@wandelbots/wandelbots-js-react-components 2.28.0 → 2.29.0

package/dist/index.cjs

@@ -1,4 +1,4 @@
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Wr={black:"#000",white:"#fff"},Xu={50:"#fafafa",100:"#f5f5f5",200:"#eeeeee",300:"#e0e0e0",400:"#bdbdbd",500:"#9e9e9e",600:"#757575",700:"#616161",800:"#424242",900:"#212121",A100:"#f5f5f5",A200:"#eeeeee",A400:"#bdbdbd",A700:"#616161"},Yt={50:"#f3e5f5",200:"#ce93d8",300:"#ba68c8",400:"#ab47bc",500:"#9c27b0",700:"#7b1fa2"},Xt={300:"#e57373",400:"#ef5350",500:"#f44336",700:"#d32f2f",800:"#c62828"},Ir={300:"#ffb74d",400:"#ffa726",500:"#ff9800",700:"#f57c00",900:"#e65100"},Zt={50:"#e3f2fd",200:"#90caf9",400:"#42a5f5",700:"#1976d2",800:"#1565c0"},er={300:"#4fc3f7",400:"#29b6f6",500:"#03a9f4",700:"#0288d1",900:"#01579b"},tr={300:"#81c784",400:"#66bb6a",500:"#4caf50",700:"#388e3c",800:"#2e7d32",900:"#1b5e20"};function ei(){return{text:{primary:"rgba(0, 0, 0, 0.87)",secondary:"rgba(0, 0, 0, 0.6)",disabled:"rgba(0, 0, 0, 0.38)"},divider:"rgba(0, 0, 0, 0.12)",background:{paper:Wr.white,default:Wr.white},action:{active:"rgba(0, 0, 0, 0.54)",hover:"rgba(0, 0, 0, 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e==="dark"?{main:Zt[200],light:Zt[50],dark:Zt[400]}:{main:Zt[700],light:Zt[400],dark:Zt[800]}}function tp(e="light"){return e==="dark"?{main:Yt[200],light:Yt[50],dark:Yt[400]}:{main:Yt[500],light:Yt[300],dark:Yt[700]}}function rp(e="light"){return e==="dark"?{main:Xt[500],light:Xt[300],dark:Xt[700]}:{main:Xt[700],light:Xt[400],dark:Xt[800]}}function ap(e="light"){return e==="dark"?{main:er[400],light:er[300],dark:er[700]}:{main:er[700],light:er[500],dark:er[900]}}function op(e="light"){return e==="dark"?{main:tr[400],light:tr[300],dark:tr[700]}:{main:tr[800],light:tr[500],dark:tr[900]}}function np(e="light"){return e==="dark"?{main:Ir[400],light:Ir[300],dark:Ir[700]}:{main:"#ed6c02",light:Ir[500],dark:Ir[900]}}function En(e){const{mode:t="light",contrastThreshold:r=3,tonalOffset:a=.2,...o}=e,n=e.primary||ep(t),s=e.secondary||tp(t),l=e.error||rp(t),i=e.info||ap(t),c=e.success||op(t),d=e.warning||np(t);function u(m){const x=ds(m,hs.text.primary)>=r?hs.text.primary:Zu.text.primary;if(process.env.NODE_ENV!=="production"){const I=ds(m,x);I<3&&console.error([`MUI: The contrast ratio of ${I}:1 for ${x} on ${m}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
 `))}return x}const p=({color:m,name:x,mainShade:I=500,lightShade:G=300,darkShade:N=700})=>{if(m={...m},!m.main&&m[I]&&(m.main=m[I]),!m.hasOwnProperty("main"))throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${x?` (${x})`:""} provided to augmentColor(color) is invalid.
 The color object needs to have a \`main\` property or a \`${I}\` property.`:_t(11,x?` (${x})`:"",I));if(typeof m.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${x?` (${x})`:""} provided to augmentColor(color) is invalid.
 \`color.main\` should be a string, but \`${JSON.stringify(m.main)}\` was provided instead.
@@ -63,20 +63,20 @@ const theme1 = createTheme({ palette: {
 
