@wandelbots/wandelbots-js-react-components 2.27.0 → 2.27.1

package/dist/index.cjs

@@ -111,5 +111,5 @@ and limitations under the License.
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l=!0;this.interceptors.request.forEach(function(h){typeof h.runWhen=="function"&&h.runWhen(r)===!1||(l=l&&h.synchronous,i.unshift(h.fulfilled,h.rejected))});const c=[];this.interceptors.response.forEach(function(h){c.push(h.fulfilled,h.rejected)});let d,u=0,p;if(!l){const g=[tl.bind(this),void 0];for(g.unshift.apply(g,i),g.push.apply(g,c),p=g.length,d=Promise.resolve(r);u<p;)d=d.then(g[u++],g[u++]);return d}p=i.length;let f=r;for(u=0;u<p;){const g=i[u++],h=i[u++];try{f=g(f)}catch(x){h.call(this,x);break}}try{d=tl.call(this,f)}catch(g){return Promise.reject(g)}for(u=0,p=c.length;u<p;)d=d.then(c[u++],c[u++]);return d}getUri(t){t=pr(this.defaults,t);const r=zc(t.baseURL,t.url,t.allowAbsoluteUrls);return kc(r,t.params,t.paramsSerializer)}};I.forEach(["delete","get","head","options"],function(t){lr.prototype[t]=function(r,a){return this.request(pr(a||{},{method:t,url:r,data:(a||{}).data}))}});I.forEach(["post","put","patch"],function(t){function r(a){return function(s,o,i){return this.request(pr(i||{},{method:t,headers:a?{"Content-Type":"multipart/form-data"}:{},url:s,data:o}))}}lr.prototype[t]=r(),lr.prototype[t+"Form"]=r(!0)});let rv=class Kc{constructor(t){if(typeof t!="function")throw new TypeError("executor must be a function.");let r;this.promise=new Promise(function(s){r=s});const a=this;this.promise.then(n=>{if(!a._listeners)return;let s=a._listeners.length;for(;s-- >0;)a._listeners[s](n);a._listeners=null}),this.promise.then=n=>{let s;const o=new Promise(i=>{a.subscribe(i),s=i}).then(n);return o.cancel=function(){a.unsubscribe(s)},o},t(function(s,o,i){a.reason||(a.reason=new ta(s,o,i),r(a.reason))})}throwIfRequested(){if(this.reason)throw this.reason}subscribe(t){if(this.reason){t(this.reason);return}this._listeners?this._listeners.push(t):this._listeners=[t]}unsubscribe(t){if(!this._listeners)return;const r=this._listeners.indexOf(t);r!==-1&&this._listeners.splice(r,1)}toAbortSignal(){const t=new AbortController,r=a=>{t.abort(a)};return this.subscribe(r),t.signal.unsubscribe=()=>this.unsubscribe(r),t.signal}static source(){let t;return{token:new Kc(function(n){t=n}),cancel:t}}};function av(e){return function(r){return e.apply(null,r)}}function nv(e){return I.isObject(e)&&e.isAxiosError===!0}const Zs={Continue:100,SwitchingProtocols:101,Processing:102,EarlyHints:103,Ok:200,Created:201,Accepted:202,NonAuthoritativeInformation:203,NoContent:204,ResetContent:205,PartialContent:206,MultiStatus:207,AlreadyReported:208,ImUsed:226,MultipleChoices:300,MovedPermanently:301,Found:302,SeeOther:303,NotModified:304,UseProxy:305,Unused:306,TemporaryRedirect:307,PermanentRedirect:308,BadRequest:400,Unauthorized:401,PaymentRequired:402,Forbidden:403,NotFound:404,MethodNotAllowed:405,NotAcceptable:406,ProxyAuthenticationRequired:407,RequestTimeout:408,Conflict:409,Gone:410,LengthRequired:411,PreconditionFailed:412,PayloadTooLarge:413,UriTooLong:414,UnsupportedMediaType:415,RangeNotSatisfiable:416,ExpectationFailed:417,ImATeapot:418,MisdirectedRequest:421,UnprocessableEntity:422,Locked:423,FailedDependency:424,TooEarly:425,UpgradeRequired:426,PreconditionRequired:428,TooManyRequests:429,RequestHeaderFieldsTooLarge:431,UnavailableForLegalReasons:451,InternalServerError:500,NotImplemented:501,BadGateway:502,ServiceUnavailable:503,GatewayTimeout:504,HttpVersionNotSupported:505,VariantAlsoNegotiates:506,InsufficientStorage:507,LoopDetected:508,NotExtended:510,NetworkAuthenticationRequired:511};Object.entries(Zs).forEach(([e,t])=>{Zs[t]=e});function Qc(e){const t=new lr(e),r=Rc(lr.prototype.request,t);return I.extend(r,lr.prototype,t,{allOwnKeys:!0}),I.extend(r,t,null,{allOwnKeys:!0}),r.create=function(n){return Qc(pr(e,n))},r}const O=Qc(Da);O.Axios=lr;O.CanceledError=ta;O.CancelToken=rv;O.isCancel=Nc;O.VERSION=Wc;O.toFormData=Zn;O.AxiosError=ie;O.Cancel=O.CanceledError;O.all=function(t){return Promise.all(t)};O.spread=av;O.isAxiosError=nv;O.mergeConfig=pr;O.AxiosHeaders=Ze;O.formToJSON=e=>Fc(I.isHTMLForm(e)?new FormData(e):e);O.getAdapter=qc.getAdapter;O.HttpStatusCode=Zs;O.default=O;const{Axios:uP,AxiosError:eo,CanceledError:pP,isCancel:hP,CancelToken:mP,VERSION:fP,all:gP,Cancel:yP,isAxiosError:sv,spread:bP,toFormData:SP,AxiosHeaders:vP,HttpStatusCode:xP,formToJSON:OP,getAdapter:wP,mergeConfig:CP}=O,w="/api/v1".replace(/\/+$/,"");class Pe{constructor(t,r=w,a=O){ia(this,"basePath");ia(this,"axios");ia(this,"configuration");this.basePath=r,this.axios=a,t&&(this.configuration=t,this.basePath=t.basePath??r)}}class ov extends Error{constructor(r,a){super(a);ia(this,"field");this.field=r,this.name="RequiredError"}}const C={},P="https://example.com",m=function(e,t,r){if(r==null)throw new ov(t,`Required parameter ${t} was null or undefined when calling ${e}.`)},V=function(e,t){t&&(t.username||t.password)&&(e.auth={username:t.username,password:t.password})},R=async function(e,t){if(t&&t.accessToken){const r=typeof t.accessToken=="function"?await t.accessToken():await t.accessToken;e.Authorization="Bearer "+r}};function to(e,t,r=""){t!=null&&(typeof t=="object"?Array.isArray(t)?t.forEach(a=>to(e,a,r)):Object.keys(t).forEach(a=>to(e,t[a],`${r}${r!==""?".":""}${a}`)):e.has(r)?e.append(r,t):e.set(r,t))}const _=function(e,...t){const r=new URLSearchParams(e.search);to(r,t),e.search=r.toString()},oe=function(e,t,r){const a=typeof e!="string";return(a&&r&&r.isJsonMime?r.isJsonMime(t.headers["Content-Type"]):a)?JSON.stringify(e!==void 0?e:{}):e||""},A=function(e){return e.pathname+e.search+e.hash},T=function(e,t,r,a){return(n=t,s=r)=>{const o={...e.options,url:(n.defaults.baseURL?"":(a==null?void 0:a.basePath)??s)+e.url};return n.request(o)}},iv=function(e){return{addApp:async(t,r,a,n={})=>{m("addApp","cell",t),m("addApp","app",r);const s="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(r,l,e),{url:A(o),options:l}},clearApps:async(t,r,a={})=>{m("clearApps","cell",t);const n="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.completionTimeout=r),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},deleteApp:async(t,r,a,n={})=>{m("deleteApp","cell",t),m("deleteApp","app",r);const s="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.completionTimeout=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},getApp:async(t,r,a={})=>{m("getApp","cell",t),m("getApp","app",r);const n="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listApps:async(t,r={})=>{m("listApps","cell",t);const a="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},updateApp:async(t,r,a,n,s={})=>{m("updateApp","cell",t),m("updateApp","app",r),m("updateApp","app2",a);const o="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},d={},u={};V(c,e),await R(d,e),n!==void 0&&(u.completionTimeout=n),d["Content-Type"]="application/json",_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},c.data=oe(a,c,e),{url:A(i),options:c}}}},Ir=function(e){const t=iv(e);return{async addApp(r,a,n,s){var c,d;const o=await t.addApp(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ApplicationApi.addApp"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async clearApps(r,a,n){var l,c;const s=await t.clearApps(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ApplicationApi.clearApps"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deleteApp(r,a,n,s){var c,d;const o=await t.deleteApp(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ApplicationApi.deleteApp"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async getApp(r,a,n){var l,c;const s=await t.getApp(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ApplicationApi.getApp"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listApps(r,a){var i,l;const n=await t.listApps(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["ApplicationApi.listApps"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async updateApp(r,a,n,s,o){var d,u;const i=await t.updateApp(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["ApplicationApi.updateApp"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)}}};class al extends Pe{addApp(t,r,a,n){return Ir(this.configuration).addApp(t,r,a,n).then(s=>s(this.axios,this.basePath))}clearApps(t,r,a){return Ir(this.configuration).clearApps(t,r,a).then(n=>n(this.axios,this.basePath))}deleteApp(t,r,a,n){return Ir(this.configuration).deleteApp(t,r,a,n).then(s=>s(this.axios,this.basePath))}getApp(t,r,a){return Ir(this.configuration).getApp(t,r,a).then(n=>n(this.axios,this.basePath))}listApps(t,r){return Ir(this.configuration).listApps(t,r).then(a=>a(this.axios,this.basePath))}updateApp(t,r,a,n,s){return Ir(this.configuration).updateApp(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}}const lv=function(e){return{deleteCell:async(t,r,a={})=>{m("deleteCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.completionTimeout=r),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},deployCell:async(t,r,a={})=>{m("deployCell","cell",t);const n="/cells",s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.completionTimeout=r),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(t,i,e),{url:A(s),options:i}},getCell:async(t,r={})=>{m("getCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},getCellStatus:async(t,r={})=>{m("getCellStatus","cell",t);const a="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},listCells:async(t={})=>{const r="/cells",a=new URL(r,P);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...t},o={},i={};V(s,e),await R(o,e),_(a,i);let l=n&&n.headers?n.headers:{};return s.headers={...o,...l,...t.headers},{url:A(a),options:s}},updateCell:async(t,r,a,n={})=>{m("updateCell","cell",t),m("updateCell","cell2",r);const s="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(r,l,e),{url:A(o),options:l}}}},Mr=function(e){const t=lv(e);return{async deleteCell(r,a,n){var l,c;const s=await t.deleteCell(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CellApi.deleteCell"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deployCell(r,a,n){var l,c;const s=await t.deployCell(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CellApi.deployCell"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getCell(r,a){var i,l;const n=await t.getCell(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["CellApi.getCell"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async getCellStatus(r,a){var i,l;const n=await t.getCellStatus(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["CellApi.getCellStatus"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async listCells(r){var o,i;const a=await t.listCells(r),n=(e==null?void 0:e.serverIndex)??0,s=(i=(o=C["CellApi.listCells"])==null?void 0:o[n])==null?void 0:i.url;return(l,c)=>T(a,O,w,e)(l,s||c)},async updateCell(r,a,n,s){var c,d;const o=await t.updateCell(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["CellApi.updateCell"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class cv extends Pe{deleteCell(t,r,a){return Mr(this.configuration).deleteCell(t,r,a).then(n=>n(this.axios,this.basePath))}deployCell(t,r,a){return Mr(this.configuration).deployCell(t,r,a).then(n=>n(this.axios,this.basePath))}getCell(t,r){return Mr(this.configuration).getCell(t,r).then(a=>a(this.axios,this.basePath))}getCellStatus(t,r){return Mr(this.configuration).getCellStatus(t,r).then(a=>a(this.axios,this.basePath))}listCells(t){return Mr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,a,n){return Mr(this.configuration).updateCell(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const dv=function(e){return{addRobotController:async(t,r,a,n={})=>{m("addRobotController","cell",t),m("addRobotController","robotController",r);const s="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(r,l,e),{url:A(o),options:l}},clearRobotControllers:async(t,r,a={})=>{m("clearRobotControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.completionTimeout=r),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},deleteRobotController:async(t,r,a,n={})=>{m("deleteRobotController","cell",t),m("deleteRobotController","controller",r);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.completionTimeout=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},getCurrentRobotControllerState:async(t,r,a={})=>{m("getCurrentRobotControllerState","cell",t),m("getCurrentRobotControllerState","controller",r);const n="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getMode:async(t,r,a={})=>{m("getMode","cell",t),m("getMode","controller",r);const n="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getRobotController:async(t,r,a={})=>{m("getRobotController","cell",t),m("getRobotController","controller",r);const n="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getSupportedModes:async(t,r,a={})=>{m("getSupportedModes","cell",t),m("getSupportedModes","controller",r);const n="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getVirtualRobotConfiguration:async(t,r,a={})=>{m("getVirtualRobotConfiguration","cell",t),m("getVirtualRobotConfiguration","controller",r);const n="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listControllers:async(t,r={})=>{m("listControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},setDefaultMode:async(t,r,a,n={})=>{m("setDefaultMode","cell",t),m("setDefaultMode","controller",r),m("setDefaultMode","mode",a);const s="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.mode=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},streamFreeDrive:async(t,r,a,n={})=>{m("streamFreeDrive","cell",t),m("streamFreeDrive","controller",r);const s="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.response_rate=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},streamModeChange:async(t,r,a={})=>{m("streamModeChange","cell",t),m("streamModeChange","controller",r);const n="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},streamRobotControllerState:async(t,r,a,n={})=>{m("streamRobotControllerState","cell",t),m("streamRobotControllerState","controller",r);const s="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.response_rate=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},updateRobotController:async(t,r,a,n,s={})=>{m("updateRobotController","cell",t),m("updateRobotController","controller",r),m("updateRobotController","robotController",a);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},d={},u={};V(c,e),await R(d,e),n!