@wandelbots/wandelbots-js-react-components 2.27.1-pr.feature-add-program-control-component.367.9154db9 → 2.27.1-pr.feature-add-program-control-component.367.8730636
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/components/ProgramControl.d.ts.map +1 -1
- package/dist/index.cjs +8 -8
- package/dist/index.cjs.map +1 -1
- package/dist/index.js +766 -758
- package/dist/index.js.map +1 -1
- package/package.json +1 -1
- package/src/components/ProgramControl.tsx +8 -3
- package/src/i18n/locales/de/translations.json +5 -1
- package/src/i18n/locales/en/translations.json +5 -1
package/dist/index.cjs
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"use strict";var Nd=Object.create;var uo=Object.defineProperty;var Dd=Object.getOwnPropertyDescriptor;var zd=Object.getOwnPropertyNames;var Gd=Object.getPrototypeOf,Jd=Object.prototype.hasOwnProperty;var Hd=(e,t,r)=>t in e?uo(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r;var qd=(e,t,r,a)=>{if(t&&typeof t=="object"||typeof t=="function")for(let n of zd(t))!Jd.call(e,n)&&n!==r&&uo(e,n,{get:()=>t[n],enumerable:!(a=Dd(t,n))||a.enumerable});return e};var po=(e,t,r)=>(r=e!=null?Nd(Gd(e)):{},qd(t||!e||!e.__esModule?uo(r,"default",{value:e,enumerable:!0}):r,e));var ia=(e,t,r)=>Hd(e,typeof t!="symbol"?t+"":t,r);Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const ae=require("react"),mt=require("@react-three/drei"),Wd=require("@react-three/fiber"),ht=require("three"),Kd=require("three-stdlib"),z=require("@mui/material"),je=require("mobx-react-lite"),
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"use strict";var Nd=Object.create;var uo=Object.defineProperty;var Dd=Object.getOwnPropertyDescriptor;var zd=Object.getOwnPropertyNames;var Gd=Object.getPrototypeOf,Jd=Object.prototype.hasOwnProperty;var Hd=(e,t,r)=>t in e?uo(e,t,{enumerable:!0,configurable:!0,writable:!0,value:r}):e[t]=r;var qd=(e,t,r,a)=>{if(t&&typeof t=="object"||typeof t=="function")for(let n of zd(t))!Jd.call(e,n)&&n!==r&&uo(e,n,{get:()=>t[n],enumerable:!(a=Dd(t,n))||a.enumerable});return e};var po=(e,t,r)=>(r=e!=null?Nd(Gd(e)):{},qd(t||!e||!e.__esModule?uo(r,"default",{value:e,enumerable:!0}):r,e));var ia=(e,t,r)=>Hd(e,typeof t!="symbol"?t+"":t,r);Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const ae=require("react"),mt=require("@react-three/drei"),Wd=require("@react-three/fiber"),ht=require("three"),Kd=require("three-stdlib"),z=require("@mui/material"),je=require("mobx-react-lite"),Te=require("react-i18next"),Qd=require("i18next-browser-languagedetector"),Be=require("mobx"),S=require("prop-types"),Yd=require("@emotion/styled"),Xd=require("@emotion/react"),ds=require("lodash-es"),ir=require("@wandelbots/nova-js"),la=require("@mui/icons-material"),Lo=require("@react-spring/three"),Zd=require("react-error-boundary");function Ll(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const a=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(t,r,a.get?a:{enumerable:!0,get:()=>e[r]})}}return t.default=e,Object.freeze(t)}const H=Ll(ae),Me=Ll(ht);var Ga={exports:{}},ca={};/**
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*/var js;function tu(){return js||(js=1,process.env.NODE_ENV!=="production"&&function(){var e=ae,t=Symbol.for("react.element"),r=Symbol.for("react.portal"),a=Symbol.for("react.fragment"),n=Symbol.for("react.strict_mode"),o=Symbol.for("react.profiler"),s=Symbol.for("react.provider"),i=Symbol.for("react.context"),l=Symbol.for("react.forward_ref"),c=Symbol.for("react.suspense"),d=Symbol.for("react.suspense_list"),u=Symbol.for("react.memo"),p=Symbol.for("react.lazy"),m=Symbol.for("react.offscreen"),g=Symbol.iterator,h="@@iterator";function x(v){if(v===null||typeof v!="object")return null;var q=g&&v[g]||v[h];return typeof q=="function"?q:null}var E=e.__SECRET_INTERNALS_DO_NOT_USE_OR_YOU_WILL_BE_FIRED;function U(v){{for(var q=arguments.length,Y=new Array(q>1?q-1:0),ne=1;ne<q;ne++)Y[ne-1]=arguments[ne];F("error",v,Y)}}function F(v,q,Y){{var ne=E.ReactDebugCurrentFrame,me=ne.getStackAddendum();me!==""&&(q+="%s",Y=Y.concat([me]));var be=Y.map(function(pe){return String(pe)});be.unshift("Warning: "+q),Function.prototype.apply.call(console[v],console,be)}}var N=!1,J=!1,K=!1,j=!1,L=!1,k;k=Symbol.for("react.module.reference");function y(v){return!!(typeof v=="string"||typeof v=="function"||v===a||v===o||L||v===n||v===c||v===d||j||v===m||N||J||K||typeof v=="object"&&v!==null&&(v.$$typeof===p||v.$$typeof===u||v.$$typeof===s||v.$$typeof===i||v.$$typeof===l||v.$$typeof===k||v.getModuleId!==void 0))}function M(v,q,Y){var ne=v.displayName;if(ne)return ne;var me=q.displayName||q.name||"";return me!==""?Y+"("+me+")":Y}function B(v){return v.displayName||"Context"}function G(v){if(v==null)return null;if(typeof v.tag=="number"&&U("Received an unexpected object in getComponentNameFromType(). This is likely a bug in React. Please file an issue."),typeof v=="function")return v.displayName||v.name||null;if(typeof v=="string")return v;switch(v){case a:return"Fragment";case r:return"Portal";case o:return"Profiler";case n:return"StrictMode";case c:return"Suspense";case d:return"SuspenseList"}if(typeof v=="object")switch(v.$$typeof){case i:var q=v;return B(q)+".Consumer";case s:var Y=v;return B(Y._context)+".Provider";case l:return M(v,v.render,"ForwardRef");case u:var ne=v.displayName||null;return ne!==null?ne:G(v.type)||"Memo";case p:{var me=v,be=me._payload,pe=me._init;try{return G(pe(be))}catch{return null}}}return null}var D=Object.assign,re=0,Z,xe,X,ce,fe,le,He;function _t(){}_t.__reactDisabledLog=!0;function ra(){{if(re===0){Z=console.log,xe=console.info,X=console.warn,ce=console.error,fe=console.group,le=console.groupCollapsed,He=console.groupEnd;var v={configurable:!0,enumerable:!0,value:_t,writable:!0};Object.defineProperties(console,{info:v,log:v,warn:v,error:v,group:v,groupCollapsed:v,groupEnd:v})}re++}}function vr(){{if(re--,re===0){var v={configurable:!0,enumerable:!0,writable:!0};Object.defineProperties(console,{log:D({},v,{value:Z}),info:D({},v,{value:xe}),warn:D({},v,{value:X}),error:D({},v,{value:ce}),group:D({},v,{value:fe}),groupCollapsed:D({},v,{value:le}),groupEnd:D({},v,{value:He})})}re<0&&U("disabledDepth fell below zero. This is a bug in React. Please file an issue.")}}var er=E.ReactCurrentDispatcher,Bt;function nt(v,q,Y){{if(Bt===void 0)try{throw Error()}catch(me){var ne=me.stack.trim().match(/\n( *(at )?)/);Bt=ne&&ne[1]||""}return`
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`+Bt+v}}var dt=!1,ot;{var At=typeof WeakMap=="function"?WeakMap:Map;ot=new At}function et(v,q){if(!v||dt)return"";{var Y=ot.get(v);if(Y!==void 0)return Y}var ne;dt=!0;var me=Error.prepareStackTrace;Error.prepareStackTrace=void 0;var be;be=er.current,er.current=null,ra();try{if(q){var pe=function(){throw Error()};if(Object.defineProperty(pe.prototype,"props",{set:function(){throw Error()}}),typeof Reflect=="object"&&Reflect.construct){try{Reflect.construct(pe,[])}catch(Ye){ne=Ye}Reflect.construct(v,[],pe)}else{try{pe.call()}catch(Ye){ne=Ye}v.call(pe.prototype)}}else{try{throw Error()}catch(Ye){ne=Ye}v()}}catch(Ye){if(Ye&&ne&&typeof Ye.stack=="string"){for(var ue=Ye.stack.split(`
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`),Ie=ue.length-1,ke=qe.length-1;Ie>=1&&ke>=0&&ue[Ie]!==qe[ke];)ke--;for(;Ie>=1&&ke>=0;Ie--,ke--)if(ue[Ie]!==qe[ke]){if(Ie!==1||ke!==1)do if(Ie--,ke--,ke<0||ue[Ie]!==qe[ke]){var st=`
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Check the render method of \``+v+"`."}return""}}function sa(v){return""}var rr={};function ut(v){{var q=Le();if(!q){var Y=typeof v=="string"?v:v.displayName||v.name;Y&&(q=`
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Check the top-level render call using <`+Y+">.")}return q}}function As(v,q){{if(!v._store||v._store.validated||v.key!=null)return;v._store.validated=!0;var Y=ut(q);if(rr[Y])return;rr[Y]=!0;var ne="";v&&v._owner&&v._owner!==na.current&&(ne=" It was passed a child from "+G(v._owner.type)+"."),bt(v),U('Each child in a list should have a unique "key" prop.%s%s See https://reactjs.org/link/warning-keys for more information.',Y,ne),bt(null)}}function Ts(v,q){{if(typeof v!="object")return;if(Dt(v))for(var Y=0;Y<v.length;Y++){var ne=v[Y];Ve(ne)&&As(ne,q)}else if(Ve(v))v._store&&(v._store.validated=!0);else if(v){var me=x(v);if(typeof me=="function"&&me!==v.entries)for(var be=me.call(v),pe;!(pe=be.next()).done;)Ve(pe.value)&&As(pe.value,q)}}}function Md(v){{var q=v.type;if(q==null||typeof q=="string")return;var Y;if(typeof q=="function")Y=q.propTypes;else if(typeof q=="object"&&(q.$$typeof===l||q.$$typeof===u))Y=q.propTypes;else return;if(Y){var ne=G(q);xr(Y,v.props,"prop",ne,v)}else if(q.PropTypes!==void 0&&!oa){oa=!0;var me=G(q);U("Component %s declared `PropTypes` instead of `propTypes`. Did you misspell the property assignment?",me||"Unknown")}typeof q.getDefaultProps=="function"&&!q.getDefaultProps.isReactClassApproved&&U("getDefaultProps is only used on classic React.createClass definitions. Use a static property named `defaultProps` instead.")}}function jd(v){{for(var q=Object.keys(v.props),Y=0;Y<q.length;Y++){var ne=q[Y];if(ne!=="children"&&ne!=="key"){bt(v),U("Invalid prop `%s` supplied to `React.Fragment`. React.Fragment can only have `key` and `children` props.",ne),bt(null);break}}v.ref!==null&&(bt(v),U("Invalid attribute `ref` supplied to `React.Fragment`."),bt(null))}}var Es={};function Is(v,q,Y,ne,me,be){{var pe=y(v);if(!pe){var ue="";(v===void 0||typeof v=="object"&&v!==null&&Object.keys(v).length===0)&&(ue+=" You likely forgot to export your component from the file it's defined in, or you might have mixed up default and named imports.");var qe=sa();qe?ue+=qe:ue+=Le();var
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Check the top-level render call using <`+Y+">.")}return q}}function As(v,q){{if(!v._store||v._store.validated||v.key!=null)return;v._store.validated=!0;var Y=ut(q);if(rr[Y])return;rr[Y]=!0;var ne="";v&&v._owner&&v._owner!==na.current&&(ne=" It was passed a child from "+G(v._owner.type)+"."),bt(v),U('Each child in a list should have a unique "key" prop.%s%s See https://reactjs.org/link/warning-keys for more information.',Y,ne),bt(null)}}function Ts(v,q){{if(typeof v!="object")return;if(Dt(v))for(var Y=0;Y<v.length;Y++){var ne=v[Y];Ve(ne)&&As(ne,q)}else if(Ve(v))v._store&&(v._store.validated=!0);else if(v){var me=x(v);if(typeof me=="function"&&me!==v.entries)for(var be=me.call(v),pe;!(pe=be.next()).done;)Ve(pe.value)&&As(pe.value,q)}}}function Md(v){{var q=v.type;if(q==null||typeof q=="string")return;var Y;if(typeof q=="function")Y=q.propTypes;else if(typeof q=="object"&&(q.$$typeof===l||q.$$typeof===u))Y=q.propTypes;else return;if(Y){var ne=G(q);xr(Y,v.props,"prop",ne,v)}else if(q.PropTypes!==void 0&&!oa){oa=!0;var me=G(q);U("Component %s declared `PropTypes` instead of `propTypes`. Did you misspell the property assignment?",me||"Unknown")}typeof q.getDefaultProps=="function"&&!q.getDefaultProps.isReactClassApproved&&U("getDefaultProps is only used on classic React.createClass definitions. Use a static property named `defaultProps` instead.")}}function jd(v){{for(var q=Object.keys(v.props),Y=0;Y<q.length;Y++){var ne=q[Y];if(ne!=="children"&&ne!=="key"){bt(v),U("Invalid prop `%s` supplied to `React.Fragment`. React.Fragment can only have `key` and `children` props.",ne),bt(null);break}}v.ref!==null&&(bt(v),U("Invalid attribute `ref` supplied to `React.Fragment`."),bt(null))}}var Es={};function Is(v,q,Y,ne,me,be){{var pe=y(v);if(!pe){var ue="";(v===void 0||typeof v=="object"&&v!==null&&Object.keys(v).length===0)&&(ue+=" You likely forgot to export your component from the file it's defined in, or you might have mixed up default and named imports.");var qe=sa();qe?ue+=qe:ue+=Le();var Ie;v===null?Ie="null":Dt(v)?Ie="array":v!==void 0&&v.$$typeof===t?(Ie="<"+(G(v.type)||"Unknown")+" />",ue=" Did you accidentally export a JSX literal instead of a component?"):Ie=typeof v,U("React.jsx: type is invalid -- expected a string (for built-in components) or a class/function (for composite components) but got: %s.%s",Ie,ue)}var ke=aa(v,q,Y,me,be);if(ke==null)return ke;if(pe){var st=q.children;if(st!==void 0)if(ne)if(Dt(st)){for(var Pr=0;Pr<st.length;Pr++)Ts(st[Pr],v);Object.freeze&&Object.freeze(st)}else U("React.jsx: Static children should always be an array. You are likely explicitly calling React.jsxs or React.jsxDEV. Use the Babel transform instead.");else Ts(st,v)}if(yt.call(q,"key")){var ar=G(v),Ye=Object.keys(q).filter(function(Fd){return Fd!=="key"}),co=Ye.length>0?"{key: someKey, "+Ye.join(": ..., ")+": ...}":"{key: someKey}";if(!Es[ar+co]){var Bd=Ye.length>0?"{"+Ye.join(": ..., ")+": ...}":"{}";U(`A props object containing a "key" prop is being spread into JSX:
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<%s key={someKey} {...props} />`,co,ar,Bd,ar),Es[ar+co]=!0}}return v===a?jd(ke):Md(ke),ke}}function $d(v,q,Y){return Is(v,q,Y,!0)}function Ud(v,q,Y){return Is(v,q,Y,!1)}var Ld=Ud,kd=$d;da.Fragment=a,da.jsx=Ld,da.jsxs=kd}()),da}var $s;function ru(){return $s||($s=1,process.env.NODE_ENV==="production"?Ga.exports=eu():Ga.exports=tu()),Ga.exports}var b=ru();function au(){return b.jsx(mt.Environment,{children:b.jsx(nu,{})})}function nu({positions:e=[2,0,2,0,2,0,2,0]}){return b.jsxs(b.Fragment,{children:[b.jsx(mt.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),b.jsx("group",{rotation:[0,.5,0],children:b.jsx("group",{children:e.map((t,r)=>b.jsx(mt.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[t,4,r*4],scale:[3,1,1]},r))})}),b.jsx(mt.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),b.jsx(mt.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),b.jsx(mt.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),b.jsx(mt.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),b.jsx(mt.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}function ou(e){if(e.length<3)return console.log("Not enough vertices to define a plane"),{isCoplanar:!1};const t=new
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@@ -85,7 +85,7 @@ theme.transitions = createTransitions(theme.transitions || {});
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export default theme;`}function Fo(e={},...t){const{breakpoints:r,mixins:a={},spacing:n,palette:o={},transitions:s={},typography:i={},shape:l,...c}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":Qt(20));const d=ms(o),u=Dn(e);let p=Ke(u,{mixins:vh(u.breakpoints,a),palette:d,shadows:Vh.slice(),typography:Oh(d,i),transitions:Th(s),zIndex:{...Eh}});if(p=Ke(p,c),p=t.reduce((m,g)=>Ke(m,g),p),process.env.NODE_ENV!=="production"){const m=["active","checked","completed","disabled","error","expanded","focused","focusVisible","required","selected"],g=(h,x)=>{let E;for(E in h){const U=h[E];if(m.includes(E)&&Object.keys(U).length>0){if(process.env.NODE_ENV!=="production"){const F=Fa("",E);console.error([`MUI: The \`${x}\` component increases the CSS specificity of the \`${E}\` internal state.`,"You can not override it like this: ",JSON.stringify(h,null,2),"",`Instead, you need to use the '&.${F}' syntax:`,JSON.stringify({root:{[`&.${F}`]:U}},null,2),"","https://mui.com/r/state-classes-guide"].join(`
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`))}h[E]={}}}};Object.keys(p.components).forEach(h=>{const x=p.components[h].styleOverrides;x&&h.startsWith("Mui")&&g(x,h)})}return p.unstable_sxConfig={...Ba,...c==null?void 0:c.unstable_sxConfig},p.unstable_sx=function(g){return Hr({sx:g,theme:this})},p.toRuntimeSource=rc,p}function Mh(e){let t;return e<1?t=5.11916*e**2:t=4.5*Math.log(e+1)+2,Math.round(t*10)/1e3}const jh=[...Array(25)].map((e,t)=>{if(t===0)return"none";const r=Mh(t);return`linear-gradient(rgba(255 255 255 / ${r}), rgba(255 255 255 / ${r}))`});function ac(e){return{inputPlaceholder:e==="dark"?.5:.42,inputUnderline:e==="dark"?.7:.42,switchTrackDisabled:e==="dark"?.2:.12,switchTrack:e==="dark"?.3:.38}}function nc(e){return e==="dark"?jh:[]}function $h(e){const{palette:t={mode:"light"},opacity:r,overlays:a,...n}=e,o=ms(t);return{palette:o,opacity:{...ac(o.mode),...r},overlays:a||nc(o.mode),...n}}function Uh(e){var t;return!!e[0].match(/(cssVarPrefix|colorSchemeSelector|rootSelector|typography|mixins|breakpoints|direction|transitions)/)||!!e[0].match(/sxConfig$/)||e[0]==="palette"&&!!((t=e[1])!=null&&t.match(/(mode|contrastThreshold|tonalOffset)/))}const Lh=e=>[...[...Array(25)].map((t,r)=>`--${e?`${e}-`:""}overlays-${r}`),`--${e?`${e}-`:""}palette-AppBar-darkBg`,`--${e?`${e}-`:""}palette-AppBar-darkColor`],kh=e=>(t,r)=>{const a=e.rootSelector||":root",n=e.colorSchemeSelector;let o=n;if(n==="class"&&(o=".%s"),n==="data"&&(o="[data-%s]"),n!=null&&n.startsWith("data-")&&!n.includes("%s")&&(o=`[${n}="%s"]`),e.defaultColorScheme===t){if(t==="dark"){const s={};return Lh(e.cssVarPrefix).forEach(i=>{s[i]=r[i],delete r[i]}),o==="media"?{[a]:r,"@media (prefers-color-scheme: dark)":{[a]:s}}:o?{[o.replace("%s",t)]:s,[`${a}, ${o.replace("%s",t)}`]:r}:{[a]:{...r,...s}}}if(o&&o!=="media")return`${a}, ${o.replace("%s",String(t))}`}else if(t){if(o==="media")return{[`@media (prefers-color-scheme: ${String(t)})`]:{[a]:r}};if(o)return o.replace("%s",String(t))}return a};function Bh(e,t){t.forEach(r=>{e[r]||(e[r]={})})}function $(e,t,r){!e[t]&&r&&(e[t]=r)}function wa(e){return typeof e!="string"||!e.startsWith("hsl")?e:Xl(e)}function It(e,t){`${t}Channel`in e||(e[`${t}Channel`]=Oa(wa(e[t]),`MUI: Can't create \`palette.${t}Channel\` because \`palette.${t}\` is not one of these formats: #nnn, #nnnnnn, rgb(), rgba(), hsl(), hsla(), color().
