@wandelbots/wandelbots-js-react-components 2.26.0-pr.feature-update-to-react-19.361.d11d634 → 2.26.0-pr.feature-update-to-react-19.361.e3316bb

package/dist/components/robots/RobotAnimator.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"RobotAnimator.d.ts","sourceRoot":"","sources":["../../../src/components/robots/RobotAnimator.tsx"],"names":[],"mappings":"AAEA,OAAO,KAAK,EACV,WAAW,EACX,wBAAwB,EACzB,MAAM,yBAAyB,CAAA;AAChC,OAAO,KAA0B,MAAM,OAAO,CAAA;AAC9C,OAAO,KAAK,EAAS,QAAQ,EAAE,MAAM,OAAO,CAAA;AAG5C,KAAK,kBAAkB,GAAG;IACxB,0BAA0B,EAAE,wBAAwB,CAAA;IACpD,YAAY,EAAE,WAAW,EAAE,CAAA;IAC3B,iBAAiB,CAAC,EAAE,CAAC,MAAM,EAAE,QAAQ,EAAE,EAAE,WAAW,EAAE,MAAM,EAAE,KAAK,IAAI,CAAA;IACvE,QAAQ,EAAE,KAAK,CAAC,SAAS,CAAA;CAC1B,CAAA;AAED,MAAM,CAAC,OAAO,UAAU,aAAa,CAAC,EACpC,0BAA0B,EAC1B,YAAY,EACZ,iBAAiB,EACjB,QAAQ,GACT,EAAE,kBAAkB,2CA4DpB"}
+{"version":3,"file":"RobotAnimator.d.ts","sourceRoot":"","sources":["../../../src/components/robots/RobotAnimator.tsx"],"names":[],"mappings":"AAEA,OAAO,KAAK,EACV,WAAW,EACX,wBAAwB,EACzB,MAAM,yBAAyB,CAAA;AAChC,OAAO,KAA0B,MAAM,OAAO,CAAA;AAC9C,OAAO,KAAK,EAAS,QAAQ,EAAE,MAAM,OAAO,CAAA;AAG5C,KAAK,kBAAkB,GAAG;IACxB,0BAA0B,EAAE,wBAAwB,CAAA;IACpD,YAAY,EAAE,WAAW,EAAE,CAAA;IAC3B,iBAAiB,CAAC,EAAE,CAAC,MAAM,EAAE,QAAQ,EAAE,EAAE,WAAW,EAAE,MAAM,EAAE,KAAK,IAAI,CAAA;IACvE,QAAQ,EAAE,KAAK,CAAC,SAAS,CAAA;CAC1B,CAAA;AAED,MAAM,CAAC,OAAO,UAAU,aAAa,CAAC,EACpC,0BAA0B,EAC1B,YAAY,EACZ,iBAAiB,EACjB,QAAQ,GACT,EAAE,kBAAkB,2CAsEpB"}

package/dist/components/robots/RobotAnimator.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=RobotAnimator.test.d.ts.map

package/dist/components/robots/RobotAnimator.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"RobotAnimator.test.d.ts","sourceRoot":"","sources":["../../../src/components/robots/RobotAnimator.test.tsx"],"names":[],"mappings":""}

package/dist/index.cjs

@@ -103,5 +103,5 @@ and limitations under the License.
   `,u);const g=(yield t.api.controller.getRobotController(i.controller)).configuration.kind==="VirtualController",m=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`),I=yield x.firstMessage(),G=(n=Rt(I.data))==null?void 0:n.result;if(!G)throw new Error(`Unable to parse initial controller state message ${I.data}`);console.log(`Connected controller state websocket to controller ${i.controller}. Initial state:
   `,G);const{tcps:N}=yield t.api.motionGroupInfos.listTcps(r),D=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),z=yield t.api.motionGroupInfos.getSafetySetup(r);return new Ki(t,i,c,u,d,g,N,D,z,m,G,x)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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 Yi{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 Yi(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(),m=y.clone().normalize(),x=i.distanceRads*(l==="-"?-1:1),I=new hr(0,0,0);I[s]=1;const G=Math.cos(.5*x)*Math.cos(.5*g),N=Math.sin(.5*x)*Math.sin(.5*g),D=Math.sin(.5*x)*Math.cos(.5*g),z=Math.cos(.5*x)*Math.sin(.5*g),W=I.dot(m),j=I.clone().cross(m),U=2*Math.acos(G-N*W),k=U/Math.sin(.5*U),f=new hr().addScaledVector(j,N).addScaledVector(I,D).addScaledVector(m,z).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 Xi{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}`);Wi(this.rapidlyChangingMotionState.state.joint_position.joints,i.state.joint_position.joints,sl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.state=i.state}),Qi(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 ${i.motion_group}. Initial state:
   `,p),new Xi(t,l,i,p,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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($0),this.program=this.withCellId(lS),this.programValues=this.withCellId(cS),this.controllerIOs=this.withCellId(k0),this.motionGroupKinematic=this.withCellId(nS),this.motion=this.withCellId(Y0),this.coordinateSystems=this.withCellId(B0),this.application=this.withCellId(rl),this.applicationGlobal=this.withUnwrappedResponsesOnly(rl),this.motionGroupJogging=this.withCellId(aS),this.virtualRobot=this.withCellId(SS),this.virtualRobotSetup=this.withCellId(PS),this.virtualRobotMode=this.withCellId(wS),this.virtualRobotBehavior=this.withCellId(xS),this.libraryProgramMetadata=this.withCellId(q0),this.libraryProgram=this.withCellId(z0),this.libraryRecipeMetadata=this.withCellId(Q0),this.libraryRecipe=this.withCellId(H0),this.storeObject=this.withCellId(fS),this.storeCollisionComponents=this.withCellId(pS),this.storeCollisionScenes=this.withCellId(hS)}withCellId(e){var t,r;const a=new e(hn(cr({},this.opts),{isJsonMime:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(o!=="constructor"&&typeof a[o]=="function"){const n=a[o];a[o]=(...s)=>n.apply(a,[this.cellId,...s]).then(l=>l.data)}return a}withUnwrappedResponsesOnly(e){var t,r;const a=new e(hn(cr({},this.opts),{isJsonMime:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(o!=="constructor"&&typeof a[o]=="function"){const n=a[o];a[o]=(...s)=>n.apply(a,s).then(l=>l.data)}return a}},$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 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