==void 0&&(u.completionTimeout=n),d["Content-Type"]="application/json",_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},c.data=oe(a,c,e),{url:A(i),options:c}}}},Xe=function(e){const t=dv(e);return{async addRobotController(r,a,n,s){var c,d;const o=await t.addRobotController(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async clearRobotControllers(r,a,n){var l,c;const s=await t.clearRobotControllers(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.clearRobotControllers"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deleteRobotController(r,a,n,s){var c,d;const o=await t.deleteRobotController(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async getCurrentRobotControllerState(r,a,n){var l,c;const s=await t.getCurrentRobotControllerState(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getMode(r,a,n){var l,c;const s=await t.getMode(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getMode"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getRobotController(r,a,n){var l,c;const s=await t.getRobotController(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getRobotController"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getSupportedModes(r,a,n){var l,c;const s=await t.getSupportedModes(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getSupportedModes"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getVirtualRobotConfiguration(r,a,n){var l,c;const s=await t.getVirtualRobotConfiguration(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listControllers(r,a){var i,l;const n=await t.listControllers(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["ControllerApi.listControllers"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async setDefaultMode(r,a,n,s){var c,d;const o=await t.setDefaultMode(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async streamFreeDrive(r,a,n,s){var c,d;const o=await t.streamFreeDrive(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async streamModeChange(r,a,n){var l,c;const s=await t.streamModeChange(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.streamModeChange"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async streamRobotControllerState(r,a,n,s){var c,d;const o=await t.streamRobotControllerState(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ControllerApi.streamRobotControllerState"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async updateRobotController(r,a,n,s,o){var d,u;const i=await t.updateRobotController(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["ControllerApi.updateRobotController"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)}}};class uv extends Pe{addRobotController(t,r,a,n){return Xe(this.configuration).addRobotController(t,r,a,n).then(s=>s(this.axios,this.basePath))}clearRobotControllers(t,r,a){return Xe(this.configuration).clearRobotControllers(t,r,a).then(n=>n(this.axios,this.basePath))}deleteRobotController(t,r,a,n){return Xe(this.configuration).deleteRobotController(t,r,a,n).then(s=>s(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,a){return Xe(this.configuration).getCurrentRobotControllerState(t,r,a).then(n=>n(this.axios,this.basePath))}getMode(t,r,a){return Xe(this.configuration).getMode(t,r,a).then(n=>n(this.axios,this.basePath))}getRobotController(t,r,a){return Xe(this.configuration).getRobotController(t,r,a).then(n=>n(this.axios,this.basePath))}getSupportedModes(t,r,a){return Xe(this.configuration).getSupportedModes(t,r,a).then(n=>n(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,a){return Xe(this.configuration).getVirtualRobotConfiguration(t,r,a).then(n=>n(this.axios,this.basePath))}listControllers(t,r){return Xe(this.configuration).listControllers(t,r).then(a=>a(this.axios,this.basePath))}setDefaultMode(t,r,a,n){return Xe(this.configuration).setDefaultMode(t,r,a,n).then(s=>s(this.axios,this.basePath))}streamFreeDrive(t,r,a,n){return Xe(this.configuration).streamFreeDrive(t,r,a,n).then(s=>s(this.axios,this.basePath))}streamModeChange(t,r,a){return Xe(this.configuration).streamModeChange(t,r,a).then(n=>n(this.axios,this.basePath))}streamRobotControllerState(t,r,a,n){return Xe(this.configuration).streamRobotControllerState(t,r,a,n).then(s=>s(this.axios,this.basePath))}updateRobotController(t,r,a,n,s){return Xe(this.configuration).updateRobotController(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}}const pv=function(e){return{listIODescriptions:async(t,r,a,n={})=>{m("listIODescriptions","cell",t),m("listIODescriptions","controller",r);const s="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a&&(d.ios=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},listIOValues:async(t,r,a,n={})=>{m("listIOValues","cell",t),m("listIOValues","controller",r);const s="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a&&(d.ios=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},setOutputValues:async(t,r,a,n={})=>{m("setOutputValues","cell",t),m("setOutputValues","controller",r),m("setOutputValues","iOValue",a);const s="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},streamIOValues:async(t,r,a,n={})=>{m("streamIOValues","cell",t),m("streamIOValues","controller",r);const s="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a&&(d.ios=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},waitForIOEvent:async(t,r,a,n,s,o,i,l={})=>{m("waitForIOEvent","cell",t),m("waitForIOEvent","controller",r),m("waitForIOEvent","io",a),m("waitForIOEvent","comparisonType",n);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),d=new URL(c,P);let u;e&&(u=e.baseOptions);const p={method:"GET",...u,...l},f={},g={};V(p,e),await R(f,e),a!==void 0&&(g.io=a),n!==void 0&&(g.comparison_type=n),s!==void 0&&(g.boolean_value=s),o!==void 0&&(g.integer_value=o),i!==void 0&&(g.floating_value=i),_(d,g);let h=u&&u.headers?u.headers:{};return p.headers={...f,...h,...l.headers},{url:A(d),options:p}}}},fa=function(e){const t=pv(e);return{async listIODescriptions(r,a,n,s){var c,d;const o=await t.listIODescriptions(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ControllerIOsApi.listIODescriptions"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async listIOValues(r,a,n,s){var c,d;const o=await t.listIOValues(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ControllerIOsApi.listIOValues"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async setOutputValues(r,a,n,s){var c,d;const o=await t.setOutputValues(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ControllerIOsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async streamIOValues(r,a,n,s){var c,d;const o=await t.streamIOValues(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ControllerIOsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async waitForIOEvent(r,a,n,s,o,i,l,c){var f,g;const d=await t.waitForIOEvent(r,a,n,s,o,i,l,c),u=(e==null?void 0:e.serverIndex)??0,p=(g=(f=C["ControllerIOsApi.waitForIOEvent"])==null?void 0:f[u])==null?void 0:g.url;return(h,x)=>T(d,O,w,e)(h,p||x)}}};class hv extends Pe{listIODescriptions(t,r,a,n){return fa(this.configuration).listIODescriptions(t,r,a,n).then(s=>s(this.axios,this.basePath))}listIOValues(t,r,a,n){return fa(this.configuration).listIOValues(t,r,a,n).then(s=>s(this.axios,this.basePath))}setOutputValues(t,r,a,n){return fa(this.configuration).setOutputValues(t,r,a,n).then(s=>s(this.axios,this.basePath))}streamIOValues(t,r,a,n){return fa(this.configuration).streamIOValues(t,r,a,n).then(s=>s(this.axios,this.basePath))}waitForIOEvent(t,r,a,n,s,o,i,l){return fa(this.configuration).waitForIOEvent(t,r,a,n,s,o,i,l).then(c=>c(this.axios,this.basePath))}}const mv=function(e){return{addCoordinateSystem:async(t,r,a={})=>{m("addCoordinateSystem","cell",t),m("addCoordinateSystem","addRequest",r);const n="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"PUT",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},deleteCoordinateSystem:async(t,r,a={})=>{m("deleteCoordinateSystem","cell",t),m("deleteCoordinateSystem","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,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getCoordinateSystem:async(t,r,a,n={})=>{m("getCoordinateSystem","cell",t),m("getCoordinateSystem","coordinateSystem",r);const s="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.rotation_type=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},listCoordinateSystems:async(t,r,a={})=>{m("listCoordinateSystems","cell",t);const n="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.rotation_type=r),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},transformInCoordinateSystem:async(t,r,a,n={})=>{m("transformInCoordinateSystem","cell",t),m("transformInCoordinateSystem","coordinateSystem",r),m("transformInCoordinateSystem","pose",a);const s="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}}}},ga=function(e){const t=mv(e);return{async addCoordinateSystem(r,a,n){var l,c;const s=await t.addCoordinateSystem(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deleteCoordinateSystem(r,a,n){var l,c;const s=await t.deleteCoordinateSystem(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getCoordinateSystem(r,a,n,s){var c,d;const o=await t.getCoordinateSystem(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async listCoordinateSystems(r,a,n){var l,c;const s=await t.listCoordinateSystems(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async transformInCoordinateSystem(r,a,n,s){var c,d;const o=await t.transformInCoordinateSystem(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class fv extends Pe{addCoordinateSystem(t,r,a){return ga(this.configuration).addCoordinateSystem(t,r,a).then(n=>n(this.axios,this.basePath))}deleteCoordinateSystem(t,r,a){return ga(this.configuration).deleteCoordinateSystem(t,r,a).then(n=>n(this.axios,this.basePath))}getCoordinateSystem(t,r,a,n){return ga(this.configuration).getCoordinateSystem(t,r,a,n).then(s=>s(this.axios,this.basePath))}listCoordinateSystems(t,r,a){return ga(this.configuration).listCoordinateSystems(t,r,a).then(n=>n(this.axios,this.basePath))}transformInCoordinateSystem(t,r,a,n){return ga(this.configuration).transformInCoordinateSystem(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const gv=function(e){return{clearDevices:async(t,r={})=>{m("clearDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"DELETE",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},createDevice:async(t,r,a={})=>{m("createDevice","cell",t),m("createDevice","createDeviceRequestInner",r);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},deleteDevice:async(t,r,a={})=>{m("deleteDevice","cell",t),m("deleteDevice","identifier",r);const n="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getDevice:async(t,r,a={})=>{m("getDevice","cell",t),m("getDevice","identifier",r);const n="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listDevices:async(t,r={})=>{m("listDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}}}},ya=function(e){const t=gv(e);return{async clearDevices(r,a){var i,l;const n=await t.clearDevices(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["DeviceConfigurationApi.clearDevices"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async createDevice(r,a,n){var l,c;const s=await t.createDevice(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["DeviceConfigurationApi.createDevice"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deleteDevice(r,a,n){var l,c;const s=await t.deleteDevice(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getDevice(r,a,n){var l,c;const s=await t.getDevice(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["DeviceConfigurationApi.getDevice"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listDevices(r,a){var i,l;const n=await t.listDevices(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["DeviceConfigurationApi.listDevices"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)}}};class yv extends Pe{clearDevices(t,r){return ya(this.configuration).clearDevices(t,r).then(a=>a(this.axios,this.basePath))}createDevice(t,r,a){return ya(this.configuration).createDevice(t,r,a).then(n=>n(this.axios,this.basePath))}deleteDevice(t,r,a){return ya(this.configuration).deleteDevice(t,r,a).then(n=>n(this.axios,this.basePath))}getDevice(t,r,a){return ya(this.configuration).getDevice(t,r,a).then(n=>n(this.axios,this.basePath))}listDevices(t,r){return ya(this.configuration).listDevices(t,r).then(a=>a(this.axios,this.basePath))}}const bv=function(e){return{createProgram:async(t,r,a,n={})=>{m("createProgram","cell",t),m("createProgram","body",r);const s="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.name=a),c["Content-Type"]="text/plain",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(r,l,e),{url:A(o),options:l}},deleteProgram:async(t,r,a={})=>{m("deleteProgram","cell",t),m("deleteProgram","program",r);const n="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},deleteProgramList:async(t,r,a={})=>{m("deleteProgramList","cell",t),m("deleteProgramList","programIds",r);const n="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),r&&(c.program_ids=r),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getProgram:async(t,r,a={})=>{m("getProgram","cell",t),m("getProgram","program",r);const n="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},updateProgram:async(t,r,a,n={})=>{m("updateProgram","cell",t),m("updateProgram","program",r),m("updateProgram","body",a);const s="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="text/plain",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}}}},ba=function(e){const t=bv(e);return{async createProgram(r,a,n,s){var c,d;const o=await t.createProgram(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["LibraryProgramApi.createProgram"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async deleteProgram(r,a,n){var l,c;const s=await t.deleteProgram(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramApi.deleteProgram"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deleteProgramList(r,a,n){var l,c;const s=await t.deleteProgramList(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramApi.deleteProgramList"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getProgram(r,a,n){var l,c;const s=await t.getProgram(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramApi.getProgram"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async updateProgram(r,a,n,s){var c,d;const o=await t.updateProgram(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["LibraryProgramApi.updateProgram"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class Sv extends Pe{createProgram(t,r,a,n){return ba(this.configuration).createProgram(t,r,a,n).then(s=>s(this.axios,this.basePath))}deleteProgram(t,r,a){return ba(this.configuration).deleteProgram(t,r,a).then(n=>n(this.axios,this.basePath))}deleteProgramList(t,r,a){return ba(this.configuration).deleteProgramList(t,r,a).then(n=>n(this.axios,this.basePath))}getProgram(t,r,a){return ba(this.configuration).getProgram(t,r,a).then(n=>n(this.axios,this.basePath))}updateProgram(t,r,a,n){return ba(this.configuration).updateProgram(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const vv=function(e){return{getProgramMetadata:async(t,r,a={})=>{m("getProgramMetadata","cell",t),m("getProgramMetadata","program",r);const n="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listProgramMetadata:async(t,r,a={})=>{m("listProgramMetadata","cell",t);const n="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.show_hidden=r),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},updateProgramMetadata:async(t,r,a,n={})=>{m("updateProgramMetadata","cell",t),m("updateProgramMetadata","program",r),m("updateProgramMetadata","updateProgramMetadataRequest",a);const s="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},uploadProgramMetadataImage:async(t,r,a,n={})=>{m("uploadProgramMetadataImage","cell",t),m("uploadProgramMetadataImage","program",r),m("uploadProgramMetadataImage","file",a);const s="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={},u=new(e&&e.formDataCtor||FormData);V(l,e),await R(c,e),a!