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To suppress this warning, you need to explicitly provide the \`palette.${t}Channel\` as a string (in rgb format, for example "12 12 12") or undefined if you want to remove the channel token.`))}function Fh(e){return typeof e=="number"?`${e}px`:typeof e=="string"||typeof e=="function"||Array.isArray(e)?e:"8px"}const St=e=>{try{return e()}catch{}},Nh=(e="mui")=>Zp(e);function bo(e,t,r,a){if(!t)return;t=t===!0?{}:t;const n=a==="dark"?"dark":"light";if(!r){e[a]=$h({...t,palette:{mode:n,...t==null?void 0:t.palette}});return}const{palette:o,...s}=Fo({...r,palette:{mode:n,...t==null?void 0:t.palette}});return e[a]={...t,palette:o,opacity:{...ac(n),...t==null?void 0:t.opacity},overlays:(t==null?void 0:t.overlays)||nc(n)},s}function Dh(e={},...t){const{colorSchemes:r={light:!0},defaultColorScheme:a,disableCssColorScheme:n=!1,cssVarPrefix:o="mui",shouldSkipGeneratingVar:s=Uh,colorSchemeSelector:i=r.light&&r.dark?"media":void 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Either set keySeparator: false on init or make sure your translations are published in nested format.")}let Z=[];const xe=this.languageUtils.getFallbackCodes(this.options.fallbackLng,r.lng||this.language);if(this.options.saveMissingTo==="fallback"&&xe&&xe[0])for(let ce=0;ce<xe.length;ce++)Z.push(xe[ce]);else this.options.saveMissingTo==="all"?Z=this.languageUtils.toResolveHierarchy(r.lng||this.language):Z.push(r.lng||this.language);const X=(ce,fe,le)=>{var _t;const He=F&&le!==p?le:D;this.options.missingKeyHandler?this.options.missingKeyHandler(ce,l,fe,He,re,r):(_t=this.backendConnector)!=null&&_t.saveMissing&&this.backendConnector.saveMissing(ce,l,fe,He,re,r),this.emit("missingKey",ce,l,fe,p)};this.options.saveMissing&&(this.options.saveMissingPlurals&&U?Z.forEach(ce=>{const fe=this.pluralResolver.getSuffixes(ce,r);K&&r[`defaultValue${this.options.pluralSeparator}zero`]&&fe.indexOf(`${this.options.pluralSeparator}zero`)<0&&fe.push(`${this.options.pluralSeparator}zero`),fe.forEach(le=>{X([ce],s+le,r[`defaultValue${le}`]||j)})}):X(Z,s,j))}p=this.extendTranslation(p,t,r,u,a),B&&p===s&&this.options.appendNamespaceToMissingKey&&(p=`${l}:${s}`),(B||M)&&this.options.parseMissingKeyHandler&&(p=this.options.parseMissingKeyHandler(this.options.appendNamespaceToMissingKey?`${l}:${s}`:s,M?p:void 0))}return n?(u.res=p,u.usedParams=this.getUsedParamsDetails(r),u):p}extendTranslation(t,r,a,n,o){var c,d;var s=this;if((c=this.i18nFormat)!=null&&c.parse)t=this.i18nFormat.parse(t,{...this.options.interpolation.defaultVariables,...a},a.lng||this.language||n.usedLng,n.usedNS,n.usedKey,{resolved:n});else if(!a.skipInterpolation){a.interpolation&&this.interpolator.init({...a,interpolation:{...this.options.interpolation,...a.interpolation}});const u=oe(t)&&(((d=a==null?void 0:a.interpolation)==null?void 0:d.skipOnVariables)!==void 0?a.interpolation.skipOnVariables:this.options.interpolation.skipOnVariables);let p;if(u){const g=t.match(this.interpolator.nestingRegexp);p=g&&g.length}let m=a.replace&&!oe(a.replace)?a.replace:a;if(this.options.interpolation.defaultVariables&&(m={...this.options.interpolation.defaultVariables,...m}),t=this.interpolator.interpolate(t,m,a.lng||this.language||n.usedLng,a),u){const g=t.match(this.interpolator.nestingRegexp),h=g&&g.length;p<h&&(a.nest=!1)}!a.lng&&n&&n.res&&(a.lng=this.language||n.usedLng),a.nest!==!1&&(t=this.interpolator.nest(t,function(){for(var g=arguments.length,h=new Array(g),x=0;x<g;x++)h[x]=arguments[x];return(o==null?void 0:o[0])===h[0]&&!a.context?(s.logger.warn(`It seems you are nesting recursively key: ${h[0]} in key: ${r[0]}`),null):s.translate(...h,r)},a)),a.interpolation&&this.interpolator.reset()}const i=a.postProcess||this.options.postProcess,l=oe(i)?[i]:i;return t!=null&&(l!=null&&l.length)&&a.applyPostProcessor!==!1&&(t=ic.handle(l,t,r,this.options&&this.options.postProcessPassResolved?{i18nResolved:{...n,usedParams:this.getUsedParamsDetails(a)},...a}:a,this)),t}resolve(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{},a,n,o,s,i;return oe(t)&&(t=[t]),t.forEach(l=>{if(this.isValidLookup(a))return;const c=this.extractFromKey(l,r),d=c.key;n=d;let u=c.namespaces;this.options.fallbackNS&&(u=u.concat(this.options.fallbackNS));const p=r.count!==void 0&&!oe(r.count),m=p&&!r.ordinal&&r.count===0,g=r.context!==void 0&&(oe(r.context)||typeof r.context=="number")&&r.context!=="",h=r.lngs?r.lngs:this.languageUtils.toResolveHierarchy(r.lng||this.language,r.fallbackLng);u.forEach(x=>{var E,U;this.isValidLookup(a)||(i=x,!ui[`${h[0]}-${x}`]&&((E=this.utils)!=null&&E.hasLoadedNamespace)&&!((U=this.utils)!=null&&U.hasLoadedNamespace(i))&&(ui[`${h[0]}-${x}`]=!0,this.logger.warn(`key "${n}" for languages "${h.join(", ")}" won't get resolved as namespace "${i}" was not yet loaded`,"This means something IS WRONG in your setup. You access the t function before i18next.init / i18next.loadNamespace / i18next.changeLanguage was done. Wait for the callback or Promise to resolve before accessing it!!!")),h.forEach(F=>{var K;if(this.isValidLookup(a))return;s=F;const N=[d];if((K=this.i18nFormat)!=null&&K.addLookupKeys)this.i18nFormat.addLookupKeys(N,d,F,x,r);else{let j;p&&(j=this.pluralResolver.getSuffix(F,r.count,r));const L=`${this.options.pluralSeparator}zero`,k=`${this.options.pluralSeparator}ordinal${this.options.pluralSeparator}`;if(p&&(N.push(d+j),r.ordinal&&j.indexOf(k)===0&&N.push(d+j.replace(k,this.options.pluralSeparator)),m&&N.push(d+L)),g){const y=`${d}${this.options.contextSeparator}${r.context}`;N.push(y),p&&(N.push(y+j),r.ordinal&&j.indexOf(k)===0&&N.push(y+j.replace(k,this.options.pluralSeparator)),m&&N.push(y+L))}}let J;for(;J=N.pop();)this.isValidLookup(a)||(o=J,a=this.getResource(F,x,J,r))}))})}),{res:a,usedKey:n,exactUsedKey:o,usedLng:s,usedNS:i}}isValidLookup(t){return t!==void 0&&!(!this.options.returnNull&&t===null)&&!(!this.options.returnEmptyString&&t==="")}getResource(t,r,a){var o;let n=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{};return(o=this.i18nFormat)!=null&&o.getResource?this.i18nFormat.getResource(t,r,a,n):this.resourceStore.getResource(t,r,a,n)}getUsedParamsDetails(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{};const r=["defaultValue","ordinal","context","replace","lng","lngs","fallbackLng","ns","keySeparator","nsSeparator","returnObjects","returnDetails","joinArrays","postProcess","interpolation"],a=t.replace&&!oe(t.replace);let n=a?t.replace:t;if(a&&typeof t.count<"u"&&(n.count=t.count),this.options.interpolation.defaultVariables&&(n={...this.options.interpolation.defaultVariables,...n}),!a){n={...n};for(const o of r)delete n[o]}return n}static hasDefaultValue(t){const r="defaultValue";for(const a in t)if(Object.prototype.hasOwnProperty.call(t,a)&&r===a.substring(0,r.length)&&t[a]!==void 0)return!0;return!1}}class hi{constructor(t){this.options=t,this.supportedLngs=this.options.supportedLngs||!1,this.logger=Ct.create("languageUtils")}getScriptPartFromCode(t){if(t=On(t),!t||t.indexOf("-")<0)return null;const r=t.split("-");return r.length===2||(r.pop(),r[r.length-1].toLowerCase()==="x")?null:this.formatLanguageCode(r.join("-"))}getLanguagePartFromCode(t){if(t=On(t),!t||t.indexOf("-")<0)return t;const r=t.split("-");return this.formatLanguageCode(r[0])}formatLanguageCode(t){if(oe(t)&&t.indexOf("-")>-1){let r;try{r=Intl.getCanonicalLocales(t)[0]}catch{}return r&&this.options.lowerCaseLng&&(r=r.toLowerCase()),r||(this.options.lowerCaseLng?t.toLowerCase():t)}return this.options.cleanCode||this.options.lowerCaseLng?t.toLowerCase():t}isSupportedCode(t){return(this.options.load==="languageOnly"||this.options.nonExplicitSupportedLngs)&&(t=this.getLanguagePartFromCode(t)),!this.supportedLngs||!this.supportedLngs.length||this.supportedLngs.indexOf(t)>-1}getBestMatchFromCodes(t){if(!t)return null;let r;return t.forEach(a=>{if(r)return;const n=this.formatLanguageCode(a);(!this.options.supportedLngs||this.isSupportedCode(n))&&(r=n)}),!r&&this.options.supportedLngs&&t.forEach(a=>{if(r)return;const n=this.getLanguagePartFromCode(a);if(this.isSupportedCode(n))return r=n;r=this.options.supportedLngs.find(o=>{if(o===n)return o;if(!(o.indexOf("-")<0&&n.indexOf("-")<0)&&(o.indexOf("-")>0&&n.indexOf("-")<0&&o.substring(0,o.indexOf("-"))===n||o.indexOf(n)===0&&n.length>1))return o})}),r||(r=this.getFallbackCodes(this.options.fallbackLng)[0]),r}getFallbackCodes(t,r){if(!t)return[];if(typeof t=="function"&&(t=t(r)),oe(t)&&(t=[t]),Array.isArray(t))return t;if(!r)return t.default||[];let a=t[r];return a||(a=t[this.getScriptPartFromCode(r)]),a||(a=t[this.formatLanguageCode(r)]),a||(a=t[this.getLanguagePartFromCode(r)]),a||(a=t.default),a||[]}toResolveHierarchy(t,r){const a=this.getFallbackCodes(r||this.options.fallbackLng||[],t),n=[],o=s=>{s&&(this.isSupportedCode(s)?n.push(s):this.logger.warn(`rejecting language code not found in supportedLngs: ${s}`))};return oe(t)&&(t.indexOf("-")>-1||t.indexOf("_")>-1)?(this.options.load!=="languageOnly"&&o(this.formatLanguageCode(t)),this.options.load!=="languageOnly"&&this.options.load!=="currentOnly"&&o(this.getScriptPartFromCode(t)),this.options.load!=="currentOnly"&&o(this.getLanguagePartFromCode(t))):oe(t)&&o(this.formatLanguageCode(t)),a.forEach(s=>{n.indexOf(s)<0&&o(this.formatLanguageCode(s))}),n}}const mi={zero:0,one:1,two:2,few:3,many:4,other:5},fi={select:e=>e===1?"one":"other",resolvedOptions:()=>({pluralCategories:["one","other"]})};class am{constructor(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{};this.languageUtils=t,this.options=r,this.logger=Ct.create("pluralResolver"),this.pluralRulesCache={}}addRule(t,r){this.rules[t]=r}clearCache(){this.pluralRulesCache={}}getRule(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{};const a=On(t==="dev"?"en":t),n=r.ordinal?"ordinal":"cardinal",o=JSON.stringify({cleanedCode:a,type:n});if(o in this.pluralRulesCache)return this.pluralRulesCache[o];let s;try{s=new Intl.PluralRules(a,{type:n})}catch{if(!Intl)return this.logger.error("No Intl support, please use an Intl polyfill!"),fi;if(!t.match(/-|_/))return fi;const l=this.languageUtils.getLanguagePartFromCode(t);s=this.getRule(l,r)}return this.pluralRulesCache[o]=s,s}needsPlural(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{},a=this.getRule(t,r);return a||(a=this.getRule("dev",r)),(a==null?void 0:a.resolvedOptions().pluralCategories.length)>1}getPluralFormsOfKey(t,r){let a=arguments.length>2&&arguments[2]!==void 0?arguments[2]:{};return this.getSuffixes(t,a).map(n=>`${r}${n}`)}getSuffixes(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{},a=this.getRule(t,r);return a||(a=this.getRule("dev",r)),a?a.resolvedOptions().pluralCategories.sort((n,o)=>mi[n]-mi[o]).map(n=>`${this.options.prepend}${r.ordinal?`ordinal${this.options.prepend}`:""}${n}`):[]}getSuffix(t,r){let a=arguments.length>2&&arguments[2]!==void 0?arguments[2]:{};const n=this.getRule(t,a);return n?`${this.options.prepend}${a.ordinal?`ordinal${this.options.prepend}`:""}${n.select(r)}`:(this.logger.warn(`no plural rule found for: ${t}`),this.getSuffix("dev",r,a))}}const gi=function(e,t,r){let a=arguments.length>3&&arguments[3]!==void 0?arguments[3]:".",n=arguments.length>4&&arguments[4]!==void 0?arguments[4]:!0,o=Kh(e,t,r);return!o&&n&&oe(r)&&(o=No(e,r,a),o===void 0&&(o=No(t,r,a))),o},So=e=>e.replace(/\$/g,"$$$$");class nm{constructor(){var r;let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{};this.logger=Ct.create("interpolator"),this.options=t,this.format=((r=t==null?void 0:t.interpolation)==null?void 0:r.format)||(a=>a),this.init(t)}init(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{};t.interpolation||(t.interpolation={escapeValue:!0});const{escape:r,escapeValue:a,useRawValueToEscape:n,prefix:o,prefixEscaped:s,suffix:i,suffixEscaped:l,formatSeparator:c,unescapeSuffix:d,unescapePrefix:u,nestingPrefix:p,nestingPrefixEscaped:m,nestingSuffix:g,nestingSuffixEscaped:h,nestingOptionsSeparator:x,maxReplaces:E,alwaysFormat:U}=t.interpolation;this.escape=r!==void 0?r:Yh,this.escapeValue=a!==void 0?a:!0,this.useRawValueToEscape=n!==void 0?n:!1,this.prefix=o?Er(o):s||"{{",this.suffix=i?Er(i):l||"}}",this.formatSeparator=c||",",this.unescapePrefix=d?"":u||"-",this.unescapeSuffix=this.unescapePrefix?"":d||"",this.nestingPrefix=p?Er(p):m||Er("$t("),this.nestingSuffix=g?Er(g):h||Er(")"),this.nestingOptionsSeparator=x||",",this.maxReplaces=E||1e3,this.alwaysFormat=U!==void 0?U:!1,this.resetRegExp()}reset(){this.options&&this.init(this.options)}resetRegExp(){const t=(r,a)=>(r==null?void 0:r.source)===a?(r.lastIndex=0,r):new RegExp(a,"g");this.regexp=t(this.regexp,`${this.prefix}(.+?)${this.suffix}`),this.regexpUnescape=t(this.regexpUnescape,`${this.prefix}${this.unescapePrefix}(.+?)${this.unescapeSuffix}${this.suffix}`),this.nestingRegexp=t(this.nestingRegexp,`${this.nestingPrefix}(.+?)${this.nestingSuffix}`)}interpolate(t,r,a,n){var m;let o,s,i;const l=this.options&&this.options.interpolation&&this.options.interpolation.defaultVariables||{},c=g=>{if(g.indexOf(this.formatSeparator)<0){const U=gi(r,l,g,this.options.keySeparator,this.options.ignoreJSONStructure);return this.alwaysFormat?this.format(U,void 0,a,{...n,...r,interpolationkey:g}):U}const h=g.split(this.formatSeparator),x=h.shift().trim(),E=h.join(this.formatSeparator).trim();return this.format(gi(r,l,x,this.options.keySeparator,this.options.ignoreJSONStructure),E,a,{...n,...r,interpolationkey:x})};this.resetRegExp();const d=(n==null?void 0:n.missingInterpolationHandler)||this.options.missingInterpolationHandler,u=((m=n==null?void 0:n.interpolation)==null?void 0:m.skipOnVariables)!==void 0?n.interpolation.skipOnVariables:this.options.interpolation.skipOnVariables;return[{regex:this.regexpUnescape,safeValue:g=>So(g)},{regex:this.regexp,safeValue:g=>this.escapeValue?So(this.escape(g)):So(g)}].forEach(g=>{for(i=0;o=g.regex.exec(t);){const h=o[1].trim();if(s=c(h),s===void 0)if(typeof d=="function"){const E=d(t,o,n);s=oe(E)?E:""}else if(n&&Object.prototype.hasOwnProperty.call(n,h))s="";else if(u){s=o[0];continue}else this.logger.warn(`missed to pass in variable ${h} for interpolating ${t}`),s="";else!oe(s)&&!this.useRawValueToEscape&&(s=si(s));const x=g.safeValue(s);if(t=t.replace(o[0],x),u?(g.regex.lastIndex+=s.length,g.regex.lastIndex-=o[0].length):g.regex.lastIndex=0,i++,i>=this.maxReplaces)break}}),t}nest(t,r){let a=arguments.length>2&&arguments[2]!==void 0?arguments[2]:{},n,o,s;const i=(l,c)=>{const d=this.nestingOptionsSeparator;if(l.indexOf(d)<0)return l;const u=l.split(new RegExp(`${d}[ ]*{`));let p=`{${u[1]}`;l=u[0],p=this.interpolate(p,s);const m=p.match(/'/g),g=p.match(/"/g);(((m==null?void 0:m.length)??0)%2===0&&!g||g.length%2!==0)&&(p=p.replace(/'/g,'"'));try{s=JSON.parse(p),c&&(s={...c,...s})}catch(h){return this.logger.warn(`failed parsing options string in nesting for key ${l}`,h),`${l}${d}${p}`}return s.defaultValue&&s.defaultValue.indexOf(this.prefix)>-1&&delete s.defaultValue,l};for(;n=this.nestingRegexp.exec(t);){let l=[];s={...a},s=s.replace&&!oe(s.replace)?s.replace:s,s.applyPostProcessor=!1,delete s.defaultValue;let c=!1;if(n[0].indexOf(this.formatSeparator)!==-1&&!/{.*}/.test(n[1])){const d=n[1].split(this.formatSeparator).map(u=>u.trim());n[1]=d.shift(),l=d,c=!0}if(o=r(i.call(this,n[1].trim(),s),s),o&&n[0]===t&&!oe(o))return o;oe(o)||(o=si(o)),o||(this.logger.warn(`missed to resolve ${n[1]} for nesting ${t}`),o=""),c&&(o=l.reduce((d,u)=>this.format(d,u,a.lng,{...a,interpolationkey:n[1].trim()}),o.trim())),t=t.replace(n[0],o),this.regexp.lastIndex=0}return t}}const om=e=>{let t=e.toLowerCase().trim();const r={};if(e.indexOf("(")>-1){const a=e.split("(");t=a[0].toLowerCase().trim();const n=a[1].substring(0,a[1].length-1);t==="currency"&&n.indexOf(":")<0?r.currency||(r.currency=n.trim()):t==="relativetime"&&n.indexOf(":")<0?r.range||(r.range=n.trim()):n.split(";").forEach(s=>{if(s){const[i,...l]=s.split(":"),c=l.join(":").trim().replace(/^'+|'+$/g,""),d=i.trim();r[d]||(r[d]=c),c==="false"&&(r[d]=!1),c==="true"&&(r[d]=!0),isNaN(c)||(r[d]=parseInt(c,10))}})}return{formatName:t,formatOptions:r}},Ir=e=>{const t={};return(r,a,n)=>{let o=n;n&&n.interpolationkey&&n.formatParams&&n.formatParams[n.interpolationkey]&&n[n.interpolationkey]&&(o={...o,[n.interpolationkey]:void 0});const s=a+JSON.stringify(o);let i=t[s];return i||(i=e(On(a),n),t[s]=i),i(r)}};class sm{constructor(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{};this.logger=Ct.create("formatter"),this.options=t,this.formats={number:Ir((r,a)=>{const n=new Intl.NumberFormat(r,{...a});return o=>n.format(o)}),currency:Ir((r,a)=>{const n=new Intl.NumberFormat(r,{...a,style:"currency"});return o=>n.format(o)}),datetime:Ir((r,a)=>{const n=new Intl.DateTimeFormat(r,{...a});return o=>n.format(o)}),relativetime:Ir((r,a)=>{const n=new Intl.RelativeTimeFormat(r,{...a});return o=>n.format(o,a.range||"day")}),list:Ir((r,a)=>{const n=new Intl.ListFormat(r,{...a});return o=>n.format(o)})},this.init(t)}init(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{interpolation:{}};this.formatSeparator=r.interpolation.formatSeparator||","}add(t,r){this.formats[t.toLowerCase().trim()]=r}addCached(t,r){this.formats[t.toLowerCase().trim()]=Ir(r)}format(t,r,a){let n=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{};const o=r.split(this.formatSeparator);if(o.length>1&&o[0].indexOf("(")>1&&o[0].indexOf(")")<0&&o.find(i=>i.indexOf(")")>-1)){const i=o.findIndex(l=>l.indexOf(")")>-1);o[0]=[o[0],...o.splice(1,i)].join(this.formatSeparator)}return o.reduce((i,l)=>{var u;const{formatName:c,formatOptions:d}=om(l);if(this.formats[c]){let p=i;try{const m=((u=n==null?void 0:n.formatParams)==null?void 0:u[n.interpolationkey])||{},g=m.locale||m.lng||n.locale||n.lng||a;p=this.formats[c](i,g,{...d,...n,...m})}catch(m){this.logger.warn(m)}return p}else this.logger.warn(`there was no format function for ${c}`);return i},t)}}const im=(e,t)=>{e.pending[t]!==void 0&&(delete e.pending[t],e.pendingCount--)};class lm extends Gn{constructor(t,r,a){var o,s;let n=arguments.length>3&&arguments[3]!==void 0?arguments[3]:{};super(),this.backend=t,this.store=r,this.services=a,this.languageUtils=a.languageUtils,this.options=n,this.logger=Ct.create("backendConnector"),this.waitingReads=[],this.maxParallelReads=n.maxParallelReads||10,this.readingCalls=0,this.maxRetries=n.maxRetries>=0?n.maxRetries:5,this.retryTimeout=n.retryTimeout>=1?n.retryTimeout:350,this.state={},this.queue=[],(s=(o=this.backend)==null?void 0:o.init)==null||s.call(o,a,n.backend,n)}queueLoad(t,r,a,n){const o={},s={},i={},l={};return t.forEach(c=>{let d=!0;r.forEach(u=>{const p=`${c}|${u}`;!a.reload&&this.store.hasResourceBundle(c,u)?this.state[p]=2:this.state[p]<0||(this.state[p]===1?s[p]===void 0&&(s[p]=!0):(this.state[p]=1,d=!1,s[p]===void 0&&(s[p]=!0),o[p]===void 0&&(o[p]=!0),l[u]===void 0&&(l[u]=!0)))}),d||(i[c]=!0)}),(Object.keys(o).length||Object.keys(s).length)&&this.queue.push({pending:s,pendingCount:Object.keys(s).length,loaded:{},errors:[],callback:n}),{toLoad:Object.keys(o),pending:Object.keys(s),toLoadLanguages:Object.keys(i),toLoadNamespaces:Object.keys(l)}}loaded(t,r,a){const n=t.split("|"),o=n[0],s=n[1];r&&this.emit("failedLoading",o,s,r),!r&&a&&this.store.addResourceBundle(o,s,a,void 0,void 0,{skipCopy:!0}),this.state[t]=r?-1:2,r&&a&&(this.state[t]=0);const i={};this.queue.forEach(l=>{Wh(l.loaded,[o],s),im(l,t),r&&l.errors.push(r),l.pendingCount===0&&!l.done&&(Object.keys(l.loaded).forEach(c=>{i[c]||(i[c]={});const d=l.loaded[c];d.length&&d.forEach(u=>{i[c][u]===void 0&&(i[c][u]=!0)})}),l.done=!0,l.errors.length?l.callback(l.errors):l.callback())}),this.emit("loaded",i),this.queue=this.queue.filter(l=>!l.done)}read(t,r,a){let n=arguments.length>3&&arguments[3]!