(t,r,a,o,n){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=o,this.motionStateSocket=n,this.rapidlyChangingMotionState=o,n.addEventListener("message",s=>{var l;const i=(l=Rt(s.data))==null?void 0:l.result;if(!i)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);Qi(this.rapidlyChangingMotionState.state.joint_position.joints,i.state.joint_position.joints,sl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.state=i.state}),Ki(this.rapidlyChangingMotionState.tcp_pose,i.tcp_pose,sl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=i.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:i.tcp_pose.position,orientation:ES(i.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:i.tcp_pose.tcp,coordinate_system:i.tcp_pose.coordinate_system}})}),Ae.makeAutoObservable(this)}static open(t,r){return me(this,null,function*(){var a;const{instances:o}=yield t.api.controller.listControllers(),[n,s]=r.split("@"),l=o.find(u=>u.controller===s),i=l==null?void 0:l.physical_motion_groups.find(u=>u.motion_group===r);if(!l||!i)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield c.firstMessage();console.log("got first message",d);const p=(a=Rt(d.data))==null?void 0:a.result;if(!p)throw new Error(`Unable to parse initial motion state message ${d.data}`);return console.log(`Connected motion state websocket to motion group ${i.motion_group}. Initial state:
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105
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`,p),new Zi(t,l,i,p,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},jS=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(gS),this.cell=this.withUnwrappedResponsesOnly(M0),this.deviceConfig=this.withCellId(N0),this.motionGroup=this.withCellId(Z0),this.motionGroupInfos=this.withCellId(tS),this.controller=this.withCellId($0),this.program=this.withCellId(lS),this.programValues=this.withCellId(cS),this.controllerIOs=this.withCellId(k0),this.motionGroupKinematic=this.withCellId(nS),this.motion=this.withCellId(Y0),this.coordinateSystems=this.withCellId(B0),this.application=this.withCellId(rl),this.applicationGlobal=this.withUnwrappedResponsesOnly(rl),this.motionGroupJogging=this.withCellId(aS),this.virtualRobot=this.withCellId(SS),this.virtualRobotSetup=this.withCellId(VS),this.virtualRobotMode=this.withCellId(wS),this.virtualRobotBehavior=this.withCellId(xS),this.libraryProgramMetadata=this.withCellId(J0),this.libraryProgram=this.withCellId(z0),this.libraryRecipeMetadata=this.withCellId(Q0),this.libraryRecipe=this.withCellId(H0),this.storeObject=this.withCellId(fS),this.storeCollisionComponents=this.withCellId(pS),this.storeCollisionScenes=this.withCellId(hS)}withCellId(e){var t,r;const a=new e(hn(cr({},this.opts),{isJsonMime:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(o!=="constructor"&&typeof a[o]=="function"){const n=a[o];a[o]=(...s)=>n.apply(a,[this.cellId,...s]).then(l=>l.data)}return a}withUnwrappedResponsesOnly(e){var t,r;const a=new e(hn(cr({},this.opts),{isJsonMime:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(o!=="constructor"&&typeof a[o]=="function"){const n=a[o];a[o]=(...s)=>n.apply(a,s).then(l=>l.data)}return a}},$S=class{constructor(){this.connections=[]}handleAPIRequest(e){return me(this,null,function*(){var t,r,a;const o=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return{instances:[{controller:"mock-ur5e",model_name:"UniversalRobots::Controller",host:"mock-ur5e",allow_software_install_on_controller:!0,physical_motion_groups:[{motion_group:"0@mock-ur5e",name_from_controller:"UR5e",active:!1,model_from_controller:"UniversalRobots_UR5e"}],has_error:!1,error_details:""}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{kind:"VirtualController",manufacturer:"universalrobots",position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/specification",handle(){return{dh_parameters:[{alpha:1.5707963267948966,theta:0,a:0,d:162.25,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-425,d:0,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-392.2,d:0,reverse_rotation_direction:!1},{alpha:1.5707963267948966,theta:0,a:0,d:133.3,reverse_rotation_direction:!1},{alpha:-1.5707963267948966,theta:0,a:0,d:99.7,reverse_rotation_direction:!1},{alpha:0,theta:0,a:0,d:99.6,reverse_rotation_direction:!1}],mechanical_joint_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/safety-setup",handle(){return{safety_settings:[{safety_state:"SAFETY_NORMAL",settings:{joint_position_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-2.96705961227417,upper_limit:2.96705961227417,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-1.7453292608261108,upper_limit:2.7925