==void 0&&u.append("file",a),c["Content-Type"]="multipart/form-data",_(o,d);let p=i&&i.headers?i.headers:{};return l.headers={...c,...p,...n.headers},l.data=u,{url:A(o),options:l}}}},Ka=function(e){const t=vv(e);return{async getProgramMetadata(r,a,n){var l,c;const s=await t.getProgramMetadata(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listProgramMetadata(r,a,n){var l,c;const s=await t.listProgramMetadata(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async updateProgramMetadata(r,a,n,s){var c,d;const o=await t.updateProgramMetadata(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async uploadProgramMetadataImage(r,a,n,s){var c,d;const o=await t.uploadProgramMetadataImage(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class xv extends Pe{getProgramMetadata(t,r,a){return Ka(this.configuration).getProgramMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}listProgramMetadata(t,r,a){return Ka(this.configuration).listProgramMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}updateProgramMetadata(t,r,a,n){return Ka(this.configuration).updateProgramMetadata(t,r,a,n).then(s=>s(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,a,n){return Ka(this.configuration).uploadProgramMetadataImage(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const Ov=function(e){return{createRecipe:async(t,r,a,n,s={})=>{m("createRecipe","cell",t),m("createRecipe","programId",r),m("createRecipe","body",a);const o="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...s},d={},u={};V(c,e),await R(d,e),r!==void 0&&(u.program_id=r),n!==void 0&&(u.name=n),d["Content-Type"]="application/json",_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},c.data=oe(a,c,e),{url:A(i),options:c}},deleteRecipe:async(t,r,a={})=>{m("deleteRecipe","cell",t),m("deleteRecipe","recipe",r);const n="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},deleteRecipeList:async(t,r,a={})=>{m("deleteRecipeList","cell",t),m("deleteRecipeList","recipeIds",r);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),r&&(c.recipe_ids=r),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getRecipe:async(t,r,a={})=>{m("getRecipe","cell",t),m("getRecipe","recipe",r);const n="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},updateRecipe:async(t,r,a,n={})=>{m("updateRecipe","cell",t),m("updateRecipe","recipe",r),m("updateRecipe","body",a);const s="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}}}},Sa=function(e){const t=Ov(e);return{async createRecipe(r,a,n,s,o){var d,u;const i=await t.createRecipe(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["LibraryRecipeApi.createRecipe"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)},async deleteRecipe(r,a,n){var l,c;const s=await t.deleteRecipe(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deleteRecipeList(r,a,n){var l,c;const s=await t.deleteRecipeList(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getRecipe(r,a,n){var l,c;const s=await t.getRecipe(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryRecipeApi.getRecipe"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async updateRecipe(r,a,n,s){var c,d;const o=await t.updateRecipe(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["LibraryRecipeApi.updateRecipe"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class wv extends Pe{createRecipe(t,r,a,n,s){return Sa(this.configuration).createRecipe(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}deleteRecipe(t,r,a){return Sa(this.configuration).deleteRecipe(t,r,a).then(n=>n(this.axios,this.basePath))}deleteRecipeList(t,r,a){return Sa(this.configuration).deleteRecipeList(t,r,a).then(n=>n(this.axios,this.basePath))}getRecipe(t,r,a){return Sa(this.configuration).getRecipe(t,r,a).then(n=>n(this.axios,this.basePath))}updateRecipe(t,r,a,n){return Sa(this.configuration).updateRecipe(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const Cv=function(e){return{getRecipeMetadata:async(t,r,a={})=>{m("getRecipeMetadata","cell",t),m("getRecipeMetadata","recipe",r);const n="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listRecipeMetadata:async(t,r={})=>{m("listRecipeMetadata","cell",t);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},updateRecipeMetadata:async(t,r,a,n={})=>{m("updateRecipeMetadata","cell",t),m("updateRecipeMetadata","recipe",r),m("updateRecipeMetadata","updateRecipeMetadataRequest",a);const s="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},uploadRecipeMetadataImage:async(t,r,a,n={})=>{m("uploadRecipeMetadataImage","cell",t),m("uploadRecipeMetadataImage","recipe",r),m("uploadRecipeMetadataImage","file",a);const s="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={},u=new(e&&e.formDataCtor||FormData);V(l,e),await R(c,e),a!==void 0&&u.append("file",a),c["Content-Type"]="multipart/form-data",_(o,d);let p=i&&i.headers?i.headers:{};return l.headers={...c,...p,...n.headers},l.data=u,{url:A(o),options:l}}}},Qa=function(e){const t=Cv(e);return{async getRecipeMetadata(r,a,n){var l,c;const s=await t.getRecipeMetadata(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listRecipeMetadata(r,a){var i,l;const n=await t.listRecipeMetadata(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async updateRecipeMetadata(r,a,n,s){var c,d;const o=await t.updateRecipeMetadata(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async uploadRecipeMetadataImage(r,a,n,s){var c,d;const o=await t.uploadRecipeMetadataImage(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class Pv extends Pe{getRecipeMetadata(t,r,a){return Qa(this.configuration).getRecipeMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}listRecipeMetadata(t,r){return Qa(this.configuration).listRecipeMetadata(t,r).then(a=>a(this.axios,this.basePath))}updateRecipeMetadata(t,r,a,n){return Qa(this.configuration).updateRecipeMetadata(t,r,a,n).then(s=>s(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,a,n){return Qa(this.configuration).uploadRecipeMetadataImage(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const Vv=function(e){return{deleteAllMotions:async(t,r={})=>{m("deleteAllMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"DELETE",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},deleteMotion:async(t,r,a={})=>{m("deleteMotion","cell",t),m("deleteMotion","motion",r);const n="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},executeTrajectory:async(t,r,a={})=>{m("executeTrajectory","cell",t),m("executeTrajectory","executeTrajectoryRequest",r);const n="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},getMotionTrajectory:async(t,r,a,n,s={})=>{m("getMotionTrajectory","cell",t),m("getMotionTrajectory","motion",r),m("getMotionTrajectory","sampleTime",a);const o="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...s},d={},u={};V(c,e),await R(d,e),a!==void 0&&(u.sample_time=a),n!==void 0&&(u.responses_coordinate_system=n),_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},{url:A(i),options:c}},getMotionTrajectorySample:async(t,r,a,n,s={})=>{m("getMotionTrajectorySample","cell",t),m("getMotionTrajectorySample","motion",r);const o="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...s},d={},u={};V(c,e),await R(d,e),a!==void 0&&(u.location_on_trajectory=a),n!==void 0&&(u.response_coordinate_system=n),_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},{url:A(i),options:c}},getPlannedMotion:async(t,r,a,n={})=>{m("getPlannedMotion","cell",t),m("getPlannedMotion","motion",r);const s="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.sample_time=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{m("getPlanningMotionGroupModels","cell",t);const a="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},listMotions:async(t,r={})=>{m("listMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},loadPlannedMotion:async(t,r,a={})=>{m("loadPlannedMotion","cell",t),m("loadPlannedMotion","plannedMotion",r);const n="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},planCollisionFreePTP:async(t,r,a={})=>{m("planCollisionFreePTP","cell",t);const n="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},planMotion:async(t,r,a={})=>{m("planMotion","cell",t),m("planMotion","planRequest",r);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},planTrajectory:async(t,r,a={})=>{m("planTrajectory","cell",t);const n="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},stopExecution:async(t,r,a={})=>{m("stopExecution","cell",t),m("stopExecution","motion",r);const n="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"PUT",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},streamMove:async(t,r,a={})=>{m("streamMove","cell",t),m("streamMove","streamMoveRequest",r);const n="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},streamMoveBackward:async(t,r,a,n,s,o,i={})=>{m("streamMoveBackward","cell",t),m("streamMoveBackward","motion",r),m("streamMoveBackward","playbackSpeedInPercent",a);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,P);let d;e&&(d=e.baseOptions);const u={method:"GET",...d,...i},p={},f={};V(u,e),await R(p,e),a!==void 0&&(f.playback_speed_in_percent=a),n!==void 0&&(f.response_rate=n),s!==void 0&&(f.response_coordinate_system=s),o!==void 0&&(f.start_location_on_trajectory=o),_(c,f);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...i.headers},{url:A(c),options:u}},streamMoveForward:async(t,r,a,n,s,o,i={})=>{m("streamMoveForward","cell",t),m("streamMoveForward","motion",r),m("streamMoveForward","playbackSpeedInPercent",a);const l="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,P);let d;e&&(d=e.baseOptions);const u={method:"GET",...d,...i},p={},f={};V(u,e),await R(p,e),a!==void 0&&(f.playback_speed_in_percent=a),n!==void 0&&(f.response_rate=n),s!==void 0&&(f.response_coordinate_system=s),o!==void 0&&(f.start_location_on_trajectory=o),_(c,f);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...i.headers},{url:A(c),options:u}},streamMoveToTrajectoryViaJointPTP:async(t,r,a,n,s,o,i,l,c,d,u={})=>{m("streamMoveToTrajectoryViaJointPTP","cell",t),m("streamMoveToTrajectoryViaJointPTP","motion",r),m("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",a);const p="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),f=new URL(p,P);let g;e&&(g=e.baseOptions);const h={method:"GET",...g,...u},x={},E={};V(h,e),await R(x,e),a!==void 0&&(E.location_on_trajectory=a),n&&(E["limit_override.joint_velocity_limits.joints"]=n),s&&(E["limit_override.joint_acceleration_limits.joints"]=s),o!==void 0&&(E["limit_override.tcp_velocity_limit"]=o),i!==void 0&&(E["limit_override.tcp_acceleration_limit"]=i),l!==void 0&&(E["limit_override.tcp_orientation_velocity_limit"]=l),c!==void 0&&(E["limit_override.tcp_orientation_acceleration_limit"]=c),d!