==void 0?arguments[3]:0,o=arguments.length>4&&arguments[4]!==void 0?arguments[4]:this.retryTimeout,s=arguments.length>5?arguments[5]:void 0;if(!t.length)return s(null,{});if(this.readingCalls>=this.maxParallelReads){this.waitingReads.push({lng:t,ns:r,fcName:a,tried:n,wait:o,callback:s});return}this.readingCalls++;const i=(c,d)=>{if(this.readingCalls--,this.waitingReads.length>0){const u=this.waitingReads.shift();this.read(u.lng,u.ns,u.fcName,u.tried,u.wait,u.callback)}if(c&&d&&n<this.maxRetries){setTimeout(()=>{this.read.call(this,t,r,a,n+1,o*2,s)},o);return}s(c,d)},l=this.backend[a].bind(this.backend);if(l.length===2){try{const c=l(t,r);c&&typeof c.then=="function"?c.then(d=>i(null,d)).catch(i):i(null,c)}catch(c){i(c)}return}return l(t,r,i)}prepareLoading(t,r){let a=arguments.length>2&&arguments[2]!==void 0?arguments[2]:{},n=arguments.length>3?arguments[3]:void 0;if(!this.backend)return this.logger.warn("No backend was added via i18next.use. Will not load resources."),n&&n();oe(t)&&(t=this.languageUtils.toResolveHierarchy(t)),oe(r)&&(r=[r]);const o=this.queueLoad(t,r,a,n);if(!o.toLoad.length)return o.pending.length||n(),null;o.toLoad.forEach(s=>{this.loadOne(s)})}load(t,r,a){this.prepareLoading(t,r,{},a)}reload(t,r,a){this.prepareLoading(t,r,{reload:!0},a)}loadOne(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:"";const a=t.split("|"),n=a[0],o=a[1];this.read(n,o,"read",void 0,void 0,(s,i)=>{s&&this.logger.warn(`${r}loading namespace ${o} for language ${n} failed`,s),!s&&i&&this.logger.log(`${r}loaded namespace ${o} for language ${n}`,i),this.loaded(t,s,i)})}saveMissing(t,r,a,n,o){var l,c,d,u,p;let s=arguments.length>5&&arguments[5]!==void 0?arguments[5]:{},i=arguments.length>6&&arguments[6]!==void 0?arguments[6]:()=>{};if((c=(l=this.services)==null?void 0:l.utils)!=null&&c.hasLoadedNamespace&&!((u=(d=this.services)==null?void 0:d.utils)!=null&&u.hasLoadedNamespace(r))){this.logger.warn(`did not save key "${a}" as the namespace "${r}" was not yet loaded`,"This means something IS WRONG in your setup. You access the t function before i18next.init / i18next.loadNamespace / i18next.changeLanguage was done. Wait for the callback or Promise to resolve before accessing it!!!");return}if(!(a==null||a==="")){if((p=this.backend)!=null&&p.create){const m={...s,isUpdate:o},g=this.backend.create.bind(this.backend);if(g.length<6)try{let h;g.length===5?h=g(t,r,a,n,m):h=g(t,r,a,n),h&&typeof h.then=="function"?h.then(x=>i(null,x)).catch(i):i(null,h)}catch(h){i(h)}else g(t,r,a,n,i,m)}!t||!t[0]||this.store.addResource(t[0],r,a,n)}}}const yi=()=>({debug:!1,initAsync:!0,ns:["translation"],defaultNS:["translation"],fallbackLng:["dev"],fallbackNS:!1,supportedLngs:!1,nonExplicitSupportedLngs:!1,load:"all",preload:!1,simplifyPluralSuffix:!0,keySeparator:".",nsSeparator:":",pluralSeparator:"_",contextSeparator:"_",partialBundledLanguages:!1,saveMissing:!1,updateMissing:!1,saveMissingTo:"fallback",saveMissingPlurals:!0,missingKeyHandler:!1,missingInterpolationHandler:!1,postProcess:!1,postProcessPassResolved:!1,returnNull:!1,returnEmptyString:!0,returnObjects:!1,joinArrays:!1,returnedObjectHandler:!1,parseMissingKeyHandler:!1,appendNamespaceToMissingKey:!1,appendNamespaceToCIMode:!1,overloadTranslationOptionHandler:e=>{let t={};if(typeof e[1]=="object"&&(t=e[1]),oe(e[1])&&(t.defaultValue=e[1]),oe(e[2])&&(t.tDescription=e[2]),typeof e[2]=="object"||typeof e[3]=="object"){const r=e[3]||e[2];Object.keys(r).forEach(a=>{t[a]=r[a]})}return t},interpolation:{escapeValue:!0,format:e=>e,prefix:"{{",suffix:"}}",formatSeparator:",",unescapePrefix:"-",nestingPrefix:"$t(",nestingSuffix:")",nestingOptionsSeparator:",",maxReplaces:1e3,skipOnVariables:!0}}),bi=e=>{var t,r;return oe(e.ns)&&(e.ns=[e.ns]),oe(e.fallbackLng)&&(e.fallbackLng=[e.fallbackLng]),oe(e.fallbackNS)&&(e.fallbackNS=[e.fallbackNS]),((r=(t=e.supportedLngs)==null?void 0:t.indexOf)==null?void 0:r.call(t,"cimode"))<0&&(e.supportedLngs=e.supportedLngs.concat(["cimode"])),typeof e.initImmediate=="boolean"&&(e.initAsync=e.initImmediate),e},Wa=()=>{},cm=e=>{Object.getOwnPropertyNames(Object.getPrototypeOf(e)).forEach(r=>{typeof e[r]=="function"&&(e[r]=e[r].bind(e))})};class Ea extends Gn{constructor(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{},r=arguments.length>1?arguments[1]:void 0;if(super(),this.options=bi(t),this.services={},this.logger=Ct,this.modules={external:[]},cm(this),r&&!this.isInitialized&&!t.isClone){if(!this.options.initAsync)return this.init(t,r),this;setTimeout(()=>{this.init(t,r)},0)}}init(){var t=this;let r=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{},a=arguments.length>1?arguments[1]:void 0;this.isInitializing=!0,typeof r=="function"&&(a=r,r={}),r.defaultNS==null&&r.ns&&(oe(r.ns)?r.defaultNS=r.ns:r.ns.indexOf("translation")<0&&(r.defaultNS=r.ns[0]));const n=yi();this.options={...n,...this.options,...bi(r)},this.options.interpolation={...n.interpolation,...this.options.interpolation},r.keySeparator!==void 0&&(this.options.userDefinedKeySeparator=r.keySeparator),r.nsSeparator!==void 0&&(this.options.userDefinedNsSeparator=r.nsSeparator);const o=d=>d?typeof d=="function"?new d:d:null;if(!this.options.isClone){this.modules.logger?Ct.init(o(this.modules.logger),this.options):Ct.init(null,this.options);let d;this.modules.formatter?d=this.modules.formatter:d=sm;const u=new hi(this.options);this.store=new di(this.options.resources,this.options);const p=this.services;p.logger=Ct,p.resourceStore=this.store,p.languageUtils=u,p.pluralResolver=new am(u,{prepend:this.options.pluralSeparator,simplifyPluralSuffix:this.options.simplifyPluralSuffix}),d&&(!this.options.interpolation.format||this.options.interpolation.format===n.interpolation.format)&&(p.formatter=o(d),p.formatter.init(p,this.options),this.options.interpolation.format=p.formatter.format.bind(p.formatter)),p.interpolator=new nm(this.options),p.utils={hasLoadedNamespace:this.hasLoadedNamespace.bind(this)},p.backendConnector=new lm(o(this.modules.backend),p.resourceStore,p,this.options),p.backendConnector.on("*",function(m){for(var g=arguments.length,h=new Array(g>1?g-1:0),x=1;x<g;x++)h[x-1]=arguments[x];t.emit(m,...h)}),this.modules.languageDetector&&(p.languageDetector=o(this.modules.languageDetector),p.languageDetector.init&&p.languageDetector.init(p,this.options.detection,this.options)),this.modules.i18nFormat&&(p.i18nFormat=o(this.modules.i18nFormat),p.i18nFormat.init&&p.i18nFormat.init(this)),this.translator=new Cn(this.services,this.options),this.translator.on("*",function(m){for(var g=arguments.length,h=new Array(g>1?g-1:0),x=1;x<g;x++)h[x-1]=arguments[x];t.emit(m,...h)}),this.modules.external.forEach(m=>{m.init&&m.init(this)})}if(this.format=this.options.interpolation.format,a||(a=Wa),this.options.fallbackLng&&!this.services.languageDetector&&!this.options.lng){const d=this.services.languageUtils.getFallbackCodes(this.options.fallbackLng);d.length>0&&d[0]!=="dev"&&(this.options.lng=d[0])}!this.services.languageDetector&&!this.options.lng&&this.logger.warn("init: no languageDetector is used and no lng is defined"),["getResource","hasResourceBundle","getResourceBundle","getDataByLanguage"].forEach(d=>{this[d]=function(){return t.store[d](...arguments)}}),["addResource","addResources","addResourceBundle","removeResourceBundle"].forEach(d=>{this[d]=function(){return t.store[d](...arguments),t}});const l=pa(),c=()=>{const d=(u,p)=>{this.isInitializing=!1,this.isInitialized&&!this.initializedStoreOnce&&this.logger.warn("init: i18next is already initialized. You should call init just once!"),this.isInitialized=!0,this.options.isClone||this.logger.log("initialized",this.options),this.emit("initialized",this.options),l.resolve(p),a(u,p)};if(this.languages&&!this.isInitialized)return d(null,this.t.bind(this));this.changeLanguage(this.options.lng,d)};return this.options.resources||!this.options.initAsync?c():setTimeout(c,0),l}loadResources(t){var o,s;let a=arguments.length>1&&arguments[1]!==void 0?arguments[1]:Wa;const n=oe(t)?t:this.language;if(typeof t=="function"&&(a=t),!this.options.resources||this.options.partialBundledLanguages){if((n==null?void 0:n.toLowerCase())==="cimode"&&(!this.options.preload||this.options.preload.length===0))return a();const i=[],l=c=>{if(!c||c==="cimode")return;this.services.languageUtils.toResolveHierarchy(c).forEach(u=>{u!=="cimode"&&i.indexOf(u)<0&&i.push(u)})};n?l(n):this.services.languageUtils.getFallbackCodes(this.options.fallbackLng).forEach(d=>l(d)),(s=(o=this.options.preload)==null?void 0:o.forEach)==null||s.call(o,c=>l(c)),this.services.backendConnector.load(i,this.options.ns,c=>{!c&&!this.resolvedLanguage&&this.language&&this.setResolvedLanguage(this.language),a(c)})}else a(null)}reloadResources(t,r,a){const n=pa();return typeof t=="function"&&(a=t,t=void 0),typeof r=="function"&&(a=r,r=void 0),t||(t=this.languages),r||(r=this.options.ns),a||(a=Wa),this.services.backendConnector.reload(t,r,o=>{n.resolve(),a(o)}),n}use(t){if(!t)throw new Error("You are passing an undefined module! Please check the object you are passing to i18next.use()");if(!t.type)throw new Error("You are passing a wrong module! Please check the object you are passing to i18next.use()");return t.type==="backend"&&(this.modules.backend=t),(t.type==="logger"||t.log&&t.warn&&t.error)&&(this.modules.logger=t),t.type==="languageDetector"&&(this.modules.languageDetector=t),t.type==="i18nFormat"&&(this.modules.i18nFormat=t),t.type==="postProcessor"&&ic.addPostProcessor(t),t.type==="formatter"&&(this.modules.formatter=t),t.type==="3rdParty"&&this.modules.external.push(t),this}setResolvedLanguage(t){if(!(!t||!this.languages)&&!(["cimode","dev"].indexOf(t)>-1))for(let r=0;r<this.languages.length;r++){const a=this.languages[r];if(!(["cimode","dev"].indexOf(a)>-1)&&this.store.hasLanguageSomeTranslations(a)){this.resolvedLanguage=a;break}}}changeLanguage(t,r){var a=this;this.isLanguageChangingTo=t;const n=pa();this.emit("languageChanging",t);const o=l=>{this.language=l,this.languages=this.services.languageUtils.toResolveHierarchy(l),this.resolvedLanguage=void 0,this.setResolvedLanguage(l)},s=(l,c)=>{c?(o(c),this.translator.changeLanguage(c),this.isLanguageChangingTo=void 0,this.emit("languageChanged",c),this.logger.log("languageChanged",c)):this.isLanguageChangingTo=void 0,n.resolve(function(){return a.t(...arguments)}),r&&r(l,function(){return a.t(...arguments)})},i=l=>{var d,u;!t&&!l&&this.services.languageDetector&&(l=[]);const c=oe(l)?l:this.services.languageUtils.getBestMatchFromCodes(l);c&&(this.language||o(c),this.translator.language||this.translator.changeLanguage(c),(u=(d=this.services.languageDetector)==null?void 0:d.cacheUserLanguage)==null||u.call(d,c)),this.loadResources(c,p=>{s(p,c)})};return!t&&this.services.languageDetector&&!this.services.languageDetector.async?i(this.services.languageDetector.detect()):!t&&this.services.languageDetector&&this.services.languageDetector.async?this.services.languageDetector.detect.length===0?this.services.languageDetector.detect().then(i):this.services.languageDetector.detect(i):i(t),n}getFixedT(t,r,a){var n=this;const o=function(s,i){let l;if(typeof i!="object"){for(var c=arguments.length,d=new Array(c>2?c-2:0),u=2;u<c;u++)d[u-2]=arguments[u];l=n.options.overloadTranslationOptionHandler([s,i].concat(d))}else l={...i};l.lng=l.lng||o.lng,l.lngs=l.lngs||o.lngs,l.ns=l.ns||o.ns,l.keyPrefix!==""&&(l.keyPrefix=l.keyPrefix||a||o.keyPrefix);const p=n.options.keySeparator||".";let m;return l.keyPrefix&&Array.isArray(s)?m=s.map(g=>`${l.keyPrefix}${p}${g}`):m=l.keyPrefix?`${l.keyPrefix}${p}${s}`:s,n.t(m,l)};return oe(t)?o.lng=t:o.lngs=t,o.ns=r,o.keyPrefix=a,o}t(){var n;for(var t=arguments.length,r=new Array(t),a=0;a<t;a++)r[a]=arguments[a];return(n=this.translator)==null?void 0:n.translate(...r)}exists(){var n;for(var t=arguments.length,r=new Array(t),a=0;a<t;a++)r[a]=arguments[a];return(n=this.translator)==null?void 0:n.exists(...r)}setDefaultNamespace(t){this.options.defaultNS=t}hasLoadedNamespace(t){let r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:{};if(!this.isInitialized)return this.logger.warn("hasLoadedNamespace: i18next was not initialized",this.languages),!1;if(!this.languages||!this.languages.length)return this.logger.warn("hasLoadedNamespace: i18n.languages were undefined or empty",this.languages),!1;const a=r.lng||this.resolvedLanguage||this.languages[0],n=this.options?this.options.fallbackLng:!1,o=this.languages[this.languages.length-1];if(a.toLowerCase()==="cimode")return!0;const s=(i,l)=>{const c=this.services.backendConnector.state[`${i}|${l}`];return c===-1||c===0||c===2};if(r.precheck){const i=r.precheck(this,s);if(i!==void 0)return i}return!!(this.hasResourceBundle(a,t)||!this.services.backendConnector.backend||this.options.resources&&!this.options.partialBundledLanguages||s(a,t)&&(!n||s(o,t)))}loadNamespaces(t,r){const a=pa();return this.options.ns?(oe(t)&&(t=[t]),t.forEach(n=>{this.options.ns.indexOf(n)<0&&this.options.ns.push(n)}),this.loadResources(n=>{a.resolve(),r&&r(n)}),a):(r&&r(),Promise.resolve())}loadLanguages(t,r){const a=pa();oe(t)&&(t=[t]);const n=this.options.preload||[],o=t.filter(s=>n.indexOf(s)<0&&this.services.languageUtils.isSupportedCode(s));return o.length?(this.options.preload=n.concat(o),this.loadResources(s=>{a.resolve(),r&&r(s)}),a):(r&&r(),Promise.resolve())}dir(t){var n,o;if(t||(t=this.resolvedLanguage||(((n=this.languages)==null?void 0:n.length)>0?this.languages[0]:this.language)),!t)return"rtl";const r=["ar","shu","sqr","ssh","xaa","yhd","yud","aao","abh","abv","acm","acq","acw","acx","acy","adf","ads","aeb","aec","afb","ajp","apc","apd","arb","arq","ars","ary","arz","auz","avl","ayh","ayl","ayn","ayp","bbz","pga","he","iw","ps","pbt","pbu","pst","prp","prd","ug","ur","ydd","yds","yih","ji","yi","hbo","men","xmn","fa","jpr","peo","pes","prs","dv","sam","ckb"],a=((o=this.services)==null?void 0:o.languageUtils)||new hi(yi());return r.indexOf(a.getLanguagePartFromCode(t))>-1||t.toLowerCase().indexOf("-arab")>1?"rtl":"ltr"}static createInstance(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{},r=arguments.length>1?arguments[1]:void 0;return new Ea(t,r)}cloneInstance(){let t=arguments.length>0&&arguments[0]!==void 0?arguments[0]:{},r=arguments.length>1&&arguments[1]!==void 0?arguments[1]:Wa;const a=t.forkResourceStore;a&&delete t.forkResourceStore;const n={...this.options,...t,isClone:!0},o=new Ea(n);if((t.debug!==void 0||t.prefix!==void 0)&&(o.logger=o.logger.clone(t)),["store","services","language"].forEach(i=>{o[i]=this[i]}),o.services={...this.services},o.services.utils={hasLoadedNamespace:o.hasLoadedNamespace.bind(o)},a){const i=Object.keys(this.store.data).reduce((l,c)=>(l[c]={...this.store.data[c]},Object.keys(l[c]).reduce((d,u)=>(d[u]={...l[c][u]},d),{})),{});o.store=new di(i,n),o.services.resourceStore=o.store}return o.translator=new Cn(o.services,n),o.translator.on("*",function(i){for(var l=arguments.length,c=new Array(l>1?l-1:0),d=1;d<l;d++)c[d-1]=arguments[d];o.emit(i,...c)}),o.init(n,r),o.translator.options=n,o.translator.backendConnector.services.utils={hasLoadedNamespace:o.hasLoadedNamespace.bind(o)},o}toJSON(){return{options:this.options,store:this.store,language:this.language,languages:this.languages,resolvedLanguage:this.resolvedLanguage}}}const Je=Ea.createInstance();Je.createInstance=Ea.createInstance;Je.createInstance;Je.dir;Je.init;Je.loadResources;Je.reloadResources;Je.use;Je.changeLanguage;Je.getFixedT;Je.t;Je.exists;Je.setDefaultNamespace;Je.hasLoadedNamespace;Je.loadNamespaces;Je.loadLanguages;const dm={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Geschwindigkeit","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Cartesian.MotionType.lb":"Bewegungstyp","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Gelenkwerte","Jogging.Increment.Continuous.dd":"Fortlaufend","Jogging.Cartesian.Orientation.lb":"Orientierung","Jogging.JointLimitsReached.lb":"Gelenkgrenzen für Gelenk {{jointNumbers}} erreicht","Jogging.Orientation.coordsys":"Roboterbasis","Jogging.Orientation.tool":"Werkzeug","SafetyBar.ActivationToggle.Activate.bt":"Aktivieren","SafetyBar.ActivationToggle.Activated.bt":"Aktiviert","SafetyBar.ActivationToggle.Activating.bt":"Wird aktiviert…","SafetyBar.ActivationToggle.Deactivating.bt":"Wird deaktiviert…","SafetyBar.ControllerType.Physical.lb":"Physisch","SafetyBar.ControllerType.Virtual.lb":"Virtuell","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> ist ein physische Robotersteuerung. Für die Bewegung dieses Roboters sind <strong>Sicherheitsmaßnahmen</strong> aktiv.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> ist eine virtuelle Robotersteuerung ohne physisches Gegenstück. Der Roboter kann ohne Sicherheitsmaßnahmen bewegt werden.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatischer Betriebsmodus der Robotersteuerung aktiv. Automatisierte Bewegung ohne manuelle Bestätigung freigegeben.","SafetyBar.OperationMode.Automatic.ti":"Automatisch","SafetyBar.OperationMode.Error.Explanation.lb":"Fehler beim Abrufen des Betriebsmodus. Originalhandbediengerät des Roboters verwenden, um Fehler zu lösen.","SafetyBar.OperationMode.Error.lb":"Fehler","SafetyBar.OperationMode.Manual.Explanation.lb":`Die Robotersteuerung befindet sich im manuellen Betriebsmodus.
|
|
88
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-
Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. Bis der Stoppzustand aufgelöst ist, ist keine Bewegung mehr möglich.","SafetyBar.SafetyState.Stop.lb":"Stopp","SafetyBar.SafetyState.ti":"Sicherheitszustand","SafetyBar.StopState.Estop.Explanation.lb":"NOT-AUS aktiviert. 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Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. 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It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. 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d0(e,t)}var p0=u0;/*! *****************************************************************************
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this file except in compliance with the License. You may obtain a copy of the
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@@ -110,6 +110,6 @@ and limitations under the License.
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`):" "+tl(o[0]):"as no adapter specified";throw new ie("There is no suitable adapter to dispatch the request "+s,"ERR_NOT_SUPPORT")}return a},adapters:es};function Ao(e){if(e.cancelToken&&e.cancelToken.throwIfRequested(),e.signal&&e.signal.aborted)throw new ta(null,e)}function rl(e){return Ao(e),e.headers=Ze.from(e.headers),e.data=_o.call(e,e.transformRequest),["post","put","patch"].indexOf(e.method)!==-1&&e.headers.setContentType("application/x-www-form-urlencoded",!1),Wc.getAdapter(e.adapter||za.adapter)(e).then(function(a){return Ao(e),a.data=_o.call(e,e.transformResponse,a),a.headers=Ze.from(a.headers),a},function(a){return Dc(a)||(Ao(e),a&&a.response&&(a.response.data=_o.call(e,e.transformResponse,a.response),a.response.headers=Ze.from(a.response.headers))),Promise.reject(a)})}const Kc="1.8.3",ro={};["object","boolean","number","function","string","symbol"].forEach((e,t)=>{ro[e]=function(a){return typeof a===e||"a"+(t<1?"n ":" ")+e}});const al={};ro.transitional=function(t,r,a){function n(o,s){return"[Axios v"+Kc+"] Transitional option '"+o+"'"+s+(a?". "+a:"")}return(o,s,i)=>{if(t===!1)throw new ie(n(s," has been removed"+(r?" in "+r:"")),ie.ERR_DEPRECATED);return r&&!al[s]&&(al[s]=!0,console.warn(n(s," has been deprecated since v"+r+" and will be removed in the near future"))),t?t(o,s,i):!0}};ro.spelling=function(t){return(r,a)=>(console.warn(`${a} is likely a misspelling of ${t}`),!0)};function rv(e,t,r){if(typeof e!="object")throw new ie("options must be an object",ie.ERR_BAD_OPTION_VALUE);const a=Object.keys(e);let n=a.length;for(;n-- >0;){const o=a[n],s=t[o];if(s){const i=e[o],l=i===void 0||s(i,o,e);if(l!==!0)throw new ie("option "+o+" must be "+l,ie.ERR_BAD_OPTION_VALUE);continue}if(r!==!0)throw new ie("Unknown option "+o,ie.ERR_BAD_OPTION)}}const fn={assertOptions:rv,validators:ro},vt=fn.validators;let lr=class{constructor(t){this.defaults=t,this.interceptors={request:new Wi,response:new Wi}}async request(t,r){try{return await this._request(t,r)}catch(a){if(a instanceof Error){let n={};Error.captureStackTrace?Error.captureStackTrace(n):n=new Error;const o=n.stack?n.stack.replace(/^.+\n/,""):"";try{a.stack?o&&!String(a.stack).endsWith(o.replace(/^.+\n.+\n/,""))&&(a.stack+=`