267219543457,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-3.3161256313323975,upper_limit:.40142571926116943,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-3.4906585216522217,upper_limit:3.4906585216522217,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-2.4434609413146973,upper_limit:2.4434609413146973,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-4.71238899230957,upper_limit:4.71238899230957,unlimited:!1}],joint_velocity_limits:[{joint:"JOINTNAME_AXIS_1",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_2",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_3",limit:3.4906585216522217},{joint:"JOINTNAME_AXIS_4",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_5",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_6",limit:6.981317043304443}],joint_acceleration_limits:[],joint_torque_limits:[],tcp_velocity_limit:1800}}],safety_zones:[{id:1,priority:0,geometry:{compound:{child_geometries:[{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820},{x:-800,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:-1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:-800,y:1330,z:-1820},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500},{x:1650,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:1650,y:-1330,z:1500},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Cell workzone"},motion_group_uid:1},{id:2,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-1850},{x:865,y:1330,z:-1850},{x:865,y:-720,z:-1850},{x:1650,y:-720,z:-1850},{x:1650,y:1330,z:-920},{x:865,y:1330,z:-920},{x:865,y:-720,z:-920},{x:1650,y:-720,z:-920}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Transport"},motion_group_uid:1},{id:3,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-600},{x:865,y:1330,z:-600},{x:865,y:430,z:-600},{x:1650,y:430,z:-600},{x:1650,y:1330,z:-1250},{x:865,y:1330,z:-1250},{x:865,y:430,z:-1250},{x:1650,y:430,z:-1250}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Tunel"},motion_group_uid:1},{id:4,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:-760,z:-440},{x:900,y:-760,z:-440},{x:900,y:-1330,z:-440},{x:1650,y:-1330,z:-440},{x:1650,y:-760,z:-1800},{x:900,y:-760,z:-1800},{x:900,y:-1330,z:-1800},{x:1650,y:-1330,z:-1800}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Fanuc controller"},motion_group_uid:1},{id:6,priority:0,geometry:{convex_hull:{vertices:[{x:-200,y:-200,z:-1900},{x:200,y:-200,z:-1900},{x:200,y:200,z:-1900},{x:-200,y:200,z:-1900},{x:-200,y:-200,z:-350},{x:200,y:-200,z:-350},{x:200,y:200,z:-350},{x:-200,y:200,z:-350}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Robot base"},motion_group_uid:1}],robot_model_geometries:[{link_index:1,geometry:{sphere:{radius:270},init_pose:{position:{x:-70,y:-70,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link1_sphere"}},{link_index:2,geometry:{capsule:{radius:160,cylinder_height:800},init_pose:{position:{x:-450,y:40,z:170},orientation:{x:0,y:-.7071067811865475,z:0,w:.7071067811865476}},id:"link2_capsule"}},{link_index:3,geometry:{sphere:{radius:270},init_pose:{position:{x:-110,y:10,z:-100},orientation:{x:0,y:0,z:0,w:1}},id:"link3_sphere"}},{link_index:4,geometry:{capsule:{radius:110,cylinder_height:600},init_pose:{position:{x:0,y:300,z:40},orientation:{x:-.7071067811865475,y:0,z:0,w:.7071067811865476}},id:"link4_capsule"}},{link_index:5,geometry:{sphere:{radius:75},init_pose:{position:{x:0,y:0,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link5_sphere"}}],tool_geometries:[]}}},{method:"GET",path:"/cells/:cellId/coordinate-systems",handle(){return{coordinatesystems:[{coordinate_system:"",name:"world",reference_uid:"",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0],type:"ROTATION_VECTOR"}}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/tcps",handle(){return{tcps:[{id:"Flange",readable_name:"Default-Flange",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0,0],type:"ROTATION_VECTOR"}},{id:"complex-tcp-position",readable_name:"Complex 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localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){return[{id:"cartesian",label:"cartesian"},{id:"joint",label:"joint"}]}get incrementOptions(){return iO}get discreteIncrementOptions(){return Rn}get incrementOptionsById(){return Pa(this.incrementOptions,t=>t.id)}get tabsById(){return Pa(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return Pa(this.coordSystems,t=>t.coordinate_system)}get selectedCoordSystem(){return this.coordSystemsById[this.selectedCoordSystemId]}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return Pa(this.tcps,t=>t.id)}get 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