==void 0&&(E.responses_coordinate_system=d),_(f,E);let U=g&&g.headers?g.headers:{};return h.headers={...x,...U,...u.headers},{url:A(f),options:h}}}},ze=function(e){const t=Vv(e);return{async deleteAllMotions(r,a){var i,l;const n=await t.deleteAllMotions(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["MotionApi.deleteAllMotions"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async deleteMotion(r,a,n){var l,c;const s=await t.deleteMotion(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.deleteMotion"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async executeTrajectory(r,a,n){var l,c;const s=await t.executeTrajectory(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.executeTrajectory"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getMotionTrajectory(r,a,n,s,o){var d,u;const i=await t.getMotionTrajectory(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["MotionApi.getMotionTrajectory"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)},async getMotionTrajectorySample(r,a,n,s,o){var d,u;const i=await t.getMotionTrajectorySample(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["MotionApi.getMotionTrajectorySample"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)},async getPlannedMotion(r,a,n,s){var c,d;const o=await t.getPlannedMotion(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["MotionApi.getPlannedMotion"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async getPlanningMotionGroupModels(r,a){var i,l;const n=await t.getPlanningMotionGroupModels(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async listMotions(r,a){var i,l;const n=await t.listMotions(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["MotionApi.listMotions"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async loadPlannedMotion(r,a,n){var l,c;const s=await t.loadPlannedMotion(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.loadPlannedMotion"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async planCollisionFreePTP(r,a,n){var l,c;const s=await t.planCollisionFreePTP(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.planCollisionFreePTP"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async planMotion(r,a,n){var l,c;const s=await t.planMotion(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.planMotion"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async planTrajectory(r,a,n){var l,c;const s=await t.planTrajectory(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.planTrajectory"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async stopExecution(r,a,n){var l,c;const s=await t.stopExecution(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.stopExecution"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async streamMove(r,a,n){var l,c;const s=await t.streamMove(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.streamMove"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async streamMoveBackward(r,a,n,s,o,i,l){var p,f;const c=await t.streamMoveBackward(r,a,n,s,o,i,l),d=(e==null?void 0:e.serverIndex)??0,u=(f=(p=C["MotionApi.streamMoveBackward"])==null?void 0:p[d])==null?void 0:f.url;return(g,h)=>T(c,O,w,e)(g,u||h)},async streamMoveForward(r,a,n,s,o,i,l){var p,f;const c=await t.streamMoveForward(r,a,n,s,o,i,l),d=(e==null?void 0:e.serverIndex)??0,u=(f=(p=C["MotionApi.streamMoveForward"])==null?void 0:p[d])==null?void 0:f.url;return(g,h)=>T(c,O,w,e)(g,u||h)},async streamMoveToTrajectoryViaJointPTP(r,a,n,s,o,i,l,c,d,u,p){var x,E;const f=await t.streamMoveToTrajectoryViaJointPTP(r,a,n,s,o,i,l,c,d,u,p),g=(e==null?void 0:e.serverIndex)??0,h=(E=(x=C["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:x[g])==null?void 0:E.url;return(U,F)=>T(f,O,w,e)(U,h||F)}}};class Rv extends Pe{deleteAllMotions(t,r){return ze(this.configuration).deleteAllMotions(t,r).then(a=>a(this.axios,this.basePath))}deleteMotion(t,r,a){return ze(this.configuration).deleteMotion(t,r,a).then(n=>n(this.axios,this.basePath))}executeTrajectory(t,r,a){return ze(this.configuration).executeTrajectory(t,r,a).then(n=>n(this.axios,this.basePath))}getMotionTrajectory(t,r,a,n,s){return ze(this.configuration).getMotionTrajectory(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}getMotionTrajectorySample(t,r,a,n,s){return ze(this.configuration).getMotionTrajectorySample(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}getPlannedMotion(t,r,a,n){return ze(this.configuration).getPlannedMotion(t,r,a,n).then(s=>s(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return ze(this.configuration).getPlanningMotionGroupModels(t,r).then(a=>a(this.axios,this.basePath))}listMotions(t,r){return ze(this.configuration).listMotions(t,r).then(a=>a(this.axios,this.basePath))}loadPlannedMotion(t,r,a){return ze(this.configuration).loadPlannedMotion(t,r,a).then(n=>n(this.axios,this.basePath))}planCollisionFreePTP(t,r,a){return ze(this.configuration).planCollisionFreePTP(t,r,a).then(n=>n(this.axios,this.basePath))}planMotion(t,r,a){return ze(this.configuration).planMotion(t,r,a).then(n=>n(this.axios,this.basePath))}planTrajectory(t,r,a){return ze(this.configuration).planTrajectory(t,r,a).then(n=>n(this.axios,this.basePath))}stopExecution(t,r,a){return ze(this.configuration).stopExecution(t,r,a).then(n=>n(this.axios,this.basePath))}streamMove(t,r,a){return ze(this.configuration).streamMove(t,r,a).then(n=>n(this.axios,this.basePath))}streamMoveBackward(t,r,a,n,s,o,i){return ze(this.configuration).streamMoveBackward(t,r,a,n,s,o,i).then(l=>l(this.axios,this.basePath))}streamMoveForward(t,r,a,n,s,o,i){return ze(this.configuration).streamMoveForward(t,r,a,n,s,o,i).then(l=>l(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,a,n,s,o,i,l,c,d,u){return ze(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,a,n,s,o,i,l,c,d,u).then(p=>p(this.axios,this.basePath))}}const _v=function(e){return{activateAllMotionGroups:async(t,r,a={})=>{m("activateAllMotionGroups","cell",t),m("activateAllMotionGroups","controller",r);const n="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.controller=r),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},activateMotionGroup:async(t,r,a={})=>{m("activateMotionGroup","cell",t),m("activateMotionGroup","motionGroup",r);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.motion_group=r),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},deactivateMotionGroup:async(t,r,a={})=>{m("deactivateMotionGroup","cell",t),m("deactivateMotionGroup","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listMotionGroups:async(t,r={})=>{m("listMotionGroups","cell",t);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}}}},Ya=function(e){const t=_v(e);return{async activateAllMotionGroups(r,a,n){var l,c;const s=await t.activateAllMotionGroups(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async activateMotionGroup(r,a,n){var l,c;const s=await t.activateMotionGroup(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupApi.activateMotionGroup"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deactivateMotionGroup(r,a,n){var l,c;const s=await t.deactivateMotionGroup(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listMotionGroups(r,a){var i,l;const n=await t.listMotionGroups(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["MotionGroupApi.listMotionGroups"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)}}};class Av extends Pe{activateAllMotionGroups(t,r,a){return Ya(this.configuration).activateAllMotionGroups(t,r,a).then(n=>n(this.axios,this.basePath))}activateMotionGroup(t,r,a){return Ya(this.configuration).activateMotionGroup(t,r,a).then(n=>n(this.axios,this.basePath))}deactivateMotionGroup(t,r,a){return Ya(this.configuration).deactivateMotionGroup(t,r,a).then(n=>n(this.axios,this.basePath))}listMotionGroups(t,r){return Ya(this.configuration).listMotionGroups(t,r).then(a=>a(this.axios,this.basePath))}}const Tv=function(e){return{getActivePayload:async(t,r,a={})=>{m("getActivePayload","cell",t),m("getActivePayload","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getActiveTcp:async(t,r,a,n={})=>{m("getActiveTcp","cell",t),m("getActiveTcp","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.rotation_type=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},getCurrentMotionGroupState:async(t,r,a,n,s={})=>{m("getCurrentMotionGroupState","cell",t),m("getCurrentMotionGroupState","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...s},d={},u={};V(c,e),await R(d,e),a!==void 0&&(u.tcp=a),n!==void 0&&(u.response_coordinate_system=n),_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},{url:A(i),options:c}},getInfoCapabilities:async(t,r,a={})=>{m("getInfoCapabilities","cell",t),m("getInfoCapabilities","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getMotionGroupSpecification:async(t,r,a={})=>{m("getMotionGroupSpecification","cell",t),m("getMotionGroupSpecification","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getMounting:async(t,r,a={})=>{m("getMounting","cell",t),m("getMounting","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getOptimizerConfiguration:async(t,r,a,n={})=>{m("getOptimizerConfiguration","cell",t),m("getOptimizerConfiguration","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.tcp=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},getSafetySetup:async(t,r,a={})=>{m("getSafetySetup","cell",t),m("getSafetySetup","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listPayloads:async(t,r,a={})=>{m("listPayloads","cell",t),m("listPayloads","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listTcps:async(t,r,a,n={})=>{m("listTcps","cell",t),m("listTcps","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.rotation_type=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},streamMotionGroupState:async(t,r,a,n,s,o={})=>{m("streamMotionGroupState","cell",t),m("streamMotionGroupState","motionGroup",r);const i="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(i,P);let c;e&&(c=e.baseOptions);const d={method:"GET",...c,...o},u={},p={};V(d,e),await R(u,e),a!==void 0&&(p.response_rate=a),n!==void 0&&(p.response_coordinate_system=n),s!==void 0&&(p.tcp=s),_(l,p);let f=c&&c.headers?c.headers:{};return d.headers={...u,...f,...o.headers},{url:A(l),options:d}}}},pt=function(e){const t=Tv(e);return{async getActivePayload(r,a,n){var l,c;const s=await t.getActivePayload(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getActiveTcp(r,a,n,s){var c,d;const o=await t.getActiveTcp(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async getCurrentMotionGroupState(r,a,n,s,o){var d,u;const i=await t.getCurrentMotionGroupState(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)},async getInfoCapabilities(r,a,n){var l,c;const s=await t.getInfoCapabilities(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getMotionGroupSpecification(r,a,n){var l,c;const s=await t.getMotionGroupSpecification(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getMounting(r,a,n){var l,c;const s=await t.getMounting(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getMounting"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getOptimizerConfiguration(r,a,n,s){var c,d;const o=await t.getOptimizerConfiguration(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async getSafetySetup(r,a,n){var l,c;const s=await t.getSafetySetup(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listPayloads(r,a,n){var l,c;const s=await t.listPayloads(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.listPayloads"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listTcps(r,a,n,s){var c,d;const o=await t.listTcps(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["MotionGroupInfosApi.listTcps"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async streamMotionGroupState(r,a,n,s,o,i){var u,p;const l=await t.streamMotionGroupState(r,a,n,s,o,i),c=(e==null?void 0:e.serverIndex)??0,d=(p=(u=C["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:u[c])==null?void 0:p.url;return(f,g)=>T(l,O,w,e)(f,d||g)}}};class Ev extends Pe{getActivePayload(t,r,a){return pt(this.configuration).getActivePayload(t,r,a).then(n=>n(this.axios,this.basePath))}getActiveTcp(t,r,a,n){return pt(this.configuration).getActiveTcp(t,r,a,n).then(s=>s(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,a,n,s){return pt(this.configuration).getCurrentMotionGroupState(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}getInfoCapabilities(t,r,a){return pt(this.configuration).getInfoCapabilities(t,r,a).then(n=>n(this.axios,this.basePath))}getMotionGroupSpecification(t,r,a){return pt(this.configuration).getMotionGroupSpecification(t,r,a).then(n=>n(this.axios,this.basePath))}getMounting(t,r,a){return pt(this.configuration).getMounting(t,r,a).then(n=>n(this.axios,this.basePath))}getOptimizerConfiguration(t,r,a,n){return pt(this.configuration).getOptimizerConfiguration(t,r,a,n).then(s=>s(this.axios,this.basePath))}getSafetySetup(t,r,a){return pt(this.configuration).getSafetySetup(t,r,a).then(n=>n(this.axios,this.basePath))}listPayloads(t,r,a){return pt(this.configuration).listPayloads(t,r,a).then(n=>n(this.axios,this.basePath))}listTcps(t,r,a,n){return pt(this.configuration).listTcps(t,r,a,n).then(s=>s(this.axios,this.basePath))}streamMotionGroupState(t,r,a,n,s,o){return pt(this.configuration).streamMotionGroupState(t,r,a,n,s,o).then(i=>i(this.axios,this.basePath))}}const Iv=function(e){return{directionJogging:async(t,r,a={})=>{m("directionJogging","cell",t),m("directionJogging","directionJoggingRequest",r);const n="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},getJoggingCapabilities:async(t,r,a={})=>{m("getJoggingCapabilities","cell",t),m("getJoggingCapabilities","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},jointJogging:async(t,r,a={})=>{m("jointJogging","cell",t),m("jointJogging","jointJoggingRequest",r);const n="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},stopJogging:async(t,r,a={})=>{m("stopJogging","cell",t),m("stopJogging","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"PUT",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}}}},Xa=function(e){const t=Iv(e);return{async directionJogging(r,a,n){var l,c;const s=await t.directionJogging(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getJoggingCapabilities(r,a,n){var l,c;const s=await t.getJoggingCapabilities(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async jointJogging(r,a,n){var l,c;const s=await t.jointJogging(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async stopJogging(r,a,n){var l,c;const s=await t.stopJogging(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)}}};class Mv extends Pe{directionJogging(t,r,a){return Xa(this.configuration).directionJogging(t,r,a).then(n=>n(this.axios,this.basePath))}getJoggingCapabilities(t,r,a){return Xa(this.configuration).getJoggingCapabilities(t,r,a).then(n=>n(this.axios,this.basePath))}jointJogging(t,r,a){return Xa(this.configuration).jointJogging(t,r,a).then(n=>n(this.axios,this.basePath))}stopJogging(t,r,a){return Xa(this.configuration).stopJogging(t,r,a).then(n=>n(this.axios,this.basePath))}}const jv=function(e){return{calculateAllInverseKinematic:async(t,r,a,n={})=>{m("calculateAllInverseKinematic","cell",t),m("calculateAllInverseKinematic","motionGroup",r),m("calculateAllInverseKinematic","allJointPositionsRequest",a);const s="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},calculateForwardKinematic:async(t,r,a,n={})=>{m("calculateForwardKinematic","cell",t),m("calculateForwardKinematic","motionGroup",r),m("calculateForwardKinematic","tcpPoseRequest",a);const s="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},calculateInverseKinematic:async(t,r,a,n={})=>{m("calculateInverseKinematic","cell",t),m("calculateInverseKinematic","motionGroup",r),m("calculateInverseKinematic","jointPositionRequest",a);const