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111
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Yc(e){const t=new lr(e),r=_c(lr.prototype.request,t);return I.extend(r,lr.prototype,t,{allOwnKeys:!0}),I.extend(r,t,null,{allOwnKeys:!0}),r.create=function(n){return Yc(pr(e,n))},r}const O=Yc(za);O.Axios=lr;O.CanceledError=ta;O.CancelToken=av;O.isCancel=Dc;O.VERSION=Kc;O.toFormData=eo;O.AxiosError=ie;O.Cancel=O.CanceledError;O.all=function(t){return Promise.all(t)};O.spread=nv;O.isAxiosError=ov;O.mergeConfig=pr;O.AxiosHeaders=Ze;O.formToJSON=e=>Nc(I.isHTMLForm(e)?new FormData(e):e);O.getAdapter=Wc.getAdapter;O.HttpStatusCode=ts;O.default=O;const{Axios:hP,AxiosError:rs,CanceledError:mP,isCancel:fP,CancelToken:gP,VERSION:yP,all:bP,Cancel:SP,isAxiosError:sv,spread:vP,toFormData:xP,AxiosHeaders:OP,HttpStatusCode:wP,formToJSON:CP,getAdapter:PP,mergeConfig:VP}=O,w="/api/v1".replace(/\/+$/,"");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 iv extends 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e.pathname+e.search+e.hash},T=function(e,t,r,a){return(n=t,o=r)=>{const s={...e.options,url:(n.defaults.baseURL?"":(a==null?void 0:a.basePath)??o)+e.url};return n.request(s)}},lv=function(e){return{addApp:async(t,r,a,n={})=>{f("addApp","cell",t),f("addApp","app",r);const o="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(r,l,e),{url:A(s),options:l}},clearApps:async(t,r,a={})=>{f("clearApps","cell",t);const n="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.completionTimeout=r),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},deleteApp:async(t,r,a,n={})=>{f("deleteApp","cell",t),f("deleteApp","app",r);const o="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},getApp:async(t,r,a={})=>{f("getApp","cell",t),f("getApp","app",r);const n="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listApps:async(t,r={})=>{f("listApps","cell",t);const a="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},updateApp:async(t,r,a,n,o={})=>{f("updateApp","cell",t),f("updateApp","app",r),f("updateApp","app2",a);const s="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},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,...o.headers},c.data=se(a,c,e),{url:A(i),options:c}}}},Mr=function(e){const t=lv(e);return{async addApp(r,a,n,o){var c,d;const s=await t.addApp(r,a,n,o),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(s,O,w,e)(u,l||p)},async clearApps(r,a,n){var l,c;const o=await t.clearApps(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ApplicationApi.clearApps"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deleteApp(r,a,n,o){var c,d;const s=await t.deleteApp(r,a,n,o),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(s,O,w,e)(u,l||p)},async getApp(r,a,n){var l,c;const o=await t.getApp(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ApplicationApi.getApp"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listApps(r,a){var i,l;const n=await t.listApps(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["ApplicationApi.listApps"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async updateApp(r,a,n,o,s){var d,u;const i=await t.updateApp(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)}}};class nl extends Pe{addApp(t,r,a,n){return Mr(this.configuration).addApp(t,r,a,n).then(o=>o(this.axios,this.basePath))}clearApps(t,r,a){return Mr(this.configuration).clearApps(t,r,a).then(n=>n(this.axios,this.basePath))}deleteApp(t,r,a,n){return Mr(this.configuration).deleteApp(t,r,a,n).then(o=>o(this.axios,this.basePath))}getApp(t,r,a){return Mr(this.configuration).getApp(t,r,a).then(n=>n(this.axios,this.basePath))}listApps(t,r){return Mr(this.configuration).listApps(t,r).then(a=>a(this.axios,this.basePath))}updateApp(t,r,a,n,o){return Mr(this.configuration).updateApp(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}}const cv=function(e){return{deleteCell:async(t,r,a={})=>{f("deleteCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.completionTimeout=r),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},deployCell:async(t,r,a={})=>{f("deployCell","cell",t);const n="/cells",o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.completionTimeout=r),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(t,i,e),{url:A(o),options:i}},getCell:async(t,r={})=>{f("getCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},getCellStatus:async(t,r={})=>{f("getCellStatus","cell",t);const a="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},listCells:async(t={})=>{const r="/cells",a=new URL(r,P);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},i={};V(o,e),await R(s,e),_(a,i);let l=n&&n.headers?n.headers:{};return o.headers={...s,...l,...t.headers},{url:A(a),options:o}},updateCell:async(t,r,a,n={})=>{f("updateCell","cell",t),f("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(r,l,e),{url:A(s),options:l}}}},jr=function(e){const t=cv(e);return{async deleteCell(r,a,n){var l,c;const o=await t.deleteCell(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CellApi.deleteCell"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deployCell(r,a,n){var l,c;const o=await t.deployCell(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CellApi.deployCell"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getCell(r,a){var i,l;const n=await t.getCell(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["CellApi.getCell"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async getCellStatus(r,a){var i,l;const n=await t.getCellStatus(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["CellApi.getCellStatus"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async listCells(r){var s,i;const a=await t.listCells(r),n=(e==null?void 0:e.serverIndex)??0,o=(i=(s=C["CellApi.listCells"])==null?void 0:s[n])==null?void 0:i.url;return(l,c)=>T(a,O,w,e)(l,o||c)},async updateCell(r,a,n,o){var c,d;const s=await t.updateCell(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class dv extends Pe{deleteCell(t,r,a){return jr(this.configuration).deleteCell(t,r,a).then(n=>n(this.axios,this.basePath))}deployCell(t,r,a){return jr(this.configuration).deployCell(t,r,a).then(n=>n(this.axios,this.basePath))}getCell(t,r){return jr(this.configuration).getCell(t,r).then(a=>a(this.axios,this.basePath))}getCellStatus(t,r){return jr(this.configuration).getCellStatus(t,r).then(a=>a(this.axios,this.basePath))}listCells(t){return jr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,a,n){return jr(this.configuration).updateCell(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const uv=function(e){return{addRobotController:async(t,r,a,n={})=>{f("addRobotController","cell",t),f("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(r,l,e),{url:A(s),options:l}},clearRobotControllers:async(t,r,a={})=>{f("clearRobotControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.completionTimeout=r),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},deleteRobotController:async(t,r,a,n={})=>{f("deleteRobotController","cell",t),f("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},getCurrentRobotControllerState:async(t,r,a={})=>{f("getCurrentRobotControllerState","cell",t),f("getCurrentRobotControllerState","controller",r);const n="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getMode:async(t,r,a={})=>{f("getMode","cell",t),f("getMode","controller",r);const n="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getRobotController:async(t,r,a={})=>{f("getRobotController","cell",t),f("getRobotController","controller",r);const n="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getSupportedModes:async(t,r,a={})=>{f("getSupportedModes","cell",t),f("getSupportedModes","controller",r);const n="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getVirtualRobotConfiguration:async(t,r,a={})=>{f("getVirtualRobotConfiguration","cell",t),f("getVirtualRobotConfiguration","controller",r);const n="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listControllers:async(t,r={})=>{f("listControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},setDefaultMode:async(t,r,a,n={})=>{f("setDefaultMode","cell",t),f("setDefaultMode","controller",r),f("setDefaultMode","mode",a);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},streamFreeDrive:async(t,r,a,n={})=>{f("streamFreeDrive","cell",t),f("streamFreeDrive","controller",r);const o="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},streamModeChange:async(t,r,a={})=>{f("streamModeChange","cell",t),f("streamModeChange","controller",r);const n="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},streamRobotControllerState:async(t,r,a,n={})=>{f("streamRobotControllerState","cell",t),f("streamRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},updateRobotController:async(t,r,a,n,o={})=>{f("updateRobotController","cell",t),f("updateRobotController","controller",r),f("updateRobotController","robotController",a);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},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,...o.headers},c.data=se(a,c,e),{url:A(i),options:c}}}},Xe=function(e){const t=uv(e);return{async addRobotController(r,a,n,o){var c,d;const s=await t.addRobotController(r,a,n,o),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(s,O,w,e)(u,l||p)},async clearRobotControllers(r,a,n){var l,c;const o=await t.clearRobotControllers(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.clearRobotControllers"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deleteRobotController(r,a,n,o){var c,d;const s=await t.deleteRobotController(r,a,n,o),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(s,O,w,e)(u,l||p)},async getCurrentRobotControllerState(r,a,n){var l,c;const o=await t.getCurrentRobotControllerState(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getMode(r,a,n){var l,c;const o=await t.getMode(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getMode"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getRobotController(r,a,n){var l,c;const o=await t.getRobotController(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getRobotController"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getSupportedModes(r,a,n){var l,c;const o=await t.getSupportedModes(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getSupportedModes"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getVirtualRobotConfiguration(r,a,n){var l,c;const o=await t.getVirtualRobotConfiguration(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listControllers(r,a){var i,l;const n=await t.listControllers(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["ControllerApi.listControllers"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async setDefaultMode(r,a,n,o){var c,d;const s=await t.setDefaultMode(r,a,n,o),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(s,O,w,e)(u,l||p)},async streamFreeDrive(r,a,n,o){var c,d;const s=await t.streamFreeDrive(r,a,n,o),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(s,O,w,e)(u,l||p)},async streamModeChange(r,a,n){var l,c;const o=await t.streamModeChange(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ControllerApi.streamModeChange"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async streamRobotControllerState(r,a,n,o){var c,d;const s=await t.streamRobotControllerState(r,a,n,o),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(s,O,w,e)(u,l||p)},async updateRobotController(r,a,n,o,s){var d,u;const i=await t.updateRobotController(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)}}};class pv extends Pe{addRobotController(t,r,a,n){return Xe(this.configuration).addRobotController(t,r,a,n).then(o=>o(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(o=>o(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(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,a,n){return Xe(this.configuration).streamFreeDrive(t,r,a,n).then(o=>o(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(o=>o(this.axios,this.basePath))}updateRobotController(t,r,a,n,o){return Xe(this.configuration).updateRobotController(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}}const hv=function(e){return{listIODescriptions:async(t,r,a,n={})=>{f("listIODescriptions","cell",t),f("listIODescriptions","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},listIOValues:async(t,r,a,n={})=>{f("listIOValues","cell",t),f("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},setOutputValues:async(t,r,a,n={})=>{f("setOutputValues","cell",t),f("setOutputValues","controller",r),f("setOutputValues","iOValue",a);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},streamIOValues:async(t,r,a,n={})=>{f("streamIOValues","cell",t),f("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},waitForIOEvent:async(t,r,a,n,o,s,i,l={})=>{f("waitForIOEvent","cell",t),f("waitForIOEvent","controller",r),f("waitForIOEvent","io",a),f("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},m={},g={};V(p,e),await R(m,e),a!==void 0&&(g.io=a),n!==void 0&&(g.comparison_type=n),o!==void 0&&(g.boolean_value=o),s!==void 0&&(g.integer_value=s),i!==void 0&&(g.floating_value=i),_(d,g);let h=u&&u.headers?u.headers:{};return p.headers={...m,...h,...l.headers},{url:A(d),options:p}}}},ga=function(e){const t=hv(e);return{async listIODescriptions(r,a,n,o){var c,d;const s=await t.listIODescriptions(r,a,n,o),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(s,O,w,e)(u,l||p)},async listIOValues(r,a,n,o){var c,d;const s=await t.listIOValues(r,a,n,o),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(s,O,w,e)(u,l||p)},async setOutputValues(r,a,n,o){var c,d;const s=await t.setOutputValues(r,a,n,o),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(s,O,w,e)(u,l||p)},async streamIOValues(r,a,n,o){var c,d;const s=await t.streamIOValues(r,a,n,o),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(s,O,w,e)(u,l||p)},async waitForIOEvent(r,a,n,o,s,i,l,c){var m,g;const d=await t.waitForIOEvent(r,a,n,o,s,i,l,c),u=(e==null?void 0:e.serverIndex)??0,p=(g=(m=C["ControllerIOsApi.waitForIOEvent"])==null?void 0:m[u])==null?void 0:g.url;return(h,x)=>T(d,O,w,e)(h,p||x)}}};class mv extends Pe{listIODescriptions(t,r,a,n){return ga(this.configuration).listIODescriptions(t,r,a,n).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,a,n){return ga(this.configuration).listIOValues(t,r,a,n).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,a,n){return ga(this.configuration).setOutputValues(t,r,a,n).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,a,n){return ga(this.configuration).streamIOValues(t,r,a,n).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,a,n,o,s,i,l){return ga(this.configuration).waitForIOEvent(t,r,a,n,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const fv=function(e){return{addCoordinateSystem:async(t,r,a={})=>{f("addCoordinateSystem","cell",t),f("addCoordinateSystem","addRequest",r);const n="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},deleteCoordinateSystem:async(t,r,a={})=>{f("deleteCoordinateSystem","cell",t),f("deleteCoordinateSystem","coordinateSystem",r);const n="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getCoordinateSystem:async(t,r,a,n={})=>{f("getCoordinateSystem","cell",t),f("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},listCoordinateSystems:async(t,r,a={})=>{f("listCoordinateSystems","cell",t);const n="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.rotation_type=r),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},transformInCoordinateSystem:async(t,r,a,n={})=>{f("transformInCoordinateSystem","cell",t),f("transformInCoordinateSystem","coordinateSystem",r),f("transformInCoordinateSystem","pose",a);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}}}},ya=function(e){const t=fv(e);return{async addCoordinateSystem(r,a,n){var l,c;const o=await t.addCoordinateSystem(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deleteCoordinateSystem(r,a,n){var l,c;const o=await t.deleteCoordinateSystem(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getCoordinateSystem(r,a,n,o){var c,d;const s=await t.getCoordinateSystem(r,a,n,o),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(s,O,w,e)(u,l||p)},async listCoordinateSystems(r,a,n){var l,c;const o=await t.listCoordinateSystems(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async transformInCoordinateSystem(r,a,n,o){var c,d;const s=await t.transformInCoordinateSystem(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class gv extends Pe{addCoordinateSystem(t,r,a){return ya(this.configuration).addCoordinateSystem(t,r,a).then(n=>n(this.axios,this.basePath))}deleteCoordinateSystem(t,r,a){return ya(this.configuration).deleteCoordinateSystem(t,r,a).then(n=>n(this.axios,this.basePath))}getCoordinateSystem(t,r,a,n){return ya(this.configuration).getCoordinateSystem(t,r,a,n).