s="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},getKinematicCapabilities:async(t,r,a={})=>{m("getKinematicCapabilities","cell",t),m("getKinematicCapabilities","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}}}},Za=function(e){const t=jv(e);return{async calculateAllInverseKinematic(r,a,n,s){var c,d;const o=await t.calculateAllInverseKinematic(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async calculateForwardKinematic(r,a,n,s){var c,d;const o=await t.calculateForwardKinematic(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async calculateInverseKinematic(r,a,n,s){var c,d;const o=await t.calculateInverseKinematic(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async getKinematicCapabilities(r,a,n){var l,c;const s=await t.getKinematicCapabilities(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)}}};class $v extends Pe{calculateAllInverseKinematic(t,r,a,n){return Za(this.configuration).calculateAllInverseKinematic(t,r,a,n).then(s=>s(this.axios,this.basePath))}calculateForwardKinematic(t,r,a,n){return Za(this.configuration).calculateForwardKinematic(t,r,a,n).then(s=>s(this.axios,this.basePath))}calculateInverseKinematic(t,r,a,n){return Za(this.configuration).calculateInverseKinematic(t,r,a,n).then(s=>s(this.axios,this.basePath))}getKinematicCapabilities(t,r,a){return Za(this.configuration).getKinematicCapabilities(t,r,a).then(n=>n(this.axios,this.basePath))}}const Uv=function(e){return{createProgramRunner:async(t,r,a={})=>{m("createProgramRunner","cell",t),m("createProgramRunner","request",r);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="text/plain",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},executeProgram:async(t,r,a={})=>{m("executeProgram","cell",t),m("executeProgram","codeWithArguments",r);const n="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},getProgramRunner:async(t,r,a={})=>{m("getProgramRunner","cell",t),m("getProgramRunner","runner",r);const n="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listProgramRunners:async(t,r={})=>{m("listProgramRunners","cell",t);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},migrateProgram:async(t,r,a={})=>{m("migrateProgram","cell",t),m("migrateProgram","request1",r);const n="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="text/plain",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},planProgram:async(t,r,a,n={})=>{m("planProgram","cell",t),m("planProgram","request",r);const s="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.identifier=a),c["Content-Type"]="text/plain",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(r,l,e),{url:A(o),options:l}},stopAllProgramRunner:async(t,r={})=>{m("stopAllProgramRunner","cell",t);const a="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"POST",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},stopProgramRunner:async(t,r,a={})=>{m("stopProgramRunner","cell",t),m("stopProgramRunner","runner",r);const n="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}}}},Jt=function(e){const t=Uv(e);return{async createProgramRunner(r,a,n){var l,c;const s=await t.createProgramRunner(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.createProgramRunner"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async executeProgram(r,a,n){var l,c;const s=await t.executeProgram(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.executeProgram"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getProgramRunner(r,a,n){var l,c;const s=await t.getProgramRunner(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.getProgramRunner"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listProgramRunners(r,a){var i,l;const n=await t.listProgramRunners(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["ProgramApi.listProgramRunners"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async migrateProgram(r,a,n){var l,c;const s=await t.migrateProgram(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.migrateProgram"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async planProgram(r,a,n,s){var c,d;const o=await t.planProgram(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ProgramApi.planProgram"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async stopAllProgramRunner(r,a){var i,l;const n=await t.stopAllProgramRunner(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["ProgramApi.stopAllProgramRunner"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async stopProgramRunner(r,a,n){var l,c;const s=await t.stopProgramRunner(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.stopProgramRunner"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)}}};class Lv extends Pe{createProgramRunner(t,r,a){return Jt(this.configuration).createProgramRunner(t,r,a).then(n=>n(this.axios,this.basePath))}executeProgram(t,r,a){return Jt(this.configuration).executeProgram(t,r,a).then(n=>n(this.axios,this.basePath))}getProgramRunner(t,r,a){return Jt(this.configuration).getProgramRunner(t,r,a).then(n=>n(this.axios,this.basePath))}listProgramRunners(t,r){return Jt(this.configuration).listProgramRunners(t,r).then(a=>a(this.axios,this.basePath))}migrateProgram(t,r,a){return Jt(this.configuration).migrateProgram(t,r,a).then(n=>n(this.axios,this.basePath))}planProgram(t,r,a,n){return Jt(this.configuration).planProgram(t,r,a,n).then(s=>s(this.axios,this.basePath))}stopAllProgramRunner(t,r){return Jt(this.configuration).stopAllProgramRunner(t,r).then(a=>a(this.axios,this.basePath))}stopProgramRunner(t,r,a){return Jt(this.configuration).stopProgramRunner(t,r,a).then(n=>n(this.axios,this.basePath))}}const kv=function(e){return{clearProgramsValues:async(t,r={})=>{m("clearProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"DELETE",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},createProgramsValue:async(t,r,a={})=>{m("createProgramsValue","cell",t),m("createProgramsValue","requestBody",r);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"POST",...o,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},i.data=oe(r,i,e),{url:A(s),options:i}},deleteProgramValue:async(t,r,a={})=>{m("deleteProgramValue","cell",t),m("deleteProgramValue","key",r);const n="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getProgramValue:async(t,r,a={})=>{m("getProgramValue","cell",t),m("getProgramValue","key",r);const n="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listProgramsValues:async(t,r={})=>{m("listProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},updateProgramValue:async(t,r,a,n={})=>{m("updateProgramValue","cell",t),m("updateProgramValue","key",r),m("updateProgramValue","value",a);const s="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}}}},jr=function(e){const t=kv(e);return{async clearProgramsValues(r,a){var i,l;const n=await t.clearProgramsValues(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async createProgramsValue(r,a,n){var l,c;const s=await t.createProgramsValue(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramValuesApi.createProgramsValue"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deleteProgramValue(r,a,n){var l,c;const s=await t.deleteProgramValue(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getProgramValue(r,a,n){var l,c;const s=await t.getProgramValue(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramValuesApi.getProgramValue"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listProgramsValues(r,a){var i,l;const n=await t.listProgramsValues(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["ProgramValuesApi.listProgramsValues"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async updateProgramValue(r,a,n,s){var c,d;const o=await t.updateProgramValue(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["ProgramValuesApi.updateProgramValue"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class Bv extends Pe{clearProgramsValues(t,r){return jr(this.configuration).clearProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}createProgramsValue(t,r,a){return jr(this.configuration).createProgramsValue(t,r,a).then(n=>n(this.axios,this.basePath))}deleteProgramValue(t,r,a){return jr(this.configuration).deleteProgramValue(t,r,a).then(n=>n(this.axios,this.basePath))}getProgramValue(t,r,a){return jr(this.configuration).getProgramValue(t,r,a).then(n=>n(this.axios,this.basePath))}listProgramsValues(t,r){return jr(this.configuration).listProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}updateProgramValue(t,r,a,n){return jr(this.configuration).updateProgramValue(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const Fv=function(e){return{deleteStoredCollider:async(t,r,a={})=>{m("deleteStoredCollider","cell",t),m("deleteStoredCollider","collider",r);const n="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},deleteStoredCollisionLinkChain:async(t,r,a={})=>{m("deleteStoredCollisionLinkChain","cell",t),m("deleteStoredCollisionLinkChain","linkChain",r);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,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},deleteStoredCollisionTool:async(t,r,a={})=>{m("deleteStoredCollisionTool","cell",t),m("deleteStoredCollisionTool","tool",r);const n="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getDefaultLinkChain:async(t,r,a={})=>{m("getDefaultLinkChain","cell",t),m("getDefaultLinkChain","motionGroupModel",r);const n="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getStoredCollider:async(t,r,a={})=>{m("getStoredCollider","cell",t),m("getStoredCollider","collider",r);const n="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getStoredCollisionLinkChain:async(t,r,a={})=>{m("getStoredCollisionLinkChain","cell",t),m("getStoredCollisionLinkChain","linkChain",r);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,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getStoredCollisionTool:async(t,r,a={})=>{m("getStoredCollisionTool","cell",t),m("getStoredCollisionTool","tool",r);const n="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listCollisionLinkChains:async(t,r={})=>{m("listCollisionLinkChains","cell",t);const a="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},listStoredColliders:async(t,r={})=>{m("listStoredColliders","cell",t);const a="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},listStoredCollisionTools:async(t,r={})=>{m("listStoredCollisionTools","cell",t);const a="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},storeCollider:async(t,r,a,n={})=>{m("storeCollider","cell",t),m("storeCollider","collider",r),m("storeCollider","collider2",a);const s="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},storeCollisionLinkChain:async(t,r,a,n={})=>{m("storeCollisionLinkChain","cell",t),m("storeCollisionLinkChain","linkChain",r),m("storeCollisionLinkChain","collider",a);const s="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},storeCollisionTool:async(t,r,a,n={})=>{m("storeCollisionTool","cell",t),m("storeCollisionTool","tool",r),m("storeCollisionTool","requestBody",a);const s="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}}}},tt=function(e){const t=Fv(e);return{async deleteStoredCollider(r,a,n){var l,c;const s=await t.deleteStoredCollider(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deleteStoredCollisionLinkChain(r,a,n){var l,c;const s=await t.deleteStoredCollisionLinkChain(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async deleteStoredCollisionTool(r,a,n){var l,c;const s=await t.deleteStoredCollisionTool(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getDefaultLinkChain(r,a,n){var l,c;const s=await t.getDefaultLinkChain(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getStoredCollider(r,a,n){var l,c;const s=await t.getStoredCollider(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getStoredCollisionLinkChain(r,a,n){var l,c;const s=await t.getStoredCollisionLinkChain(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getStoredCollisionTool(r,a,n){var l,c;const s=await t.getStoredCollisionTool(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listCollisionLinkChains(r,a){var i,l;const n=await t.listCollisionLinkChains(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async listStoredColliders(r,a){var i,l;const n=await t.listStoredColliders(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async listStoredCollisionTools(r,a){var i,l;const n=await t.listStoredCollisionTools(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async storeCollider(r,a,n,s){var c,d;const o=await t.storeCollider(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async storeCollisionLinkChain(r,a,n,s){var c,d;const o=await t.storeCollisionLinkChain(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async storeCollisionTool(r,a,n,s){var c,d;const o=await t.storeCollisionTool(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class Nv extends Pe{deleteStoredCollider(t,r,a){return tt(this.configuration).deleteStoredCollider(t,r,a).then(n=>n(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,a){return tt(this.configuration).deleteStoredCollisionLinkChain(t,r,a).then(n=>n(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,a){return tt(this.configuration).deleteStoredCollisionTool(t,r,a).then(n=>n(this.axios,this.basePath))}getDefaultLinkChain(t,r,a){return tt(this.configuration).getDefaultLinkChain(t,r,a).then(n=>n(this.axios,this.basePath))}getStoredCollider(t,r,a){return tt(this.configuration).getStoredCollider(t,r,a).then(n=>n(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,a){return tt(this.configuration).getStoredCollisionLinkChain(t,r,a).then(n=>n(this.axios,this.basePath))}getStoredCollisionTool(t,r,a){return tt(this.configuration).getStoredCollisionTool(t,r,a).then(n=>n(this.axios,this.basePath))}listCollisionLinkChains(t,r){return tt(this.configuration).listCollisionLinkChains(t,r).then(a=>a(this.axios,this.basePath))}listStoredColliders(t,r){return tt(this.configuration).listStoredColliders(t,r).then(a=>a(this.axios,this.basePath))}listStoredCollisionTools(t,r){return tt(this.configuration).listStoredCollisionTools(t,r).then(a=>a(this.axios,this.basePath))}storeCollider(t,r,a,n){return tt(this.configuration).storeCollider(t,r,a,n).then(s=>s(this.axios,this.basePath))}storeCollisionLinkChain(t,r,a,n){return tt(this.configuration).storeCollisionLinkChain(t,r,a,n).then(s=>s(this.axios,this.basePath))}storeCollisionTool(t,r,a,n){return