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,a){return ya(this.configuration).listCoordinateSystems(t,r,a).then(n=>n(this.axios,this.basePath))}transformInCoordinateSystem(t,r,a,n){return ya(this.configuration).transformInCoordinateSystem(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const yv=function(e){return{clearDevices:async(t,r={})=>{f("clearDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},createDevice:async(t,r,a={})=>{f("createDevice","cell",t),f("createDevice","createDeviceRequestInner",r);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},deleteDevice:async(t,r,a={})=>{f("deleteDevice","cell",t),f("deleteDevice","identifier",r);const n="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getDevice:async(t,r,a={})=>{f("getDevice","cell",t),f("getDevice","identifier",r);const n="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listDevices:async(t,r={})=>{f("listDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}}}},ba=function(e){const t=yv(e);return{async clearDevices(r,a){var i,l;const n=await t.clearDevices(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["DeviceConfigurationApi.clearDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async createDevice(r,a,n){var l,c;const o=await t.createDevice(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["DeviceConfigurationApi.createDevice"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deleteDevice(r,a,n){var l,c;const o=await t.deleteDevice(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getDevice(r,a,n){var l,c;const o=await t.getDevice(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["DeviceConfigurationApi.getDevice"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listDevices(r,a){var i,l;const n=await t.listDevices(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["DeviceConfigurationApi.listDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)}}};class bv extends Pe{clearDevices(t,r){return ba(this.configuration).clearDevices(t,r).then(a=>a(this.axios,this.basePath))}createDevice(t,r,a){return ba(this.configuration).createDevice(t,r,a).then(n=>n(this.axios,this.basePath))}deleteDevice(t,r,a){return ba(this.configuration).deleteDevice(t,r,a).then(n=>n(this.axios,this.basePath))}getDevice(t,r,a){return ba(this.configuration).getDevice(t,r,a).then(n=>n(this.axios,this.basePath))}listDevices(t,r){return ba(this.configuration).listDevices(t,r).then(a=>a(this.axios,this.basePath))}}const Sv=function(e){return{createProgram:async(t,r,a,n={})=>{f("createProgram","cell",t),f("createProgram","body",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(r,l,e),{url:A(s),options:l}},deleteProgram:async(t,r,a={})=>{f("deleteProgram","cell",t),f("deleteProgram","program",r);const n="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},deleteProgramList:async(t,r,a={})=>{f("deleteProgramList","cell",t),f("deleteProgramList","programIds",r);const n="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),r&&(c.program_ids=r),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getProgram:async(t,r,a={})=>{f("getProgram","cell",t),f("getProgram","program",r);const n="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},updateProgram:async(t,r,a,n={})=>{f("updateProgram","cell",t),f("updateProgram","program",r),f("updateProgram","body",a);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}}}},Sa=function(e){const t=Sv(e);return{async createProgram(r,a,n,o){var c,d;const s=await t.createProgram(r,a,n,o),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(s,O,w,e)(u,l||p)},async deleteProgram(r,a,n){var l,c;const o=await t.deleteProgram(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramApi.deleteProgram"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deleteProgramList(r,a,n){var l,c;const o=await t.deleteProgramList(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramApi.deleteProgramList"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getProgram(r,a,n){var l,c;const o=await t.getProgram(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramApi.getProgram"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async updateProgram(r,a,n,o){var c,d;const s=await t.updateProgram(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class vv extends Pe{createProgram(t,r,a,n){return Sa(this.configuration).createProgram(t,r,a,n).then(o=>o(this.axios,this.basePath))}deleteProgram(t,r,a){return Sa(this.configuration).deleteProgram(t,r,a).then(n=>n(this.axios,this.basePath))}deleteProgramList(t,r,a){return Sa(this.configuration).deleteProgramList(t,r,a).then(n=>n(this.axios,this.basePath))}getProgram(t,r,a){return Sa(this.configuration).getProgram(t,r,a).then(n=>n(this.axios,this.basePath))}updateProgram(t,r,a,n){return Sa(this.configuration).updateProgram(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const xv=function(e){return{getProgramMetadata:async(t,r,a={})=>{f("getProgramMetadata","cell",t),f("getProgramMetadata","program",r);const n="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listProgramMetadata:async(t,r,a={})=>{f("listProgramMetadata","cell",t);const n="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.show_hidden=r),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},updateProgramMetadata:async(t,r,a,n={})=>{f("updateProgramMetadata","cell",t),f("updateProgramMetadata","program",r),f("updateProgramMetadata","updateProgramMetadataRequest",a);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},uploadProgramMetadataImage:async(t,r,a,n={})=>{f("uploadProgramMetadataImage","cell",t),f("uploadProgramMetadataImage","program",r),f("uploadProgramMetadataImage","file",a);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let p=i&&i.headers?i.headers:{};return l.headers={...c,...p,...n.headers},l.data=u,{url:A(s),options:l}}}},Qa=function(e){const t=xv(e);return{async getProgramMetadata(r,a,n){var l,c;const o=await t.getProgramMetadata(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listProgramMetadata(r,a,n){var l,c;const o=await t.listProgramMetadata(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async updateProgramMetadata(r,a,n,o){var c,d;const s=await t.updateProgramMetadata(r,a,n,o),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(s,O,w,e)(u,l||p)},async uploadProgramMetadataImage(r,a,n,o){var c,d;const s=await t.uploadProgramMetadataImage(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class Ov extends Pe{getProgramMetadata(t,r,a){return Qa(this.configuration).getProgramMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}listProgramMetadata(t,r,a){return Qa(this.configuration).listProgramMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}updateProgramMetadata(t,r,a,n){return Qa(this.configuration).updateProgramMetadata(t,r,a,n).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,a,n){return Qa(this.configuration).uploadProgramMetadataImage(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const wv=function(e){return{createRecipe:async(t,r,a,n,o={})=>{f("createRecipe","cell",t),f("createRecipe","programId",r),f("createRecipe","body",a);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},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,...o.headers},c.data=se(a,c,e),{url:A(i),options:c}},deleteRecipe:async(t,r,a={})=>{f("deleteRecipe","cell",t),f("deleteRecipe","recipe",r);const n="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},deleteRecipeList:async(t,r,a={})=>{f("deleteRecipeList","cell",t),f("deleteRecipeList","recipeIds",r);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),r&&(c.recipe_ids=r),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getRecipe:async(t,r,a={})=>{f("getRecipe","cell",t),f("getRecipe","recipe",r);const n="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},updateRecipe:async(t,r,a,n={})=>{f("updateRecipe","cell",t),f("updateRecipe","recipe",r),f("updateRecipe","body",a);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}}}},va=function(e){const t=wv(e);return{async createRecipe(r,a,n,o,s){var d,u;const i=await t.createRecipe(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)},async deleteRecipe(r,a,n){var l,c;const o=await t.deleteRecipe(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deleteRecipeList(r,a,n){var l,c;const o=await t.deleteRecipeList(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getRecipe(r,a,n){var l,c;const o=await t.getRecipe(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryRecipeApi.getRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async updateRecipe(r,a,n,o){var c,d;const s=await t.updateRecipe(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class Cv extends Pe{createRecipe(t,r,a,n,o){return va(this.configuration).createRecipe(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,a){return va(this.configuration).deleteRecipe(t,r,a).then(n=>n(this.axios,this.basePath))}deleteRecipeList(t,r,a){return va(this.configuration).deleteRecipeList(t,r,a).then(n=>n(this.axios,this.basePath))}getRecipe(t,r,a){return va(this.configuration).getRecipe(t,r,a).then(n=>n(this.axios,this.basePath))}updateRecipe(t,r,a,n){return va(this.configuration).updateRecipe(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const Pv=function(e){return{getRecipeMetadata:async(t,r,a={})=>{f("getRecipeMetadata","cell",t),f("getRecipeMetadata","recipe",r);const n="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listRecipeMetadata:async(t,r={})=>{f("listRecipeMetadata","cell",t);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},updateRecipeMetadata:async(t,r,a,n={})=>{f("updateRecipeMetadata","cell",t),f("updateRecipeMetadata","recipe",r),f("updateRecipeMetadata","updateRecipeMetadataRequest",a);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},uploadRecipeMetadataImage:async(t,r,a,n={})=>{f("uploadRecipeMetadataImage","cell",t),f("uploadRecipeMetadataImage","recipe",r),f("uploadRecipeMetadataImage","file",a);const o="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let p=i&&i.headers?i.headers:{};return l.headers={...c,...p,...n.headers},l.data=u,{url:A(s),options:l}}}},Ya=function(e){const t=Pv(e);return{async getRecipeMetadata(r,a,n){var l,c;const o=await t.getRecipeMetadata(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listRecipeMetadata(r,a){var i,l;const n=await t.listRecipeMetadata(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async updateRecipeMetadata(r,a,n,o){var c,d;const s=await t.updateRecipeMetadata(r,a,n,o),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(s,O,w,e)(u,l||p)},async uploadRecipeMetadataImage(r,a,n,o){var c,d;const s=await t.uploadRecipeMetadataImage(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class Vv extends Pe{getRecipeMetadata(t,r,a){return Ya(this.configuration).getRecipeMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}listRecipeMetadata(t,r){return Ya(this.configuration).listRecipeMetadata(t,r).then(a=>a(this.axios,this.basePath))}updateRecipeMetadata(t,r,a,n){return Ya(this.configuration).updateRecipeMetadata(t,r,a,n).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,a,n){return Ya(this.configuration).uploadRecipeMetadataImage(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const Rv=function(e){return{deleteAllMotions:async(t,r={})=>{f("deleteAllMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},deleteMotion:async(t,r,a={})=>{f("deleteMotion","cell",t),f("deleteMotion","motion",r);const n="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},executeTrajectory:async(t,r,a={})=>{f("executeTrajectory","cell",t),f("executeTrajectory","executeTrajectoryRequest",r);const n="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},getMotionTrajectory:async(t,r,a,n,o={})=>{f("getMotionTrajectory","cell",t),f("getMotionTrajectory","motion",r),f("getMotionTrajectory","sampleTime",a);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},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,...o.headers},{url:A(i),options:c}},getMotionTrajectorySample:async(t,r,a,n,o={})=>{f("getMotionTrajectorySample","cell",t),f("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},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,...o.headers},{url:A(i),options:c}},getPlannedMotion:async(t,r,a,n={})=>{f("getPlannedMotion","cell",t),f("getPlannedMotion","motion",r);const o="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{f("getPlanningMotionGroupModels","cell",t);const a="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},listMotions:async(t,r={})=>{f("listMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},loadPlannedMotion:async(t,r,a={})=>{f("loadPlannedMotion","cell",t),f("loadPlannedMotion","plannedMotion",r);const n="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},planCollisionFreePTP:async(t,r,a={})=>{f("planCollisionFreePTP","cell",t);const n="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},planMotion:async(t,r,a={})=>{f("planMotion","cell",t),f("planMotion","planRequest",r);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},planTrajectory:async(t,r,a={})=>{f("planTrajectory","cell",t);const n="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},stopExecution:async(t,r,a={})=>{f("stopExecution","cell",t),f("stopExecution","motion",r);const n="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},streamMove:async(t,r,a={})=>{f("streamMove","cell",t),f("streamMove","streamMoveRequest",r);const n="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},streamMoveBackward:async(t,r,a,n,o,s,i={})=>{f("streamMoveBackward","cell",t),f("streamMoveBackward","motion",r),f("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={},m={};V(u,e),await R(p,e),a!==void 0&&(m.playback_speed_in_percent=a),n!==void 0&&(m.response_rate=n),o!==void 0&&(m.response_coordinate_system=o),s!==void 0&&(m.start_location_on_trajectory=s),_(c,m);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,o,s,i={})=>{f("streamMoveForward","cell",t),f("streamMoveForward","motion",r),f("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={},m={};V(u,e),await R(p,e),a!==void 0&&(m.playback_speed_in_percent=a),n!==void 0&&(m.response_rate=n),o!==void 0&&(m.response_coordinate_system=o),s!==void 0&&(m.start_location_on_trajectory=s),_(c,m);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,o,s,i,l,c,d,u={})=>{f("streamMoveToTrajectoryViaJointPTP","cell",t),f("streamMoveToTrajectoryViaJointPTP","motion",r),f("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",a);const p="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),m=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),o&&(E["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(E["limit_override.tcp_velocity_limit"]=s),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),_(m,E);let U=g&&g.headers?g.headers:{};return h.headers={...x,...U,...u.headers},{url:A(m),options:h}}}},ze=function(e){const t=Rv(e);return{async deleteAllMotions(r,a){var i,l;const n=await t.deleteAllMotions(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["MotionApi.deleteAllMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async deleteMotion(r,a,n){var l,c;const o=await t.deleteMotion(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.deleteMotion"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async executeTrajectory(r,a,n){var l,c;const o=await t.executeTrajectory(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.executeTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getMotionTrajectory(r,a,n,o,s){var d,u;const i=await t.getMotionTrajectory(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)},async getMotionTrajectorySample(r,a,n,o,s){var d,u;const i=await t.getMotionTrajectorySample(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)},async getPlannedMotion(r,a,n,o){var c,d;const s=await t.getPlannedMotion(r,a,n,o),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(s,O,w,e)(u,l||p)},async getPlanningMotionGroupModels(r,a){var i,l;const n=await t.getPlanningMotionGroupModels(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async listMotions(r,a){var i,l;const n=await t.listMotions(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["MotionApi.listMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async loadPlannedMotion(r,a,n){var l,c;const o=await t.loadPlannedMotion(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.loadPlannedMotion"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async planCollisionFreePTP(r,a,n){var l,c;const o=await t.planCollisionFreePTP(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.planCollisionFreePTP"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async planMotion(r,a,n){var l,c;const o=await t.planMotion(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.planMotion"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async planTrajectory(r,a,n){var l,c;const o=await t.planTrajectory(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.planTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async stopExecution(r,a,n){var l,c;const o=await t.stopExecution(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.stopExecution"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async streamMove(r,a,n){var l,c;const o=await t.streamMove(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionApi.streamMove"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async streamMoveBackward(r,a,n,o,s,i,l){var p,m;const c=await t.streamMoveBackward(r,a,n,o,s,i,l),d=(e==null?void 0:e.serverIndex)??0,u=(m=(p=C["MotionApi.streamMoveBackward"])==null?void 0:p[d])==null?void 0:m.url;return(g,h)=>T(c,O,w,e)(g,u||h)},async streamMoveForward(r,a,n,o,s,i,l){var p,m;const c=await t.streamMoveForward(r,a,n,o,s,i,l),d=(e==null?void 0:e.serverIndex)??0,u=(m=(p=C["MotionApi.streamMoveForward"])==null?void 0:p[d])==null?void 0:m.url;return(g,h)=>T(c,O,w,e)(g,u||h)},async streamMoveToTrajectoryViaJointPTP(r,a,n,o,s,i,l,c,d,u,p){var x,E;const m=await t.streamMoveToTrajectoryViaJointPTP(r,a,n,o,s,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(m,O,w,e)(U,h||F)}}};class _v 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,o){return ze(this.configuration).getMotionTrajectory(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,a,n,o){return ze(this.configuration).getMotionTrajectorySample(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,a,n){return ze(this.configuration).getPlannedMotion(t,r,a,n).then(o=>o(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,o,s,i){return ze(this.configuration).streamMoveBackward(t,r,a,n,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveForward(t,r,a,n,o,s,i){return ze(this.configuration).streamMoveForward(t,r,a,n,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,a,n,o,s,i,l,c,d,u){return ze(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,a,n,o,s,i,l,c,d,u).then(p=>p(this.axios,this.basePath))}}const Av=function(e){return{activateAllMotionGroups:async(t,r,a={})=>{f("activateAllMotionGroups","cell",t),f("activateAllMotionGroups","controller",r);const n="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.controller=r),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},activateMotionGroup:async(t,r,a={})=>{f("activateMotionGroup","cell",t),f("activateMotionGroup","motionGroup",r);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),r!==void 0&&(c.motion_group=r),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},deactivateMotionGroup:async(t,r,a={})=>{f("deactivateMotionGroup","cell",t),f("deactivateMotionGroup","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listMotionGroups:async(t,r={})=>{f("listMotionGroups","cell",t);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}}}},Xa=function(e){const t=Av(e);return{async activateAllMotionGroups(r,a,n){var l,c;const o=await t.activateAllMotionGroups(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async activateMotionGroup(r,a,n){var l,c;const o=await t.activateMotionGroup(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupApi.activateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deactivateMotionGroup(r,a,n){var l,c;const o=await t.deactivateMotionGroup(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listMotionGroups(r,a){var i,l;const n=await t.listMotionGroups(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["MotionGroupApi.listMotionGroups"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)}}};class Tv extends Pe{activateAllMotionGroups(t,r,a){return Xa(this.configuration).activateAllMotionGroups(t,r,a).then(n=>n(this.axios,this.basePath))}activateMotionGroup(t,r,a){return Xa(this.configuration).activateMotionGroup(t,r,a).then(n=>n(this.axios,this.basePath))}deactivateMotionGroup(t,r,a){return Xa(this.configuration).deactivateMotionGroup(t,r,a).then(n=>n(this.axios,this.basePath))}listMotionGroups(t,r){return Xa(this.configuration).listMotionGroups(t,r).then(a=>a(this.axios,this.basePath))}}const Ev=function(e){return{getActivePayload:async(t,r,a={})=>{f("getActivePayload","cell",t),f("getActivePayload","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getActiveTcp:async(t,r,a,n={})=>{f("getActiveTcp","cell",t),f("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},getCurrentMotionGroupState:async(t,r,a,n,o={})=>{f("getCurrentMotionGroupState","cell",t),f("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},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,...o.headers},{url:A(i),options:c}},getInfoCapabilities:async(t,r,a={})=>{f("getInfoCapabilities","cell",t),f("getInfoCapabilities","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getMotionGroupSpecification:async(t,r,a={})=>{f("getMotionGroupSpecification","cell",t),f("getMotionGroupSpecification","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getMounting:async(t,r,a={})=>{f("getMounting","cell",t),f("getMounting","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getOptimizerConfiguration:async(t,r,a,n={})=>{f("getOptimizerConfiguration","cell",t),f("getOptimizerConfiguration","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},getSafetySetup:async(t,r,a={})=>{f("getSafetySetup","cell",t),f("getSafetySetup","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listPayloads:async(t,r,a={})=>{f("listPayloads","cell",t),f("listPayloads","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listTcps:async(t,r,a,n={})=>{f("listTcps","cell",t),f("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},streamMotionGroupState:async(t,r,a,n,o,s={})=>{f("streamMotionGroupState","cell",t),f("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,...s},u={},p={};V(d,e),await R(u,e),a!