tt(this.configuration).storeCollisionTool(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const Dv=function(e){return{deleteStoredCollisionScene:async(t,r,a={})=>{m("deleteStoredCollisionScene","cell",t),m("deleteStoredCollisionScene","scene",r);const n="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getStoredCollisionScene:async(t,r,a={})=>{m("getStoredCollisionScene","cell",t),m("getStoredCollisionScene","scene",r);const n="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listStoredCollisionScenes:async(t,r={})=>{m("listStoredCollisionScenes","cell",t);const a="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},storeCollisionScene:async(t,r,a,n={})=>{m("storeCollisionScene","cell",t),m("storeCollisionScene","scene",r),m("storeCollisionScene","collisionSceneAssembly",a);const s="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}}}},en=function(e){const t=Dv(e);return{async deleteStoredCollisionScene(r,a,n){var l,c;const s=await t.deleteStoredCollisionScene(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getStoredCollisionScene(r,a,n){var l,c;const s=await t.getStoredCollisionScene(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listStoredCollisionScenes(r,a){var i,l;const n=await t.listStoredCollisionScenes(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async storeCollisionScene(r,a,n,s){var c,d;const o=await t.storeCollisionScene(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class zv extends Pe{deleteStoredCollisionScene(t,r,a){return en(this.configuration).deleteStoredCollisionScene(t,r,a).then(n=>n(this.axios,this.basePath))}getStoredCollisionScene(t,r,a){return en(this.configuration).getStoredCollisionScene(t,r,a).then(n=>n(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return en(this.configuration).listStoredCollisionScenes(t,r).then(a=>a(this.axios,this.basePath))}storeCollisionScene(t,r,a,n){return en(this.configuration).storeCollisionScene(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const Gv=function(e){return{clearAllObjects:async(t,r={})=>{m("clearAllObjects","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"DELETE",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},deleteObject:async(t,r,a={})=>{m("deleteObject","cell",t),m("deleteObject","key",r);const n="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"DELETE",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getObject:async(t,r,a={})=>{m("getObject","cell",t),m("getObject","key",r);const n="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getObjectMetadata:async(t,r,a={})=>{m("getObjectMetadata","cell",t),m("getObjectMetadata","key",r);const n="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"HEAD",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listAllObjectKeys:async(t,r={})=>{m("listAllObjectKeys","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},storeObject:async(t,r,a,n,s={})=>{m("storeObject","cell",t),m("storeObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},d={},u={},p=new(e&&e.formDataCtor||FormData);V(c,e),await R(d,e),n!==void 0&&p.append("AnyValue",new Blob([JSON.stringify(n)],{type:"application/json"})),d["Content-Type"]="multipart/form-data",a!=null&&(d["X-Metadata"]=typeof a=="string"?a:JSON.stringify(a)),_(i,u);let f=l&&l.headers?l.headers:{};return c.headers={...d,...f,...s.headers},c.data=p,{url:A(i),options:c}}}},$r=function(e){const t=Gv(e);return{async clearAllObjects(r,a){var i,l;const n=await t.clearAllObjects(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["StoreObjectApi.clearAllObjects"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async deleteObject(r,a,n){var l,c;const s=await t.deleteObject(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreObjectApi.deleteObject"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getObject(r,a,n){var l,c;const s=await t.getObject(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreObjectApi.getObject"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getObjectMetadata(r,a,n){var l,c;const s=await t.getObjectMetadata(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreObjectApi.getObjectMetadata"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listAllObjectKeys(r,a){var i,l;const n=await t.listAllObjectKeys(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async storeObject(r,a,n,s,o){var d,u;const i=await t.storeObject(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["StoreObjectApi.storeObject"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)}}};class Jv extends Pe{clearAllObjects(t,r){return $r(this.configuration).clearAllObjects(t,r).then(a=>a(this.axios,this.basePath))}deleteObject(t,r,a){return $r(this.configuration).deleteObject(t,r,a).then(n=>n(this.axios,this.basePath))}getObject(t,r,a){return $r(this.configuration).getObject(t,r,a).then(n=>n(this.axios,this.basePath))}getObjectMetadata(t,r,a){return $r(this.configuration).getObjectMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}listAllObjectKeys(t,r){return $r(this.configuration).listAllObjectKeys(t,r).then(a=>a(this.axios,this.basePath))}storeObject(t,r,a,n,s){return $r(this.configuration).storeObject(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}}const Hv=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{m("checkNovaVersionUpdate","channel",t);const a="/system/update",n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"GET",...s,...r},i={},l={};V(o,e),await R(i,e),t!==void 0&&(l.channel=t),_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},{url:A(n),options:o}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",a=new URL(r,P);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...t},o={},i={};V(s,e),await R(o,e),_(a,i);let l=n&&n.headers?n.headers:{};return s.headers={...o,...l,...t.headers},{url:A(a),options:s}},getSystemStatus:async(t={})=>{const r="/system/status",a=new URL(r,P);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...t},o={},i={};V(s,e),await R(o,e),_(a,i);let l=n&&n.headers?n.headers:{};return s.headers={...o,...l,...t.headers},{url:A(a),options:s}},getSystemVersion:async(t={})=>{const r="/system/version",a=new URL(r,P);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...t},o={},i={};V(s,e),await R(o,e),_(a,i);let l=n&&n.headers?n.headers:{};return s.headers={...o,...l,...t.headers},{url:A(a),options:s}},updateNovaVersion:async(t,r={})=>{m("updateNovaVersion","updateNovaVersionRequest",t);const a="/system/update",n=new URL(a,P);let s;e&&(s=e.baseOptions);const o={method:"PUT",...s,...r},i={},l={};V(o,e),await R(i,e),i["Content-Type"]="application/json",_(n,l);let c=s&&s.headers?s.headers:{};return o.headers={...i,...c,...r.headers},o.data=oe(t,o,e),{url:A(n),options:o}}}},va=function(e){const t=Hv(e);return{async checkNovaVersionUpdate(r,a){var i,l;const n=await t.checkNovaVersionUpdate(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)},async getDiagnosePackage(r){var o,i;const a=await t.getDiagnosePackage(r),n=(e==null?void 0:e.serverIndex)??0,s=(i=(o=C["SystemApi.getDiagnosePackage"])==null?void 0:o[n])==null?void 0:i.url;return(l,c)=>T(a,O,w,e)(l,s||c)},async getSystemStatus(r){var o,i;const a=await t.getSystemStatus(r),n=(e==null?void 0:e.serverIndex)??0,s=(i=(o=C["SystemApi.getSystemStatus"])==null?void 0:o[n])==null?void 0:i.url;return(l,c)=>T(a,O,w,e)(l,s||c)},async getSystemVersion(r){var o,i;const a=await t.getSystemVersion(r),n=(e==null?void 0:e.serverIndex)??0,s=(i=(o=C["SystemApi.getSystemVersion"])==null?void 0:o[n])==null?void 0:i.url;return(l,c)=>T(a,O,w,e)(l,s||c)},async updateNovaVersion(r,a){var i,l;const n=await t.updateNovaVersion(r,a),s=(e==null?void 0:e.serverIndex)??0,o=(l=(i=C["SystemApi.updateNovaVersion"])==null?void 0:i[s])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,o||d)}}};class qv extends Pe{checkNovaVersionUpdate(t,r){return va(this.configuration).checkNovaVersionUpdate(t,r).then(a=>a(this.axios,this.basePath))}getDiagnosePackage(t){return va(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return va(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return va(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return va(this.configuration).updateNovaVersion(t,r).then(a=>a(this.axios,this.basePath))}}const Wv=function(e){return{getMotionGroupState:async(t,r,a,n={})=>{m("getMotionGroupState","cell",t),m("getMotionGroupState","controller",r),m("getMotionGroupState","id",a);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))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},getMotionGroups:async(t,r,a={})=>{m("getMotionGroups","cell",t),m("getMotionGroups","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getVirtualRobotIOValue:async(t,r,a,n={})=>{m("getVirtualRobotIOValue","cell",t),m("getVirtualRobotIOValue","controller",r),m("getVirtualRobotIOValue","io",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(a))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},listIOs:async(t,r,a={})=>{m("listIOs","cell",t),m("listIOs","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},setMotionGroupState:async(t,r,a,n,s={})=>{m("setMotionGroupState","cell",t),m("setMotionGroupState","controller",r),m("setMotionGroupState","id",a),m("setMotionGroupState","motionGroupJoints",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},d={},u={};V(c,e),await R(d,e),d["Content-Type"]="application/json",_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},c.data=oe(n,c,e),{url:A(i),options:c}},setVirtualRobotIOValue:async(t,r,a,n,s,o,i={})=>{m("setVirtualRobotIOValue","cell",t),m("setVirtualRobotIOValue","controller",r),m("setVirtualRobotIOValue","io",a);const l="/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(l,P);let d;e&&(d=e.baseOptions);const u={method:"PUT",...d,...i},p={},f={};V(u,e),await R(p,e),n!==void 0&&(f.bool=n),s!==void 0&&(f.integer=s),o!==void 0&&(f.double=o),_(c,f);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...i.headers},{url:A(c),options:u}}}},Ur=function(e){const t=Wv(e);return{async getMotionGroupState(r,a,n,s){var c,d;const o=await t.getMotionGroupState(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async getMotionGroups(r,a,n){var l,c;const s=await t.getMotionGroups(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotApi.getMotionGroups"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getVirtualRobotIOValue(r,a,n,s){var c,d;const o=await t.getVirtualRobotIOValue(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async listIOs(r,a,n){var l,c;const s=await t.listIOs(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotApi.listIOs"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async setMotionGroupState(r,a,n,s,o){var d,u;const i=await t.setMotionGroupState(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotApi.setMotionGroupState"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)},async setVirtualRobotIOValue(r,a,n,s,o,i,l){var p,f;const c=await t.setVirtualRobotIOValue(r,a,n,s,o,i,l),d=(e==null?void 0:e.serverIndex)??0,u=(f=(p=C["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:p[d])==null?void 0:f.url;return(g,h)=>T(c,O,w,e)(g,u||h)}}};class Kv extends Pe{getMotionGroupState(t,r,a,n){return Ur(this.configuration).getMotionGroupState(t,r,a,n).then(s=>s(this.axios,this.basePath))}getMotionGroups(t,r,a){return Ur(this.configuration).getMotionGroups(t,r,a).then(n=>n(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,a,n){return Ur(this.configuration).getVirtualRobotIOValue(t,r,a,n).then(s=>s(this.axios,this.basePath))}listIOs(t,r,a){return Ur(this.configuration).listIOs(t,r,a).then(n=>n(this.axios,this.basePath))}setMotionGroupState(t,r,a,n,s){return Ur(this.configuration).setMotionGroupState(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,a,n,s,o,i){return Ur(this.configuration).setVirtualRobotIOValue(t,r,a,n,s,o,i).then(l=>l(this.axios,this.basePath))}}const Qv=function(e){return{externalJointsStream:async(t,r,a,n={})=>{m("externalJointsStream","cell",t),m("externalJointsStream","controller",r),m("externalJointsStream","externalJointStreamDatapoint",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},getMotionGroupBehavior:async(t,r,a,n={})=>{m("getMotionGroupBehavior","cell",t),m("getMotionGroupBehavior","controller",r),m("getMotionGroupBehavior","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))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},setMotionGroupBehavior:async(t,r,a,n,s={})=>{m("setMotionGroupBehavior","cell",t),m("setMotionGroupBehavior","controller",r),m("setMotionGroupBehavior","id",a);const o="/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))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},d={},u={};V(c,e),await R(d,e),n!==void 0&&(u.behavior=n),_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},{url:A(i),options:c}}}},_s=function(e){const t=Qv(e);return{async externalJointsStream(r,a,n,s){var c,d;const o=await t.externalJointsStream(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async getMotionGroupBehavior(r,a,n,s){var c,d;const o=await t.getMotionGroupBehavior(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async setMotionGroupBehavior(r,a,n,s,o){var d,u;const i=await t.setMotionGroupBehavior(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)}}};class Yv extends Pe{externalJointsStream(t,r,a,n){return _s(this.configuration).externalJointsStream(t,r,a,n).then(s=>s(this.axios,this.basePath))}getMotionGroupBehavior(t,r,a,n){return _s(this.configuration).getMotionGroupBehavior(t,r,a,n).then(s=>s(this.axios,this.basePath))}setMotionGroupBehavior(t,r,a,n,s){return _s(this.configuration).setMotionGroupBehavior(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}}const Xv=function(e){return{getCycleTime:async(t,r,a={})=>{m("getCycleTime","cell",t),m("getCycleTime","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getEStop:async(t,r,a={})=>{m("getEStop","cell",t),m("getEStop","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},getOperationMode:async(t,r,a={})=>{m("getOperationMode","cell",t),m("getOperationMode","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},pushEStop:async(t,r,a={})=>{m("pushEStop","cell",t),m("pushEStop","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"PUT",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},releaseEStop:async(t,r,a={})=>{m("releaseEStop","cell",t),m("releaseEStop","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"PUT",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},setOperationMode:async(t,r,a,n={})=>{m("setOperationMode","cell",t),m("setOperationMode","controller",r),m("setOperationMode","mode",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),a!