==void 0&&(p.response_rate=a),n!==void 0&&(p.response_coordinate_system=n),o!==void 0&&(p.tcp=o),_(l,p);let m=c&&c.headers?c.headers:{};return d.headers={...u,...m,...s.headers},{url:A(l),options:d}}}},pt=function(e){const t=Ev(e);return{async getActivePayload(r,a,n){var l,c;const o=await t.getActivePayload(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getActiveTcp(r,a,n,o){var c,d;const s=await t.getActiveTcp(r,a,n,o),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(s,O,w,e)(u,l||p)},async getCurrentMotionGroupState(r,a,n,o,s){var d,u;const i=await t.getCurrentMotionGroupState(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)},async getInfoCapabilities(r,a,n){var l,c;const o=await t.getInfoCapabilities(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getMotionGroupSpecification(r,a,n){var l,c;const o=await t.getMotionGroupSpecification(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getMounting(r,a,n){var l,c;const o=await t.getMounting(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getMounting"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getOptimizerConfiguration(r,a,n,o){var c,d;const s=await t.getOptimizerConfiguration(r,a,n,o),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(s,O,w,e)(u,l||p)},async getSafetySetup(r,a,n){var l,c;const o=await t.getSafetySetup(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listPayloads(r,a,n){var l,c;const o=await t.listPayloads(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupInfosApi.listPayloads"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listTcps(r,a,n,o){var c,d;const s=await t.listTcps(r,a,n,o),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(s,O,w,e)(u,l||p)},async streamMotionGroupState(r,a,n,o,s,i){var u,p;const l=await t.streamMotionGroupState(r,a,n,o,s,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(m,g)=>T(l,O,w,e)(m,d||g)}}};class Iv 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(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,a,n,o){return pt(this.configuration).getCurrentMotionGroupState(t,r,a,n,o).then(s=>s(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(o=>o(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(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,a,n,o,s){return pt(this.configuration).streamMotionGroupState(t,r,a,n,o,s).then(i=>i(this.axios,this.basePath))}}const Mv=function(e){return{directionJogging:async(t,r,a={})=>{f("directionJogging","cell",t),f("directionJogging","directionJoggingRequest",r);const n="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},getJoggingCapabilities:async(t,r,a={})=>{f("getJoggingCapabilities","cell",t),f("getJoggingCapabilities","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},jointJogging:async(t,r,a={})=>{f("jointJogging","cell",t),f("jointJogging","jointJoggingRequest",r);const n="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},stopJogging:async(t,r,a={})=>{f("stopJogging","cell",t),f("stopJogging","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}}}},Za=function(e){const t=Mv(e);return{async directionJogging(r,a,n){var l,c;const o=await t.directionJogging(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getJoggingCapabilities(r,a,n){var l,c;const o=await t.getJoggingCapabilities(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async jointJogging(r,a,n){var l,c;const o=await t.jointJogging(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async stopJogging(r,a,n){var l,c;const o=await t.stopJogging(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)}}};class jv extends Pe{directionJogging(t,r,a){return Za(this.configuration).directionJogging(t,r,a).then(n=>n(this.axios,this.basePath))}getJoggingCapabilities(t,r,a){return Za(this.configuration).getJoggingCapabilities(t,r,a).then(n=>n(this.axios,this.basePath))}jointJogging(t,r,a){return Za(this.configuration).jointJogging(t,r,a).then(n=>n(this.axios,this.basePath))}stopJogging(t,r,a){return Za(this.configuration).stopJogging(t,r,a).then(n=>n(this.axios,this.basePath))}}const $v=function(e){return{calculateAllInverseKinematic:async(t,r,a,n={})=>{f("calculateAllInverseKinematic","cell",t),f("calculateAllInverseKinematic","motionGroup",r),f("calculateAllInverseKinematic","allJointPositionsRequest",a);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},calculateForwardKinematic:async(t,r,a,n={})=>{f("calculateForwardKinematic","cell",t),f("calculateForwardKinematic","motionGroup",r),f("calculateForwardKinematic","tcpPoseRequest",a);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},calculateInverseKinematic:async(t,r,a,n={})=>{f("calculateInverseKinematic","cell",t),f("calculateInverseKinematic","motionGroup",r),f("calculateInverseKinematic","jointPositionRequest",a);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},getKinematicCapabilities:async(t,r,a={})=>{f("getKinematicCapabilities","cell",t),f("getKinematicCapabilities","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}}}},en=function(e){const t=$v(e);return{async calculateAllInverseKinematic(r,a,n,o){var c,d;const s=await t.calculateAllInverseKinematic(r,a,n,o),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(s,O,w,e)(u,l||p)},async calculateForwardKinematic(r,a,n,o){var c,d;const s=await t.calculateForwardKinematic(r,a,n,o),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(s,O,w,e)(u,l||p)},async calculateInverseKinematic(r,a,n,o){var c,d;const s=await t.calculateInverseKinematic(r,a,n,o),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(s,O,w,e)(u,l||p)},async getKinematicCapabilities(r,a,n){var l,c;const o=await t.getKinematicCapabilities(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)}}};class Uv extends Pe{calculateAllInverseKinematic(t,r,a,n){return en(this.configuration).calculateAllInverseKinematic(t,r,a,n).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,a,n){return en(this.configuration).calculateForwardKinematic(t,r,a,n).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,a,n){return en(this.configuration).calculateInverseKinematic(t,r,a,n).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,a){return en(this.configuration).getKinematicCapabilities(t,r,a).then(n=>n(this.axios,this.basePath))}}const Lv=function(e){return{createProgramRunner:async(t,r,a={})=>{f("createProgramRunner","cell",t),f("createProgramRunner","request",r);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="text/plain",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},executeProgram:async(t,r,a={})=>{f("executeProgram","cell",t),f("executeProgram","codeWithArguments",r);const n="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},getProgramRunner:async(t,r,a={})=>{f("getProgramRunner","cell",t),f("getProgramRunner","runner",r);const n="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listProgramRunners:async(t,r={})=>{f("listProgramRunners","cell",t);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},migrateProgram:async(t,r,a={})=>{f("migrateProgram","cell",t),f("migrateProgram","request1",r);const n="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="text/plain",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},planProgram:async(t,r,a,n={})=>{f("planProgram","cell",t),f("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(r,l,e),{url:A(s),options:l}},stopAllProgramRunner:async(t,r={})=>{f("stopAllProgramRunner","cell",t);const a="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},stopProgramRunner:async(t,r,a={})=>{f("stopProgramRunner","cell",t),f("stopProgramRunner","runner",r);const n="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}}}},Jt=function(e){const t=Lv(e);return{async createProgramRunner(r,a,n){var l,c;const o=await t.createProgramRunner(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.createProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async executeProgram(r,a,n){var l,c;const o=await t.executeProgram(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.executeProgram"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getProgramRunner(r,a,n){var l,c;const o=await t.getProgramRunner(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.getProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listProgramRunners(r,a){var i,l;const n=await t.listProgramRunners(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["ProgramApi.listProgramRunners"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async migrateProgram(r,a,n){var l,c;const o=await t.migrateProgram(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.migrateProgram"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async planProgram(r,a,n,o){var c,d;const s=await t.planProgram(r,a,n,o),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(s,O,w,e)(u,l||p)},async stopAllProgramRunner(r,a){var i,l;const n=await t.stopAllProgramRunner(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["ProgramApi.stopAllProgramRunner"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async stopProgramRunner(r,a,n){var l,c;const o=await t.stopProgramRunner(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramApi.stopProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)}}};class kv 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(o=>o(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 Bv=function(e){return{clearProgramsValues:async(t,r={})=>{f("clearProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},createProgramsValue:async(t,r,a={})=>{f("createProgramsValue","cell",t),f("createProgramsValue","requestBody",r);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...a},l={},c={};V(i,e),await R(l,e),l["Content-Type"]="application/json",_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},i.data=se(r,i,e),{url:A(o),options:i}},deleteProgramValue:async(t,r,a={})=>{f("deleteProgramValue","cell",t),f("deleteProgramValue","key",r);const n="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getProgramValue:async(t,r,a={})=>{f("getProgramValue","cell",t),f("getProgramValue","key",r);const n="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listProgramsValues:async(t,r={})=>{f("listProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},updateProgramValue:async(t,r,a,n={})=>{f("updateProgramValue","cell",t),f("updateProgramValue","key",r),f("updateProgramValue","value",a);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}}}},$r=function(e){const t=Bv(e);return{async clearProgramsValues(r,a){var i,l;const n=await t.clearProgramsValues(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async createProgramsValue(r,a,n){var l,c;const o=await t.createProgramsValue(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramValuesApi.createProgramsValue"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deleteProgramValue(r,a,n){var l,c;const o=await t.deleteProgramValue(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getProgramValue(r,a,n){var l,c;const o=await t.getProgramValue(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["ProgramValuesApi.getProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listProgramsValues(r,a){var i,l;const n=await t.listProgramsValues(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["ProgramValuesApi.listProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async updateProgramValue(r,a,n,o){var c,d;const s=await t.updateProgramValue(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class Fv extends Pe{clearProgramsValues(t,r){return $r(this.configuration).clearProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}createProgramsValue(t,r,a){return $r(this.configuration).createProgramsValue(t,r,a).then(n=>n(this.axios,this.basePath))}deleteProgramValue(t,r,a){return $r(this.configuration).deleteProgramValue(t,r,a).then(n=>n(this.axios,this.basePath))}getProgramValue(t,r,a){return $r(this.configuration).getProgramValue(t,r,a).then(n=>n(this.axios,this.basePath))}listProgramsValues(t,r){return $r(this.configuration).listProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}updateProgramValue(t,r,a,n){return $r(this.configuration).updateProgramValue(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const Nv=function(e){return{deleteStoredCollider:async(t,r,a={})=>{f("deleteStoredCollider","cell",t),f("deleteStoredCollider","collider",r);const n="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},deleteStoredCollisionLinkChain:async(t,r,a={})=>{f("deleteStoredCollisionLinkChain","cell",t),f("deleteStoredCollisionLinkChain","linkChain",r);const n="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},deleteStoredCollisionTool:async(t,r,a={})=>{f("deleteStoredCollisionTool","cell",t),f("deleteStoredCollisionTool","tool",r);const n="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getDefaultLinkChain:async(t,r,a={})=>{f("getDefaultLinkChain","cell",t),f("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))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getStoredCollider:async(t,r,a={})=>{f("getStoredCollider","cell",t),f("getStoredCollider","collider",r);const n="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getStoredCollisionLinkChain:async(t,r,a={})=>{f("getStoredCollisionLinkChain","cell",t),f("getStoredCollisionLinkChain","linkChain",r);const n="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getStoredCollisionTool:async(t,r,a={})=>{f("getStoredCollisionTool","cell",t),f("getStoredCollisionTool","tool",r);const n="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listCollisionLinkChains:async(t,r={})=>{f("listCollisionLinkChains","cell",t);const a="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},listStoredColliders:async(t,r={})=>{f("listStoredColliders","cell",t);const a="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},listStoredCollisionTools:async(t,r={})=>{f("listStoredCollisionTools","cell",t);const a="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},storeCollider:async(t,r,a,n={})=>{f("storeCollider","cell",t),f("storeCollider","collider",r),f("storeCollider","collider2",a);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},storeCollisionLinkChain:async(t,r,a,n={})=>{f("storeCollisionLinkChain","cell",t),f("storeCollisionLinkChain","linkChain",r),f("storeCollisionLinkChain","collider",a);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},storeCollisionTool:async(t,r,a,n={})=>{f("storeCollisionTool","cell",t),f("storeCollisionTool","tool",r),f("storeCollisionTool","requestBody",a);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}}}},tt=function(e){const t=Nv(e);return{async deleteStoredCollider(r,a,n){var l,c;const o=await t.deleteStoredCollider(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deleteStoredCollisionLinkChain(r,a,n){var l,c;const o=await t.deleteStoredCollisionLinkChain(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async deleteStoredCollisionTool(r,a,n){var l,c;const o=await t.deleteStoredCollisionTool(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getDefaultLinkChain(r,a,n){var l,c;const o=await t.getDefaultLinkChain(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getStoredCollider(r,a,n){var l,c;const o=await t.getStoredCollider(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getStoredCollisionLinkChain(r,a,n){var l,c;const o=await t.getStoredCollisionLinkChain(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getStoredCollisionTool(r,a,n){var l,c;const o=await t.getStoredCollisionTool(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listCollisionLinkChains(r,a){var i,l;const n=await t.listCollisionLinkChains(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async listStoredColliders(r,a){var i,l;const n=await t.listStoredColliders(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async listStoredCollisionTools(r,a){var i,l;const n=await t.listStoredCollisionTools(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async storeCollider(r,a,n,o){var c,d;const s=await t.storeCollider(r,a,n,o),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(s,O,w,e)(u,l||p)},async storeCollisionLinkChain(r,a,n,o){var c,d;const s=await t.storeCollisionLinkChain(r,a,n,o),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(s,O,w,e)(u,l||p)},async storeCollisionTool(r,a,n,o){var c,d;const s=await t.storeCollisionTool(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class Dv 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(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,a,n){return tt(this.configuration).storeCollisionLinkChain(t,r,a,n).