==void 0&&(d.mode=a),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}}}},Lr=function(e){const t=Xv(e);return{async getCycleTime(r,a,n){var l,c;const s=await t.getCycleTime(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getEStop(r,a,n){var l,c;const s=await t.getEStop(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.getEStop"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async getOperationMode(r,a,n){var l,c;const s=await t.getOperationMode(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async pushEStop(r,a,n){var l,c;const s=await t.pushEStop(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.pushEStop"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async releaseEStop(r,a,n){var l,c;const s=await t.releaseEStop(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async setOperationMode(r,a,n,s){var c,d;const o=await t.setOperationMode(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)}}};class Zv extends Pe{getCycleTime(t,r,a){return Lr(this.configuration).getCycleTime(t,r,a).then(n=>n(this.axios,this.basePath))}getEStop(t,r,a){return Lr(this.configuration).getEStop(t,r,a).then(n=>n(this.axios,this.basePath))}getOperationMode(t,r,a){return Lr(this.configuration).getOperationMode(t,r,a).then(n=>n(this.axios,this.basePath))}pushEStop(t,r,a){return Lr(this.configuration).pushEStop(t,r,a).then(n=>n(this.axios,this.basePath))}releaseEStop(t,r,a){return Lr(this.configuration).releaseEStop(t,r,a).then(n=>n(this.axios,this.basePath))}setOperationMode(t,r,a,n){return Lr(this.configuration).setOperationMode(t,r,a,n).then(s=>s(this.axios,this.basePath))}}const e1=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,a,n={})=>{m("addVirtualRobotCoordinateSystem","cell",t),m("addVirtualRobotCoordinateSystem","controller",r),m("addVirtualRobotCoordinateSystem","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...n},c={},d={};V(l,e),await R(c,e),c["Content-Type"]="application/json",_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=oe(a,l,e),{url:A(o),options:l}},addVirtualRobotTcp:async(t,r,a,n,s={})=>{m("addVirtualRobotTcp","cell",t),m("addVirtualRobotTcp","controller",r),m("addVirtualRobotTcp","id",a),m("addVirtualRobotTcp","robotTcp",n);const o="/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))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},d={},u={};V(c,e),await R(d,e),d["Content-Type"]="application/json",_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},c.data=oe(n,c,e),{url:A(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,a,n,s={})=>{m("deleteVirtualRobotCoordinateSystem","cell",t),m("deleteVirtualRobotCoordinateSystem","controller",r),m("deleteVirtualRobotCoordinateSystem","coordinateSystem",a);const o="/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))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...s},d={},u={};V(c,e),await R(d,e),n!==void 0&&(u.delete_dependent=n),_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},{url:A(i),options:c}},deleteVirtualRobotTcp:async(t,r,a,n,s={})=>{m("deleteVirtualRobotTcp","cell",t),m("deleteVirtualRobotTcp","controller",r),m("deleteVirtualRobotTcp","id",a),m("deleteVirtualRobotTcp","tcp",n);const o="/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(n))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...s},d={},u={};V(c,e),await R(d,e),_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},{url:A(i),options:c}},getVirtualRobotMounting:async(t,r,a,n={})=>{m("getVirtualRobotMounting","cell",t),m("getVirtualRobotMounting","controller",r),m("getVirtualRobotMounting","id",a);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))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},listVirtualRobotCoordinateSystems:async(t,r,a={})=>{m("listVirtualRobotCoordinateSystems","cell",t),m("listVirtualRobotCoordinateSystems","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,P);let o;e&&(o=e.baseOptions);const i={method:"GET",...o,...a},l={},c={};V(i,e),await R(l,e),_(s,c);let d=o&&o.headers?o.headers:{};return i.headers={...l,...d,...a.headers},{url:A(s),options:i}},listVirtualRobotTcps:async(t,r,a,n={})=>{m("listVirtualRobotTcps","cell",t),m("listVirtualRobotTcps","controller",r),m("listVirtualRobotTcps","id",a);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))),o=new URL(s,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(o,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(o),options:l}},setVirtualRobotMounting:async(t,r,a,n,s={})=>{m("setVirtualRobotMounting","cell",t),m("setVirtualRobotMounting","controller",r),m("setVirtualRobotMounting","id",a),m("setVirtualRobotMounting","coordinateSystem",n);const o="/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))),i=new URL(o,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},d={},u={};V(c,e),await R(d,e),d["Content-Type"]="application/json",_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...s.headers},c.data=oe(n,c,e),{url:A(i),options:c}}}},Ht=function(e){const t=e1(e);return{async addVirtualRobotCoordinateSystem(r,a,n,s){var c,d;const o=await t.addVirtualRobotCoordinateSystem(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async addVirtualRobotTcp(r,a,n,s,o){var d,u;const i=await t.addVirtualRobotTcp(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)},async deleteVirtualRobotCoordinateSystem(r,a,n,s,o){var d,u;const i=await t.deleteVirtualRobotCoordinateSystem(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)},async deleteVirtualRobotTcp(r,a,n,s,o){var d,u;const i=await t.deleteVirtualRobotTcp(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)},async getVirtualRobotMounting(r,a,n,s){var c,d;const o=await t.getVirtualRobotMounting(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async listVirtualRobotCoordinateSystems(r,a,n){var l,c;const s=await t.listVirtualRobotCoordinateSystems(r,a,n),o=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[o])==null?void 0:c.url;return(d,u)=>T(s,O,w,e)(d,i||u)},async listVirtualRobotTcps(r,a,n,s){var c,d;const o=await t.listVirtualRobotTcps(r,a,n,s),i=(e==null?void 0:e.serverIndex)??0,l=(d=(c=C["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[i])==null?void 0:d.url;return(u,p)=>T(o,O,w,e)(u,l||p)},async setVirtualRobotMounting(r,a,n,s,o){var d,u;const i=await t.setVirtualRobotMounting(r,a,n,s,o),l=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:d[l])==null?void 0:u.url;return(p,f)=>T(i,O,w,e)(p,c||f)}}};class t1 extends Pe{addVirtualRobotCoordinateSystem(t,r,a,n){return Ht(this.configuration).addVirtualRobotCoordinateSystem(t,r,a,n).then(s=>s(this.axios,this.basePath))}addVirtualRobotTcp(t,r,a,n,s){return Ht(this.configuration).addVirtualRobotTcp(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,a,n,s){return Ht(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,a,n,s){return Ht(this.configuration).deleteVirtualRobotTcp(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}getVirtualRobotMounting(t,r,a,n){return Ht(this.configuration).getVirtualRobotMounting(t,r,a,n).then(s=>s(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,a){return Ht(this.configuration).listVirtualRobotCoordinateSystems(t,r,a).then(n=>n(this.axios,this.basePath))}listVirtualRobotTcps(t,r,a,n){return Ht(this.configuration).listVirtualRobotTcps(t,r,a,n).then(s=>s(this.axios,this.basePath))}setVirtualRobotMounting(t,r,a,n,s){return Ht(this.configuration).setVirtualRobotMounting(t,r,a,n,s).then(o=>o(this.axios,this.basePath))}}function Mt(e,t,r){return Math.max(t,Math.min(r,e))}class r1{constructor(t=0,r=0,a=0,n=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=a,this._w=n}static slerpFlat(t,r,a,n,s,o,i){let l=a[n+0],c=a[n+1],d=a[n+2],u=a[n+3];const p=s[o+0],f=s[o+1],g=s[o+2],h=s[o+3];if(i===0){t[r+0]=l,t[r+1]=c,t[r+2]=d,t[r+3]=u;return}if(i===1){t[r+0]=p,t[r+1]=f,t[r+2]=g,t[r+3]=h;return}if(u!==h||l!==p||c!==f||d!==g){let x=1-i;const E=l*p+c*f+d*g+u*h,U=E>=0?1:-1,F=1-E*E;if(F>Number.EPSILON){const G=Math.sqrt(F),K=Math.atan2(G,E*U);x=Math.sin(x*K)/G,i=Math.sin(i*K)/G}const N=i*U;if(l=l*x+p*N,c=c*x+f*N,d=d*x+g*N,u=u*x+h*N,x===1-i){const G=1/Math.sqrt(l*l+c*c+d*d+u*u);l*=G,c*=G,d*=G,u*=G}}t[r]=l,t[r+1]=c,t[r+2]=d,t[r+3]=u}static multiplyQuaternionsFlat(t,r,a,n,s,o){const i=a[n],l=a[n+1],c=a[n+2],d=a[n+3],u=s[o],p=s[o+1],f=s[o+2],g=s[o+3];return t[r]=i*g+d*u+l*f-c*p,t[r+1]=l*g+d*p+c*u-i*f,t[r+2]=c*g+d*f+i*p-l*u,t[r+3]=d*g-i*u-l*p-c*f,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,n){return this._x=t,this._y=r,this._z=a,this._w=n,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,n=t._y,s=t._z,o=t._order,i=Math.cos,l=Math.sin,c=i(a/2),d=i(n/2),u=i(s/2),p=l(a/2),f=l(n/2),g=l(s/2);switch(o){case"XYZ":this._x=p*d*u+c*f*g,this._y=c*f*u-p*d*g,this._z=c*d*g+p*f*u,this._w=c*d*u-p*f*g;break;case"YXZ":this._x=p*d*u+c*f*g,this._y=c*f*u-p*d*g,this._z=c*d*g-p*f*u,this._w=c*d*u+p*f*g;break;case"ZXY":this._x=p*d*u-c*f*g,this._y=c*f*u+p*d*g,this._z=c*d*g+p*f*u,this._w=c*d*u-p*f*g;break;case"ZYX":this._x=p*d*u-c*f*g,this._y=c*f*u+p*d*g,this._z=c*d*g-p*f*u,this._w=c*d*u+p*f*g;break;case"YZX":this._x=p*d*u+c*f*g,this._y=c*f*u+p*d*g,this._z=c*d*g-p*f*u,this._w=c*d*u-p*f*g;break;case"XZY":this._x=p*d*u-c*f*g,this._y=c*f*u-p*d*g,this._z=c*d*g+p*f*u,this._w=c*d*u+p*f*g;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+o)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const a=r/2,n=Math.sin(a);return this._x=t.x*n,this._y=t.y*n,this._z=t.z*n,this._w=Math.cos(a),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,a=r[0],n=r[4],s=r[8],o=r[1],i=r[5],l=r[9],c=r[2],d=r[6],u=r[10],p=a+i+u;if(p>0){const f=.5/Math.sqrt(p+1);this._w=.25/f,this._x=(d-l)*f,this._y=(s-c)*f,this._z=(o-n)*f}else if(a>i&&a>u){const f=2*Math.sqrt(1+a-i-u);this._w=(d-l)/f,this._x=.25*f,this._y=(n+o)/f,this._z=(s+c)/f}else if(i>u){const f=2*Math.sqrt(1+i-a-u);this._w=(s-c)/f,this._x=(n+o)/f,this._y=.25*f,this._z=(l+d)/f}else{const f=2*Math.sqrt(1+u-a-i);this._w=(o-n)/f,this._x=(s+c)/f,this._y=(l+d)/f,this._z=.25*f}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 n=Math.min(1,r/a);return this.slerp(t,n),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,n=t._y,s=t._z,o=t._w,i=r._x,l=r._y,c=r._z,d=r._w;return this._x=a*d+o*i+n*c-s*l,this._y=n*d+o*l+s*i-a*c,this._z=s*d+o*c+a*l-n*i,this._w=o*d-a*i-n*l-s*c,this._onChangeCallback(),this}slerp(t,r){if(r===0)return this;if(r===1)return this.copy(t);const a=this._x,n=this._y,s=this._z,o=this._w;let i=o*t._w+a*t._x+n*t._y+s*t._z;if(i<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,i=-i):this.copy(t),i>=1)return this._w=o,this._x=a,this._y=n,this._z=s,this;const l=1-i*i;if(l<=Number.EPSILON){const f=1-r;return this._w=f*o+r*this._w,this._x=f*a+r*this._x,this._y=f*n+r*this._y,this._z=f*s+r*this._z,this.normalize(),this}const c=Math.sqrt(l),d=Math.atan2(c,i),u=Math.sin((1-r)*d)/c,p=Math.sin(r*d)/c;return this._w=o*u+this._w*p,this._x=a*u+this._x*p,this._y=n*u+this._y*p,this._z=s*u+this._z*p,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(),n=Math.sqrt(1-a),s=Math.sqrt(a);return this.set(n*Math.sin(t),n*Math.cos(t),s*Math.sin(r),s*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 Gr{constructor(t=0,r=0,a=0){Gr.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.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,n=t.y,s=t.z,o=r.x,i=r.y,l=r.z;return this.x=n*l-s*i,this.y=s*o-a*l,this.z=a*i-n*o,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 As.copy(this).projectOnVector(t),this.sub(As)}reflect(t){return this.sub(As.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,n=this.z-t.z;return r*r+a*a+n*n}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 n=Math.sin(r)*t;return this.x=n*Math.sin(a),this.y=Math.cos(r)*t,this.z=n*Math.cos(a),this}setFromCylindrical(t){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 ol=1e-4,o1=class Zc{constructor(t,r,a,n,s,o,i,l,c,d,u,p){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=n,this.motionStateSocket=s,this.isVirtual=o,this.tcps=i,this.motionGroupSpecification=l,this.safetySetup=c,this.mounting=d,this.initialControllerState=u,this.controllerStateSocket=p,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=n,this.controllerState=u,p.addEventListener("message",f=>{var g;const h=(g=Kt(f.data))==null?void 0:g.result;h&&Be.runInAction(()=>{this.controllerState=h})}),s.addEventListener("message",f=>{var g;const h=(g=Kt(f.data))==null?void 0:g.result;if(!h)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${f.data}`);Yc(this.rapidlyChangingMotionState.state.joint_position.joints,h.state.joint_position.joints,ol)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=h.state}),Xc(this.rapidlyChangingMotionState.tcp_pose,h.tcp_pose,ol)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=h.tcp_pose})}),Be.makeAutoObservable(this)}static connect(t,r,a){return Ce(this,null,function*(){var n,s;const[o,i]=r.split("@"),l=a.find(K=>K.controller===i),c=l==null?void 0:l.physical_motion_groups.find(K=>K.motion_group===r);if(!l||!c)throw new Error(`Controller ${i} or motion group ${r} not found`);const d=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),u=yield d.firstMessage(),p=(n=Kt(u.data))==null?void 0:n.result;if(!p)throw new Error(`Unable to parse initial motion state message ${u.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
   `,p);const g=(yield t.api.controller.getRobotController(l.controller)).configuration.kind==="VirtualController",h=yield Ce(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(K){return console.error(`Error fetching mounting for ${c.motion_group}`,K),null}}),x=t.openReconnectingWebsocket(`/controllers/${l.controller}/state-stream?response_rate=1000`),E=yield x.firstMessage(),U=(s=Kt(E.data))==null?void 0:s.result;if(!U)throw new Error(`Unable to parse initial controller state message ${E.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
   `,U);const{tcps:F}=yield t.api.motionGroupInfos.listTcps(r),N=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),G=yield t.api.motionGroupInfos.getSafetySetup(r);return new Zc(t,l,c,p,d,g,F,N,G,h,U,x)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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,n,s,o;const i=new Ie.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((n=(a=this.mounting)==null?void 0:a.pose.orientation)==null?void 0:n.y)||0,((o=(s=this.mounting)==null?void 0:s.pose.orientation)==null?void 0:o.z)||0),l=i.length(),c=i.normalize();return new Ie.Quaternion().setFromAxisAngle(c,l)}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 Ce(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Be.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Be.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Be.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Ce(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Be.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Be.runInAction(()=>{this.activationState="active"})}catch(t){throw Be.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}},i1=class ed{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return Ce(this,arguments,function*(a,n,s={}){const o=yield a.connectMotionStream(n);return new ed(o,s)})}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 Ce(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&&(u0(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 n=Kt(a.data);if(n&&"error"in n)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 n=Kt(a.data);if(n&&"error"in n)if(this.opts.onError)this.opts.onError(a.data);else throw new Error(a.data)}))}startJointRotation(t){return Ce(this,arguments,function*({joint:r,direction:a,velocityRadsPerSec:n}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const s=new Array(this.numJoints).fill(0);s[r]=a==="-"?-n:n,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:s})})}startTCPTranslation(t){return Ce(this,arguments,function*({axis:r,direction:a,velocityMmPerSec:n}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const s={x:0,y:0,z:0},o=Object.assign({},s);o[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:o,rotation_direction:s,position_velocity:n,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return Ce(this,arguments,function*({axis:r,direction:a,velocityRadsPerSec:n}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const s={x:0,y:0,z:0},o=Object.assign({},s);o[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:o,position_velocity:0,rotation_velocity:n,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return Ce(this,arguments,function*({currentTcpPose:r,currentJoints:a,coordSystemId:n,velocityInRelevantUnits:s,axis:o,direction:i,motion:l}){var c;const d=[];if(!R0(r.coordinate_system,n))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${n}`);if(l.type==="translate"){const f=Object.assign({},r.position);f[o]+=l.distanceMm*(i==="-"?-1:1),d.push({settings:{limits_override:{tcp_velocity_limit:s}},line:{position:f,orientation:r.orientation,coordinate_system:n}})}else if(l.type==="rotate"){const f=new Gr(r.orientation.x,r.orientation.y,r.orientation.z),g=f.length(),h=f.clone().normalize(),x=l.distanceRads*(i==="-"?-1:1),E=new Gr(0,0,0);E[o]=1;const U=Math.cos(.5*x)*Math.cos(.5*g),F=Math.sin(.5*x)*Math.sin(.5*g),N=Math.sin(.5*x)*Math.cos(.5*g),G=Math.cos(.5*x)*Math.sin(.5*g),K=E.dot(h),j=E.clone().cross(h),L=2*Math.acos(U-F*K),k=L/Math.sin(.5*L),y=new Gr().addScaledVector(j,F).addScaledVector(E,N).addScaledVector(h,G).multiplyScalar(k);d.push({settings:{limits_override:{tcp_orientation_velocity_limit:s}},line:{position:r.position,orientation:y,coordinate_system:n}})}const u=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:a,tcp:this.cartesianJoggingOpts.tcpId,commands:d}),p=(c=u.plan_successful_response)==null?void 0:c.motion;if(!p)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(u)}`);yield this.nova.api.motion.streamMoveForward(p,100,void 0,void 0,void 0,{timeout:1e3*60})})}runIncrementalJointRotation(t){return Ce(this,arguments,function*({joint:r,currentJoints:a,velocityRadsPerSec:n,direction:s,distanceRads:o}){var i;const l=[...a.joints];l[r]+=o*(s==="-"?-1:1);const c=new Array(a.joints.length).fill(n),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:l}}]}),u=(i=d.plan_successful_response)==null?void 0:i.motion;if(!u){console.error("Failed to plan jogging increment motion",d);return}yield this.nova.api.motion.streamMoveForward(u,100,void 0,void 0,void 0,{timeout:1e3*60})})}},il=1e-4;function l1(e,t){const r=new ht.Vector3(t.x,t.y,t.z),a=new ht.Vector3(e.x,e.y,e.z),n=r.length(),s=r.normalize();let o=a.length(),i=a.normalize();i.dot(s)<0&&(o=-o,i=i.multiplyScalar(-1));let l=o-n;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),o=n+l,i.multiplyScalar(o)}var c1=class td{constructor(t,r,a,n,s){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=n,this.motionStateSocket=s,this.rapidlyChangingMotionState=n,s.addEventListener("message",o=>{var i;const l=(i=Kt(o.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${o.data}`);Yc(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,il)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),Xc(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,il)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:l1(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),Be.makeAutoObservable(this)}static open(t,r){return Ce(this,null,function*(){var a;const{instances:n}=yield t.api.controller.listControllers(),[s,o]=r.split("@"),i=n.find(p=>p.controller===o),l=i==null?void 0:i.physical_motion_groups.find(p=>p.motion_group===r);if(!i||!l)throw new Error(`Controller ${o} 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 u=(a=Kt(d.data))==null?void 0:a.result;if(!u)throw new Error(`Unable to parse initial motion state message ${d.data}`);return console.log(`Connected motion state websocket to motion group ${l.motion_group}. Initial state:
-  `,u),new td(t,i,l,u,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},d1=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(qv),this.cell=this.withUnwrappedResponsesOnly(cv),this.deviceConfig=this.withCellId(yv),this.motionGroup=this.withCellId(Av),this.motionGroupInfos=this.withCellId(Ev),this.controller=this.withCellId(uv),this.program=this.withCellId(Lv),this.programValues=this.withCellId(Bv),this.controllerIOs=this.withCellId(hv),this.motionGroupKinematic=this.withCellId($v),this.motion=this.withCellId(Rv),this.coordinateSystems=this.withCellId(fv),this.application=this.withCellId(al),this.applicationGlobal=this.withUnwrappedResponsesOnly(al),this.motionGroupJogging=this.withCellId(Mv),this.virtualRobot=this.withCellId(Kv),this.virtualRobotSetup=this.withCellId(t1),this.virtualRobotMode=this.withCellId(Zv),this.virtualRobotBehavior=this.withCellId(Yv),this.libraryProgramMetadata=this.withCellId(xv),this.libraryProgram=this.withCellId(Sv),this.libraryRecipeMetadata=this.withCellId(Pv),this.libraryRecipe=this.withCellId(wv),this.storeObject=this.withCellId(Jv),this.storeCollisionComponents=this.withCellId(Nv),this.storeCollisionScenes=this.withCellId(zv)}withCellId(e){var t,r;const a=new e(qs(Fr({},this.opts),{isJsonMime:n=>n==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:O.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(n!=="constructor"&&typeof a[n]=="function"){const s=a[n];a[n]=(...o)=>s.apply(a,[this.cellId,...o]).then(i=>i.data)}return a}withUnwrappedResponsesOnly(e){var t,r;const a=new e(qs(Fr({},this.opts),{isJsonMime:n=>n==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:O.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(n!=="constructor"&&typeof a[n]=="function"){const s=a[n];a[n]=(...o)=>s.apply(a,o).then(i=>i.data)}return a}},u1=class{constructor(){this.connections=[]}handleAPIRequest(e){return Ce(this,null,function*(){var t,r,a;const n=[{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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0:o.id)||"",Be.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(Be.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[a,{coordinatesystems:n},{tcps:s}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new os(t,a,n||[],s||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return lo.countBy(this.coordSystems,t=>t.name)}async deactivate(){const t=this.jogger.activeWebsocket;this.jogger.setJoggingMode("increment"),t&&await t.closed()}async activate(){if(this.currentTab.id==="cartesian"){const t={tcpId:this.selectedTcpId,coordSystemId:this.activeCoordSystemId};this.activeDiscreteIncrement?this.jogger.setJoggingMode("increment",t):this.jogger.setJoggingMode("cartesian",t)}else this.jogger.setJoggingMode("joint");return this.jogger}loadFromLocalStorage(){const t=ir.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get 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 kw}get discreteIncrementOptions(){return io}get incrementOptionsById(){return an(this.incrementOptions,t=>t.id)}get tabsById(){return an(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 an(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 an(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:io.find(t=>t.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}get velocityInDisplayUnits(){return this.currentMotionType==="translate"?this.translationVelocityMmPerSec:this.rotationVelocityDegPerSec}get minVelocityInDisplayUnits(){return this.currentMotionType==="translate"?this.minTranslationVelocityMmPerSec:this.minRotationVelocityDegPerSec}get maxVelocityInDisplayUnits(){return this.currentMotionType==="translate"?this.maxTranslationVelocityMmPerSec:this.maxRotationVelocityDegPerSec}get currentMotionType(){return this.selectedTabId==="cartesian"&&this.selectedCartesianMotionType==="translate"?"translate":"rotate"}onTabChange(t,r){const 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this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},d1=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(qv),this.cell=this.withUnwrappedResponsesOnly(cv),this.deviceConfig=this.withCellId(yv),this.motionGroup=this.withCellId(Av),this.motionGroupInfos=this.withCellId(Ev),this.controller=this.withCellId(uv),this.program=this.withCellId(Lv),this.programValues=this.withCellId(Bv),this.controllerIOs=this.withCellId(hv),this.motionGroupKinematic=this.withCellId($v),this.motion=this.withCellId(Rv),this.coordinateSystems=this.withCellId(fv),this.application=this.withCellId(al),this.applicationGlobal=this.withUnwrappedResponsesOnly(al),this.motionGroupJogging=this.withCellId(Mv),this.virtualRobot=this.withCellId(Kv),this.virtualRobotSetup=this.withCellId(t1),this.virtualRobotMode=this.withCellId(Zv),this.virtualRobotBehavior=this.withCellId(Yv),this.libraryProgramMetadata=this.withCellId(xv),this.libraryProgram=this.withCellId(Sv),this.libraryRecipeMetadata=this.withCellId(Pv),this.libraryRecipe=this.withCellId(wv),this.storeObject=this.withCellId(Jv),this.storeCollisionComponents=this.withCellId(Nv),this.storeCollisionScenes=this.withCellId(zv)}withCellId(e){var t,r;const a=new e(qs(Fr({},this.opts),{isJsonMime:n=>n==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:O.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(n!=="constructor"&&typeof a[n]=="function"){const s=a[n];a[n]=(...o)=>s.apply(a,[this.cellId,...o]).then(i=>i.data)}return a}withUnwrappedResponsesOnly(e){var t,r;const a=new e(qs(Fr({},this.opts),{isJsonMime:n=>n==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:O.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(n!=="constructor"&&typeof a[n]=="function"){const s=a[n];a[n]=(...o)=>s.apply(a,o).then(i=>i.data)}return a}},u1=class{constructor(){this.connections=[]}handleAPIRequest(e){return Ce(this,null,function*(){var t,r,a;const n=[{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"}}]}}}],s=((t=e.method)==null?void 0:t.toUpperCase())||"GET",o="/cells"+((a=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:a.split("?")[0]);for(const i of n){const l=s1.match(i.path)(o||"");if(s===i.method&&l){const c=i.handle();return{status:200,statusText:"Success",data:JSON.stringify(c),headers:{},config:e,request:{responseURL:e.url}}}}throw new eo(`No mock handler matched this request: ${s} ${o}`,"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(p1)})),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)}},p1={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]}},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"}}},h1=class{constructor(e){this.authPromise=null,this.accessToken=null;var t;const r=(t=e.cellId)!=null?t:"cell";this.config=Fr({cellId:r},e),this.accessToken=e.accessToken||ws.getString("wbjs.access_token")||null,this.config.instanceUrl==="https://mock.example.com"&&(this.mock=new u1);const a=O.create({baseURL:Ts(this.config.instanceUrl,"/api/v1")});a.interceptors.request.use(n=>Ce(this,null,function*(){return n.headers.Authorization||(this.accessToken?n.headers.Authorization=`Bearer ${this.accessToken}`:this.config.username&&this.config.password&&(n.headers.Authorization=`Basic ${btoa(e.username+":"+e.password)}`)),n})),typeof window<"u"&&a.interceptors.response.use(n=>n,n=>Ce(this,null,function*(){var s,o;if(sv(n))if(((s=n.response)==null?void 0:s.status)===401)try{if(yield this.renewAuthentication(),n.config)return this.accessToken?n.config.headers.Authorization=`Bearer ${this.accessToken}`:delete n.config.headers.Authorization,a.request(n.config)}catch(i){return Promise.reject(i)}else((o=n.response)==null?void 0:o.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(n)})),this.api=new d1(r,qs(Fr({},e),{basePath:Ts(this.config.instanceUrl,"/api/v1"),isJsonMime:n=>n==="application/json",baseOptions:Fr(Fr({},this.mock?{adapter:n=>this.mock.handleAPIRequest(n)}:{}),e.baseOptions),axiosInstance:a}))}renewAuthentication(){return Ce(this,null,function*(){if(!this.authPromise){this.authPromise=A0(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?ws.setString("wbjs.access_token",this.accessToken):ws.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL(Ts(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return 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