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,a,n){return tt(this.configuration).storeCollisionTool(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const zv=function(e){return{deleteStoredCollisionScene:async(t,r,a={})=>{f("deleteStoredCollisionScene","cell",t),f("deleteStoredCollisionScene","scene",r);const n="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getStoredCollisionScene:async(t,r,a={})=>{f("getStoredCollisionScene","cell",t),f("getStoredCollisionScene","scene",r);const n="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listStoredCollisionScenes:async(t,r={})=>{f("listStoredCollisionScenes","cell",t);const a="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},storeCollisionScene:async(t,r,a,n={})=>{f("storeCollisionScene","cell",t),f("storeCollisionScene","scene",r),f("storeCollisionScene","collisionSceneAssembly",a);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}}}},tn=function(e){const t=zv(e);return{async deleteStoredCollisionScene(r,a,n){var l,c;const o=await t.deleteStoredCollisionScene(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getStoredCollisionScene(r,a,n){var l,c;const o=await t.getStoredCollisionScene(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listStoredCollisionScenes(r,a){var i,l;const n=await t.listStoredCollisionScenes(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async storeCollisionScene(r,a,n,o){var c,d;const s=await t.storeCollisionScene(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class Gv extends Pe{deleteStoredCollisionScene(t,r,a){return tn(this.configuration).deleteStoredCollisionScene(t,r,a).then(n=>n(this.axios,this.basePath))}getStoredCollisionScene(t,r,a){return tn(this.configuration).getStoredCollisionScene(t,r,a).then(n=>n(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return tn(this.configuration).listStoredCollisionScenes(t,r).then(a=>a(this.axios,this.basePath))}storeCollisionScene(t,r,a,n){return tn(this.configuration).storeCollisionScene(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const Jv=function(e){return{clearAllObjects:async(t,r={})=>{f("clearAllObjects","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},deleteObject:async(t,r,a={})=>{f("deleteObject","cell",t),f("deleteObject","key",r);const n="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getObject:async(t,r,a={})=>{f("getObject","cell",t),f("getObject","key",r);const n="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getObjectMetadata:async(t,r,a={})=>{f("getObjectMetadata","cell",t),f("getObjectMetadata","key",r);const n="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listAllObjectKeys:async(t,r={})=>{f("listAllObjectKeys","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},storeObject:async(t,r,a,n,o={})=>{f("storeObject","cell",t),f("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},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 m=l&&l.headers?l.headers:{};return c.headers={...d,...m,...o.headers},c.data=p,{url:A(i),options:c}}}},Ur=function(e){const t=Jv(e);return{async clearAllObjects(r,a){var i,l;const n=await t.clearAllObjects(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["StoreObjectApi.clearAllObjects"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async deleteObject(r,a,n){var l,c;const o=await t.deleteObject(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreObjectApi.deleteObject"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getObject(r,a,n){var l,c;const o=await t.getObject(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreObjectApi.getObject"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getObjectMetadata(r,a,n){var l,c;const o=await t.getObjectMetadata(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["StoreObjectApi.getObjectMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listAllObjectKeys(r,a){var i,l;const n=await t.listAllObjectKeys(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async storeObject(r,a,n,o,s){var d,u;const i=await t.storeObject(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)}}};class Hv extends Pe{clearAllObjects(t,r){return Ur(this.configuration).clearAllObjects(t,r).then(a=>a(this.axios,this.basePath))}deleteObject(t,r,a){return Ur(this.configuration).deleteObject(t,r,a).then(n=>n(this.axios,this.basePath))}getObject(t,r,a){return Ur(this.configuration).getObject(t,r,a).then(n=>n(this.axios,this.basePath))}getObjectMetadata(t,r,a){return Ur(this.configuration).getObjectMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}listAllObjectKeys(t,r){return Ur(this.configuration).listAllObjectKeys(t,r).then(a=>a(this.axios,this.basePath))}storeObject(t,r,a,n,o){return Ur(this.configuration).storeObject(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}}const qv=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{f("checkNovaVersionUpdate","channel",t);const a="/system/update",n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};V(s,e),await R(i,e),t!==void 0&&(l.channel=t),_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:A(n),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",a=new URL(r,P);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},i={};V(o,e),await R(s,e),_(a,i);let l=n&&n.headers?n.headers:{};return o.headers={...s,...l,...t.headers},{url:A(a),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",a=new URL(r,P);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},i={};V(o,e),await R(s,e),_(a,i);let l=n&&n.headers?n.headers:{};return o.headers={...s,...l,...t.headers},{url:A(a),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",a=new URL(r,P);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},i={};V(o,e),await R(s,e),_(a,i);let l=n&&n.headers?n.headers:{};return o.headers={...s,...l,...t.headers},{url:A(a),options:o}},updateNovaVersion:async(t,r={})=>{f("updateNovaVersion","updateNovaVersionRequest",t);const a="/system/update",n=new URL(a,P);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};V(s,e),await R(i,e),i["Content-Type"]="application/json",_(n,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=se(t,s,e),{url:A(n),options:s}}}},xa=function(e){const t=qv(e);return{async checkNovaVersionUpdate(r,a){var i,l;const n=await t.checkNovaVersionUpdate(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)},async getDiagnosePackage(r){var s,i;const a=await t.getDiagnosePackage(r),n=(e==null?void 0:e.serverIndex)??0,o=(i=(s=C["SystemApi.getDiagnosePackage"])==null?void 0:s[n])==null?void 0:i.url;return(l,c)=>T(a,O,w,e)(l,o||c)},async getSystemStatus(r){var s,i;const a=await t.getSystemStatus(r),n=(e==null?void 0:e.serverIndex)??0,o=(i=(s=C["SystemApi.getSystemStatus"])==null?void 0:s[n])==null?void 0:i.url;return(l,c)=>T(a,O,w,e)(l,o||c)},async getSystemVersion(r){var s,i;const a=await t.getSystemVersion(r),n=(e==null?void 0:e.serverIndex)??0,o=(i=(s=C["SystemApi.getSystemVersion"])==null?void 0:s[n])==null?void 0:i.url;return(l,c)=>T(a,O,w,e)(l,o||c)},async updateNovaVersion(r,a){var i,l;const n=await t.updateNovaVersion(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=C["SystemApi.updateNovaVersion"])==null?void 0:i[o])==null?void 0:l.url;return(c,d)=>T(n,O,w,e)(c,s||d)}}};class Wv extends Pe{checkNovaVersionUpdate(t,r){return xa(this.configuration).checkNovaVersionUpdate(t,r).then(a=>a(this.axios,this.basePath))}getDiagnosePackage(t){return xa(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return xa(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return xa(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return xa(this.configuration).updateNovaVersion(t,r).then(a=>a(this.axios,this.basePath))}}const Kv=function(e){return{getMotionGroupState:async(t,r,a,n={})=>{f("getMotionGroupState","cell",t),f("getMotionGroupState","controller",r),f("getMotionGroupState","id",a);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))),s=new URL(o,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},getMotionGroups:async(t,r,a={})=>{f("getMotionGroups","cell",t),f("getMotionGroups","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getVirtualRobotIOValue:async(t,r,a,n={})=>{f("getVirtualRobotIOValue","cell",t),f("getVirtualRobotIOValue","controller",r),f("getVirtualRobotIOValue","io",a);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(a))),s=new URL(o,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},listIOs:async(t,r,a={})=>{f("listIOs","cell",t),f("listIOs","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},setMotionGroupState:async(t,r,a,n,o={})=>{f("setMotionGroupState","cell",t),f("setMotionGroupState","controller",r),f("setMotionGroupState","id",a),f("setMotionGroupState","motionGroupJoints",n);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))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},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,...o.headers},c.data=se(n,c,e),{url:A(i),options:c}},setVirtualRobotIOValue:async(t,r,a,n,o,s,i={})=>{f("setVirtualRobotIOValue","cell",t),f("setVirtualRobotIOValue","controller",r),f("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={},m={};V(u,e),await R(p,e),n!==void 0&&(m.bool=n),o!==void 0&&(m.integer=o),s!==void 0&&(m.double=s),_(c,m);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...i.headers},{url:A(c),options:u}}}},Lr=function(e){const t=Kv(e);return{async getMotionGroupState(r,a,n,o){var c,d;const s=await t.getMotionGroupState(r,a,n,o),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(s,O,w,e)(u,l||p)},async getMotionGroups(r,a,n){var l,c;const o=await t.getMotionGroups(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotApi.getMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getVirtualRobotIOValue(r,a,n,o){var c,d;const s=await t.getVirtualRobotIOValue(r,a,n,o),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(s,O,w,e)(u,l||p)},async listIOs(r,a,n){var l,c;const o=await t.listIOs(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotApi.listIOs"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async setMotionGroupState(r,a,n,o,s){var d,u;const i=await t.setMotionGroupState(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)},async setVirtualRobotIOValue(r,a,n,o,s,i,l){var p,m;const c=await t.setVirtualRobotIOValue(r,a,n,o,s,i,l),d=(e==null?void 0:e.serverIndex)??0,u=(m=(p=C["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:p[d])==null?void 0:m.url;return(g,h)=>T(c,O,w,e)(g,u||h)}}};class Qv extends Pe{getMotionGroupState(t,r,a,n){return Lr(this.configuration).getMotionGroupState(t,r,a,n).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,a){return Lr(this.configuration).getMotionGroups(t,r,a).then(n=>n(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,a,n){return Lr(this.configuration).getVirtualRobotIOValue(t,r,a,n).then(o=>o(this.axios,this.basePath))}listIOs(t,r,a){return Lr(this.configuration).listIOs(t,r,a).then(n=>n(this.axios,this.basePath))}setMotionGroupState(t,r,a,n,o){return Lr(this.configuration).setMotionGroupState(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,a,n,o,s,i){return Lr(this.configuration).setVirtualRobotIOValue(t,r,a,n,o,s,i).then(l=>l(this.axios,this.basePath))}}const Yv=function(e){return{externalJointsStream:async(t,r,a,n={})=>{f("externalJointsStream","cell",t),f("externalJointsStream","controller",r),f("externalJointsStream","externalJointStreamDatapoint",a);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},getMotionGroupBehavior:async(t,r,a,n={})=>{f("getMotionGroupBehavior","cell",t),f("getMotionGroupBehavior","controller",r),f("getMotionGroupBehavior","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))),s=new URL(o,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},setMotionGroupBehavior:async(t,r,a,n,o={})=>{f("setMotionGroupBehavior","cell",t),f("setMotionGroupBehavior","controller",r),f("setMotionGroupBehavior","id",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},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,...o.headers},{url:A(i),options:c}}}},To=function(e){const t=Yv(e);return{async externalJointsStream(r,a,n,o){var c,d;const s=await t.externalJointsStream(r,a,n,o),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(s,O,w,e)(u,l||p)},async getMotionGroupBehavior(r,a,n,o){var c,d;const s=await t.getMotionGroupBehavior(r,a,n,o),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(s,O,w,e)(u,l||p)},async setMotionGroupBehavior(r,a,n,o,s){var d,u;const i=await t.setMotionGroupBehavior(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)}}};class Xv extends Pe{externalJointsStream(t,r,a,n){return To(this.configuration).externalJointsStream(t,r,a,n).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,a,n){return To(this.configuration).getMotionGroupBehavior(t,r,a,n).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,a,n,o){return To(this.configuration).setMotionGroupBehavior(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}}const Zv=function(e){return{getCycleTime:async(t,r,a={})=>{f("getCycleTime","cell",t),f("getCycleTime","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getEStop:async(t,r,a={})=>{f("getEStop","cell",t),f("getEStop","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},getOperationMode:async(t,r,a={})=>{f("getOperationMode","cell",t),f("getOperationMode","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},pushEStop:async(t,r,a={})=>{f("pushEStop","cell",t),f("pushEStop","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},releaseEStop:async(t,r,a={})=>{f("releaseEStop","cell",t),f("releaseEStop","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},setOperationMode:async(t,r,a,n={})=>{f("setOperationMode","cell",t),f("setOperationMode","controller",r),f("setOperationMode","mode",a);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}}}},kr=function(e){const t=Zv(e);return{async getCycleTime(r,a,n){var l,c;const o=await t.getCycleTime(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getEStop(r,a,n){var l,c;const o=await t.getEStop(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.getEStop"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async getOperationMode(r,a,n){var l,c;const o=await t.getOperationMode(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async pushEStop(r,a,n){var l,c;const o=await t.pushEStop(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.pushEStop"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async releaseEStop(r,a,n){var l,c;const o=await t.releaseEStop(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async setOperationMode(r,a,n,o){var c,d;const s=await t.setOperationMode(r,a,n,o),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(s,O,w,e)(u,l||p)}}};class e1 extends Pe{getCycleTime(t,r,a){return kr(this.configuration).getCycleTime(t,r,a).then(n=>n(this.axios,this.basePath))}getEStop(t,r,a){return kr(this.configuration).getEStop(t,r,a).then(n=>n(this.axios,this.basePath))}getOperationMode(t,r,a){return kr(this.configuration).getOperationMode(t,r,a).then(n=>n(this.axios,this.basePath))}pushEStop(t,r,a){return kr(this.configuration).pushEStop(t,r,a).then(n=>n(this.axios,this.basePath))}releaseEStop(t,r,a){return kr(this.configuration).releaseEStop(t,r,a).then(n=>n(this.axios,this.basePath))}setOperationMode(t,r,a,n){return kr(this.configuration).setOperationMode(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const t1=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,a,n={})=>{f("addVirtualRobotCoordinateSystem","cell",t),f("addVirtualRobotCoordinateSystem","controller",r),f("addVirtualRobotCoordinateSystem","coordinateSystem",a);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,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",_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},l.data=se(a,l,e),{url:A(s),options:l}},addVirtualRobotTcp:async(t,r,a,n,o={})=>{f("addVirtualRobotTcp","cell",t),f("addVirtualRobotTcp","controller",r),f("addVirtualRobotTcp","id",a),f("addVirtualRobotTcp","robotTcp",n);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))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},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,...o.headers},c.data=se(n,c,e),{url:A(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,a,n,o={})=>{f("deleteVirtualRobotCoordinateSystem","cell",t),f("deleteVirtualRobotCoordinateSystem","controller",r),f("deleteVirtualRobotCoordinateSystem","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(a))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},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,...o.headers},{url:A(i),options:c}},deleteVirtualRobotTcp:async(t,r,a,n,o={})=>{f("deleteVirtualRobotTcp","cell",t),f("deleteVirtualRobotTcp","controller",r),f("deleteVirtualRobotTcp","id",a),f("deleteVirtualRobotTcp","tcp",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))).replace("{tcp}",encodeURIComponent(String(n))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},d={},u={};V(c,e),await R(d,e),_(i,u);let p=l&&l.headers?l.headers:{};return c.headers={...d,...p,...o.headers},{url:A(i),options:c}},getVirtualRobotMounting:async(t,r,a,n={})=>{f("getVirtualRobotMounting","cell",t),f("getVirtualRobotMounting","controller",r),f("getVirtualRobotMounting","id",a);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))),s=new URL(o,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},listVirtualRobotCoordinateSystems:async(t,r,a={})=>{f("listVirtualRobotCoordinateSystems","cell",t),f("listVirtualRobotCoordinateSystems","controller",r);const n="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,P);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...a},l={},c={};V(i,e),await R(l,e),_(o,c);let d=s&&s.headers?s.headers:{};return i.headers={...l,...d,...a.headers},{url:A(o),options:i}},listVirtualRobotTcps:async(t,r,a,n={})=>{f("listVirtualRobotTcps","cell",t),f("listVirtualRobotTcps","controller",r),f("listVirtualRobotTcps","id",a);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))),s=new URL(o,P);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...n},c={},d={};V(l,e),await R(c,e),_(s,d);let u=i&&i.headers?i.headers:{};return l.headers={...c,...u,...n.headers},{url:A(s),options:l}},setVirtualRobotMounting:async(t,r,a,n,o={})=>{f("setVirtualRobotMounting","cell",t),f("setVirtualRobotMounting","controller",r),f("setVirtualRobotMounting","id",a),f("setVirtualRobotMounting","coordinateSystem",n);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))),i=new URL(s,P);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},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,...o.headers},c.data=se(n,c,e),{url:A(i),options:c}}}},Ht=function(e){const t=t1(e);return{async addVirtualRobotCoordinateSystem(r,a,n,o){var c,d;const s=await t.addVirtualRobotCoordinateSystem(r,a,n,o),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(s,O,w,e)(u,l||p)},async addVirtualRobotTcp(r,a,n,o,s){var d,u;const i=await t.addVirtualRobotTcp(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)},async deleteVirtualRobotCoordinateSystem(r,a,n,o,s){var d,u;const i=await t.deleteVirtualRobotCoordinateSystem(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)},async deleteVirtualRobotTcp(r,a,n,o,s){var d,u;const i=await t.deleteVirtualRobotTcp(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)},async getVirtualRobotMounting(r,a,n,o){var c,d;const s=await t.getVirtualRobotMounting(r,a,n,o),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(s,O,w,e)(u,l||p)},async listVirtualRobotCoordinateSystems(r,a,n){var l,c;const o=await t.listVirtualRobotCoordinateSystems(r,a,n),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=C["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(d,u)=>T(o,O,w,e)(d,i||u)},async listVirtualRobotTcps(r,a,n,o){var c,d;const s=await t.listVirtualRobotTcps(r,a,n,o),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(s,O,w,e)(u,l||p)},async setVirtualRobotMounting(r,a,n,o,s){var d,u;const i=await t.setVirtualRobotMounting(r,a,n,o,s),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,m)=>T(i,O,w,e)(p,c||m)}}};class r1 extends Pe{addVirtualRobotCoordinateSystem(t,r,a,n){return Ht(this.configuration).addVirtualRobotCoordinateSystem(t,r,a,n).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,a,n,o){return Ht(this.configuration).addVirtualRobotTcp(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,a,n,o){return Ht(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,a,n,o){return Ht(this.configuration).deleteVirtualRobotTcp(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,a,n){return Ht(this.configuration).getVirtualRobotMounting(t,r,a,n).then(o=>o(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(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,a,n,o){return Ht(this.configuration).setVirtualRobotMounting(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}}function Mt(e,t,r){return Math.max(t,Math.min(r,e))}class a1{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,o,s,i){let l=a[n+0],c=a[n+1],d=a[n+2],u=a[n+3];const p=o[s+0],m=o[s+1],g=o[s+2],h=o[s+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]=m,t[r+2]=g,t[r+3]=h;return}if(u!==h||l!==p||c!==m||d!==g){let x=1-i;const E=l*p+c*m+d*g+u*h,U=E>=0?1:-1,F=1-E*E;if(F>Number.EPSILON){const J=Math.sqrt(F),K=Math.atan2(J,E*U);x=Math.sin(x*K)/J,i=Math.sin(i*K)/J}const N=i*U;if(l=l*x+p*N,c=c*x+m*N,d=d*x+g*N,u=u*x+h*N,x===1-i){const J=1/Math.sqrt(l*l+c*c+d*d+u*u);l*=J,c*=J,d*=J,u*=J}}t[r]=l,t[r+1]=c,t[r+2]=d,t[r+3]=u}static multiplyQuaternionsFlat(t,r,a,n,o,s){const i=a[n],l=a[n+1],c=a[n+2],d=a[n+3],u=o[s],p=o[s+1],m=o[s+2],g=o[s+3];return t[r]=i*g+d*u+l*m-c*p,t[r+1]=l*g+d*p+c*u-i*m,t[r+2]=c*g+d*m+i*p-l*u,t[r+3]=d*g-i*u-l*p-c*m,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,o=t._z,s=t._order,i=Math.cos,l=Math.sin,c=i(a/2),d=i(n/2),u=i(o/2),p=l(a/2),m=l(n/2),g=l(o/2);switch(s){case"XYZ":this._x=p*d*u+c*m*g,this._y=c*m*u-p*d*g,this._z=c*d*g+p*m*u,this._w=c*d*u-p*m*g;break;case"YXZ":this._x=p*d*u+c*m*g,this._y=c*m*u-p*d*g,this._z=c*d*g-p*m*u,this._w=c*d*u+p*m*g;break;case"ZXY":this._x=p*d*u-c*m*g,this._y=c*m*u+p*d*g,this._z=c*d*g+p*m*u,this._w=c*d*u-p*m*g;break;case"ZYX":this._x=p*d*u-c*m*g,this._y=c*m*u+p*d*g,this._z=c*d*g-p*m*u,this._w=c*d*u+p*m*g;break;case"YZX":this._x=p*d*u+c*m*g,this._y=c*m*u+p*d*g,this._z=c*d*g-p*m*u,this._w=c*d*u-p*m*g;break;case"XZY":this._x=p*d*u-c*m*g,this._y=c*m*u-p*d*g,this._z=c*d*g+p*m*u,this._w=c*d*u+p*m*g;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const a=r/2,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],o=r[8],s=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 m=.5/Math.sqrt(p+1);this._w=.25/m,this._x=(d-l)*m,this._y=(o-c)*m,this._z=(s-n)*m}else if(a>i&&a>u){const m=2*Math.sqrt(1+a-i-u);this._w=(d-l)/m,this._x=.25*m,this._y=(n+s)/m,this._z=(o+c)/m}else if(i>u){const m=2*Math.sqrt(1+i-a-u);this._w=(o-c)/m,this._x=(n+s)/m,this._y=.25*m,this._z=(l+d)/m}else{const m=2*Math.sqrt(1+u-a-i);this._w=(s-n)/m,this._x=(o+c)/m,this._y=(l+d)/m,this._z=.25*m}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,o=t._z,s=t._w,i=r._x,l=r._y,c=r._z,d=r._w;return this._x=a*d+s*i+n*c-o*l,this._y=n*d+s*l+o*i-a*c,this._z=o*d+s*c+a*l-n*i,this._w=s*d-a*i-n*l-o*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,o=this._z,s=this._w;let i=s*t._w+a*t._x+n*t._y+o*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=s,this._x=a,this._y=n,this._z=o,this;const l=1-i*i;if(l<=Number.EPSILON){const m=1-r;return this._w=m*s+r*this._w,this._x=m*a+r*this._x,this._y=m*n+r*this._y,this._z=m*o+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=s*u+this._w*p,this._x=a*u+this._x*p,this._y=n*u+this._y*p,this._z=o*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),o=Math.sqrt(a);return this.set(n*Math.sin(t),n*Math.cos(t),o*Math.sin(r),o*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 Jr{constructor(t=0,r=0,a=0){Jr.prototype.isVector3=!0,this.x=t,this.y=r,this.z=a}set(t,r,a){return a===void 0&&(a=this.z),this.x=t,this.y=r,this.z=a,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,r){switch(t){case 0:this.x=r;break;case 1:this.y=r;break;case 2:this.z=r;break;default:throw new Error("index is out of range: "+t)}return this}getComponent(t){switch(t){case 0:return this.x;case 1:return this.y;case 2:return this.z;default:throw new Error("index is out of range: "+t)}}clone(){return new this.constructor(this.x,this.y,this.z)}copy(t){return this.x=t.x,this.y=t.y,this.z=t.z,this}add(t){return this.x+=t.x,this.y+=t.y,this.z+=t.z,this}addScalar(t){return this.x+=t,this.y+=t,this.z+=t,this}addVectors(t,r){return this.x=t.x+r.x,this.y=t.y+r.y,this.z=t.z+r.z,this}addScaledVector(t,r){return this.x+=t.x*r,this.y+=t.y*r,this.z+=t.z*r,this}sub(t){return this.x-=t.x,this.y-=t.y,this.z-=t.z,this}subScalar(t){return this.x-=t,this.y-=t,this.z-=t,this}subVectors(t,r){return this.x=t.x-r.x,this.y=t.y-r.y,this.z=t.z-r.z,this}multiply(t){return this.x*=t.x,this.y*=t.y,this.z*=t.z,this}multiplyScalar(t){return this.x*=t,this.y*=t,this.z*=t,this}multiplyVectors(t,r){return this.x=t.x*r.x,this.y=t.y*r.y,this.z=t.z*r.z,this}applyEuler(t){return this.applyQuaternion(ol.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(ol.setFromAxisAngle(t,r))}applyMatrix3(t){const r=this.x,a=this.y,n=this.z,o=t.elements;return this.x=o[0]*r+o[3]*a+o[6]*n,this.y=o[1]*r+o[4]*a+o[7]*n,this.z=o[2]*r+o[5]*a+o[8]*n,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const r=this.x,a=this.y,n=this.z,o=t.elements,s=1/(o[3]*r+o[7]*a+o[11]*n+o[15]);return this.x=(o[0]*r+o[4]*a+o[8]*n+o[12])*s,this.y=(o[1]*r+o[5]*a+o[9]*n+o[13])*s,this.z=(o[2]*r+o[6]*a+o[10]*n+o[14])*s,this}applyQuaternion(t){const r=this.x,a=this.y,n=this.z,o=t.x,s=t.y,i=t.z,l=t.w,c=2*(s*n-i*a),d=2*(i*r-o*n),u=2*(o*a-s*r);return this.x=r+l*c+s*u-i*d,this.y=a+l*d+i*c-o*u,this.z=n+l*u+o*d-s*c,this}project(t){return this.applyMatrix4(t.matrixWorldInverse).applyMatrix4(t.projectionMatrix)}unproject(t){return this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,a=this.y,n=this.z,o=t.elements;return this.x=o[0]*r+o[4]*a+o[8]*n,this.y=o[1]*r+o[5]*a+o[9]*n,this.z=o[2]*r+o[6]*a+o[10]*n,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,r){return this.x=Mt(this.x,t.x,r.x),this.y=Mt(this.y,t.y,r.y),this.z=Mt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=Mt(this.x,t,r),this.y=Mt(this.y,t,r),this.z=Mt(this.z,t,r),this}clampLength(t,r){const a=this.length();return this.divideScalar(a||1).multiplyScalar(Mt(a,t,r))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)}normalize(){return this.divideScalar(this.length()||1)}setLength(t){return this.normalize().multiplyScalar(t)}lerp(t,r){return this.x+=(t.x-this.x)*r,this.y+=(t.y-this.y)*r,this.z+=(t.z-this.z)*r,this}lerpVectors(t,r,a){return this.x=t.x+(r.x-t.x)*a,this.y=t.y+(r.y-t.y)*a,this.z=t.z+(r.z-t.z)*a,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,r){const 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this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,r,a){return this.x=t*Math.sin(r),this.y=a,this.z=t*Math.cos(r),this}setFromMatrixPosition(t){const r=t.elements;return this.x=r[12],this.y=r[13],this.z=r[14],this}setFromMatrixScale(t){const r=this.setFromMatrixColumn(t,0).length(),a=this.setFromMatrixColumn(t,1).length(),n=this.setFromMatrixColumn(t,2).length();return this.x=r,this.y=a,this.z=n,this}setFromMatrixColumn(t,r){return this.fromArray(t.elements,r*4)}setFromMatrix3Column(t,r){return this.fromArray(t.elements,r*3)}setFromEuler(t){return this.x=t._x,this.y=t._y,this.z=t._z,this}setFromColor(t){return this.x=t.r,this.y=t.g,this.z=t.b,this}equals(t){return t.x===this.x&&t.y===this.y&&t.z===this.z}fromArray(t,r=0){return this.x=t[r],this.y=t[r+1],this.z=t[r+2],this}toArray(t=[],r=0){return t[r]=this.x,t[r+1]=this.y,t[r+2]=this.z,t}fromBufferAttribute(t,r){return this.x=t.getX(r),this.y=t.getY(r),this.z=t.getZ(r),this}random(){return 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a+=Math.abs(e.orientation.x-t.orientation.x),a+=Math.abs(e.orientation.y-t.orientation.y),a+=Math.abs(e.orientation.z-t.orientation.z),a+=Math.abs(e.position.x-t.position.x),a+=Math.abs(e.position.y-t.position.y),a+=Math.abs(e.position.z-t.position.z),a>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var il=1e-4,i1=class ed{constructor(t,r,a,n,o,s,i,l,c,d,u,p){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=n,this.motionStateSocket=o,this.isVirtual=s,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",m=>{var g;const h=(g=Kt(m.data))==null?void 0:g.result;h&&Be.runInAction(()=>{this.controllerState=h})}),o.addEventListener("message",m=>{var g;const h=(g=Kt(m.data))==null?void 0:g.result;if(!h)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${m.data}`);Xc(this.rapidlyChangingMotionState.state.joint_position.joints,h.state.joint_position.joints,il)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=h.state}),Zc(this.rapidlyChangingMotionState.tcp_pose,h.tcp_pose,il)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=h.tcp_pose})}),Be.makeAutoObservable(this)}static connect(t,r,a){return Ce(this,null,function*(){var n,o;const[s,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:
|
|
112
112
|
`,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=(o=Kt(E.data))==null?void 0:o.result;if(!U)throw new Error(`Unable to parse initial controller state message ${E.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
|
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113
|
-
`,U);const{tcps:F}=yield t.api.motionGroupInfos.listTcps(r),N=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),J=yield t.api.motionGroupInfos.getSafetySetup(r);return new ed(t,l,c,p,d,g,F,N,J,h,U,x)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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,o,s;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,((s=(o=this.mounting)==null?void 0:o.pose.orientation)==null?void 0:s.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}},l1=class td{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,o={}){const s=yield a.connectMotionStream(n);return new td(s,o)})}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&&(p0(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 o=new Array(this.numJoints).fill(0);o[r]=a==="-"?-n:n,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:o})})}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 o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:o,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 o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:o,rotation_direction:s,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:o,axis:s,direction:i,motion:l}){var c;const d=[];if(!_0(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 m=Object.assign({},r.position);m[s]+=l.distanceMm*(i==="-"?-1:1),d.push({settings:{limits_override:{tcp_velocity_limit:o}},line:{position:m,orientation:r.orientation,coordinate_system:n}})}else if(l.type==="rotate"){const m=new Jr(r.orientation.x,r.orientation.y,r.orientation.z),g=m.length(),h=m.clone().normalize(),x=l.distanceRads*(i==="-"?-1:1),E=new Jr(0,0,0);E[s]=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),J=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 Jr().addScaledVector(j,F).addScaledVector(E,N).addScaledVector(h,J).multiplyScalar(k);d.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},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:o,distanceRads:s}){var i;const l=[...a.joints];l[r]+=s*(o==="-"?-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})})}},ll=1e-4;function c1(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(),o=r.normalize();let s=a.length(),i=a.normalize();i.dot(o)<0&&(s=-s,i=i.multiplyScalar(-1));let l=s-n;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),s=n+l,i.multiplyScalar(s)}var d1=class rd{constructor(t,r,a,n,o){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=n,this.motionStateSocket=o,this.rapidlyChangingMotionState=n,o.addEventListener("message",s=>{var i;const l=(i=Kt(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);Xc(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,ll)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),Zc(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,ll)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:c1(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(),[o,s]=r.split("@"),i=n.find(p=>p.controller===s),l=i==null?void 0:i.physical_motion_groups.find(p=>p.motion_group===r);if(!i||!l)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield c.firstMessage();console.log("got first message",d);const 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 ${l.motion_group}. Initial state:
|
|
114
|
-
`,u),new rd(t,i,l,u,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},u1=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(Wv),this.cell=this.withUnwrappedResponsesOnly(dv),this.deviceConfig=this.withCellId(bv),this.motionGroup=this.withCellId(Tv),this.motionGroupInfos=this.withCellId(Iv),this.controller=this.withCellId(pv),this.program=this.withCellId(kv),this.programValues=this.withCellId(Fv),this.controllerIOs=this.withCellId(mv),this.motionGroupKinematic=this.withCellId(Uv),this.motion=this.withCellId(_v),this.coordinateSystems=this.withCellId(gv),this.application=this.withCellId(nl),this.applicationGlobal=this.withUnwrappedResponsesOnly(nl),this.motionGroupJogging=this.withCellId(jv),this.virtualRobot=this.withCellId(Qv),this.virtualRobotSetup=this.withCellId(r1),this.virtualRobotMode=this.withCellId(e1),this.virtualRobotBehavior=this.withCellId(Xv),this.libraryProgramMetadata=this.withCellId(Ov),this.libraryProgram=this.withCellId(vv),this.libraryRecipeMetadata=this.withCellId(Vv),this.libraryRecipe=this.withCellId(Cv),this.storeObject=this.withCellId(Hv),this.storeCollisionComponents=this.withCellId(Dv),this.storeCollisionScenes=this.withCellId(Gv)}withCellId(e){var t,r;const a=new e(Ko(Nr({},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 o=a[n];a[n]=(...s)=>o.apply(a,[this.cellId,...s]).then(i=>i.data)}return a}withUnwrappedResponsesOnly(e){var t,r;const a=new e(Ko(Nr({},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 o=a[n];a[n]=(...s)=>o.apply(a,s).then(i=>i.data)}return a}},p1=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"}}]}}}],o=((t=e.method)==null?void 0:t.toUpperCase())||"GET",s="/cells"+((a=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:a.split("?")[0]);for(const i of n){const l=s1.match(i.path)(s||"");if(o===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 rs(`No mock handler matched this request: ${o} ${s}`,"404",e)})}handleWebsocketConnection(e){this.connections.push(e),setTimeout(()=>{e.dispatchEvent(new Event("open")),console.log("Websocket connection opened from",e.url),e.url.includes("/state-stream")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify(h1)})),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 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0:s.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:o}]=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 io(t,a,n||[],o||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return ds.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 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`,U);const{tcps:F}=yield t.api.motionGroupInfos.listTcps(r),N=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),J=yield t.api.motionGroupInfos.getSafetySetup(r);return new ed(t,l,c,p,d,g,F,N,J,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,o,s;const i=new Me.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,((s=(o=this.mounting)==null?void 0:o.pose.orientation)==null?void 0:s.z)||0),l=i.length(),c=i.normalize();return new Me.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}},l1=class td{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,o={}){const s=yield a.connectMotionStream(n);return new td(s,o)})}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&&(p0(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 o=new Array(this.numJoints).fill(0);o[r]=a==="-"?-n:n,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:o})})}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 o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:o,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 o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:o,rotation_direction:s,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:o,axis:s,direction:i,motion:l}){var c;const d=[];if(!_0(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 m=Object.assign({},r.position);m[s]+=l.distanceMm*(i==="-"?-1:1),d.push({settings:{limits_override:{tcp_velocity_limit:o}},line:{position:m,orientation:r.orientation,coordinate_system:n}})}else if(l.type==="rotate"){const m=new Jr(r.orientation.x,r.orientation.y,r.orientation.z),g=m.length(),h=m.clone().normalize(),x=l.distanceRads*(i==="-"?-1:1),E=new Jr(0,0,0);E[s]=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),J=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 Jr().addScaledVector(j,F).addScaledVector(E,N).addScaledVector(h,J).multiplyScalar(k);d.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},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:o,distanceRads:s}){var i;const l=[...a.joints];l[r]+=s*(o==="-"?-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})})}},ll=1e-4;function c1(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(),o=r.normalize();let s=a.length(),i=a.normalize();i.dot(o)<0&&(s=-s,i=i.multiplyScalar(-1));let l=s-n;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),s=n+l,i.multiplyScalar(s)}var d1=class rd{constructor(t,r,a,n,o){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=n,this.motionStateSocket=o,this.rapidlyChangingMotionState=n,o.addEventListener("message",s=>{var i;const l=(i=Kt(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);Xc(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,ll)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),Zc(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,ll)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:c1(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(),[o,s]=r.split("@"),i=n.find(p=>p.controller===s),l=i==null?void 0:i.physical_motion_groups.find(p=>p.motion_group===r);if(!i||!l)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield c.firstMessage();console.log("got first message",d);const 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 ${l.motion_group}. Initial state:
|
|
114
|
+
`,u),new rd(t,i,l,u,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},u1=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(Wv),this.cell=this.withUnwrappedResponsesOnly(dv),this.deviceConfig=this.withCellId(bv),this.motionGroup=this.withCellId(Tv),this.motionGroupInfos=this.withCellId(Iv),this.controller=this.withCellId(pv),this.program=this.withCellId(kv),this.programValues=this.withCellId(Fv),this.controllerIOs=this.withCellId(mv),this.motionGroupKinematic=this.withCellId(Uv),this.motion=this.withCellId(_v),this.coordinateSystems=this.withCellId(gv),this.application=this.withCellId(nl),this.applicationGlobal=this.withUnwrappedResponsesOnly(nl),this.motionGroupJogging=this.withCellId(jv),this.virtualRobot=this.withCellId(Qv),this.virtualRobotSetup=this.withCellId(r1),this.virtualRobotMode=this.withCellId(e1),this.virtualRobotBehavior=this.withCellId(Xv),this.libraryProgramMetadata=this.withCellId(Ov),this.libraryProgram=this.withCellId(vv),this.libraryRecipeMetadata=this.withCellId(Vv),this.libraryRecipe=this.withCellId(Cv),this.storeObject=this.withCellId(Hv),this.storeCollisionComponents=this.withCellId(Dv),this.storeCollisionScenes=this.withCellId(Gv)}withCellId(e){var t,r;const a=new e(Ko(Nr({},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 o=a[n];a[n]=(...s)=>o.apply(a,[this.cellId,...s]).then(i=>i.data)}return a}withUnwrappedResponsesOnly(e){var t,r;const a=new e(Ko(Nr({},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 o=a[n];a[n]=(...s)=>o.apply(a,s).then(i=>i.data)}return a}},p1=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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Set,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!0,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[];for(const i of a)if(i.coordinate_system===""){i.coordinate_system="world";break}this.selectedCoordSystemId=((o=a[0])==null?void 0:o.coordinate_system)||"world",this.selectedTcpId=((s=n[0])==null?void 0:s.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:o}]=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 io(t,a,n||[],o||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return ds.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 Bw}get discreteIncrementOptions(){return cs}get incrementOptionsById(){return nn(this.incrementOptions,t=>t.id)}get tabsById(){return nn(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 nn(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 nn(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:cs.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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