 const theme2 = createTheme({ palette: {
   primary: { main: green[500] },
-} });`:_t(12,x?` (${x})`:"",JSON.stringify(m.main)));return hs(m,"light",G,a),hs(m,"dark",N,a),m.contrastText||(m.contrastText=u(m.main)),m};let y;return t==="light"?y=Zl():t==="dark"&&(y=ei()),process.env.NODE_ENV!=="production"&&(y||console.error(`MUI: The palette mode \`${t}\` is not supported.`)),Le({common:{...Hr},mode:t,primary:p({color:o,name:"primary"}),secondary:p({color:s,name:"secondary",mainShade:"A400",lightShade:"A200",darkShade:"A700"}),error:p({color:l,name:"error"}),warning:p({color:d,name:"warning"}),info:p({color:i,name:"info"}),success:p({color:c,name:"success"}),grey:Yu,contrastThreshold:r,getContrastText:u,augmentColor:p,tonalOffset:a,...y},n)}function op(e){const t={};return Object.entries(e).forEach(a=>{const[n,o]=a;typeof o=="object"&&(t[n]=`${o.fontStyle?`${o.fontStyle} `:""}${o.fontVariant?`${o.fontVariant} `:""}${o.fontWeight?`${o.fontWeight} `:""}${o.fontStretch?`${o.fontStretch} `:""}${o.fontSize||""}${o.lineHeight?`/${o.lineHeight} `:""}${o.fontFamily||""}`)}),t}function sp(e,t){return{toolbar:{minHeight:56,[e.up("xs")]:{"@media (orientation: landscape)":{minHeight:48}},[e.up("sm")]:{minHeight:64}},...t}}function lp(e){return Math.round(e*1e5)/1e5}const ms={textTransform:"uppercase"},fs='"Roboto", "Helvetica", "Arial", sans-serif';function ip(e,t){const{fontFamily:r=fs,fontSize:a=14,fontWeightLight:n=300,fontWeightRegular:o=400,fontWeightMedium:s=500,fontWeightBold:l=700,htmlFontSize:i=16,allVariants:c,pxToRem:d,...u}=typeof t=="function"?t(e):t;process.env.NODE_ENV!=="production"&&(typeof a!="number"&&console.error("MUI: `fontSize` is required to be a number."),typeof i!="number"&&console.error("MUI: `htmlFontSize` is required to be a number."));const p=a/14,y=d||(x=>`${x/i*p}rem`),g=(x,I,G,N,D)=>({fontFamily:r,fontWeight:x,fontSize:y(I),lineHeight:G,...r===fs?{letterSpacing:`${lp(N/I)}em`}:{},...D,...c}),m={h1:g(n,96,1.167,-1.5),h2:g(n,60,1.2,-.5),h3:g(o,48,1.167,0),h4:g(o,34,1.235,.25),h5:g(o,24,1.334,0),h6:g(s,20,1.6,.15),subtitle1:g(o,16,1.75,.15),subtitle2:g(s,14,1.57,.1),body1:g(o,16,1.5,.15),body2:g(o,14,1.43,.15),button:g(s,14,1.75,.4,ms),caption:g(o,12,1.66,.4),overline:g(o,12,2.66,1,ms),inherit:{fontFamily:"inherit",fontWeight:"inherit",fontSize:"inherit",lineHeight:"inherit",letterSpacing:"inherit"}};return Le({htmlFontSize:i,pxToRem:y,fontFamily:r,fontSize:a,fontWeightLight:n,fontWeightRegular:o,fontWeightMedium:s,fontWeightBold:l,...m},u,{clone:!1})}const cp=.2,dp=.14,up=.12;function ge(...e){return[`${e[0]}px ${e[1]}px ${e[2]}px ${e[3]}px rgba(0,0,0,${cp})`,`${e[4]}px ${e[5]}px ${e[6]}px ${e[7]}px rgba(0,0,0,${dp})`,`${e[8]}px ${e[9]}px ${e[10]}px ${e[11]}px rgba(0,0,0,${up})`].join(",")}const pp=["none",ge(0,2,1,-1,0,1,1,0,0,1,3,0),ge(0,3,1,-2,0,2,2,0,0,1,5,0),ge(0,3,3,-2,0,3,4,0,0,1,8,0),ge(0,2,4,-1,0,4,5,0,0,1,10,0),ge(0,3,5,-1,0,5,8,0,0,1,14,0),ge(0,3,5,-1,0,6,10,0,0,1,18,0),ge(0,4,5,-2,0,7,10,1,0,2,16,1),ge(0,5,5,-3,0,8,10,1,0,3,14,2),ge(0,5,6,-3,0,9,12,1,0,3,16,2),ge(0,6,6,-3,0,10,14,1,0,4,18,3),ge(0,6,7,-4,0,11,15,1,0,4,20,3),ge(0,7,8,-4,0,12,17,2,0,5,22,4),ge(0,7,8,-4,0,13,19,2,0,5,24,4),ge(0,7,9,-4,0,14,21,2,0,5,26,4),ge(0,8,9,-5,0,15,22,2,0,6,28,5),ge(0,8,10,-5,0,16,24,2,0,6,30,5),ge(0,8,11,-5,0,17,26,2,0,6,32,5),ge(0,9,11,-5,0,18,28,2,0,7,34,6),ge(0,9,12,-6,0,19,29,2,0,7,36,6),ge(0,10,13,-6,0,20,31,3,0,8,38,7),ge(0,10,13,-6,0,21,33,3,0,8,40,7),ge(0,10,14,-6,0,22,35,3,0,8,42,7),ge(0,11,14,-7,0,23,36,3,0,9,44,8),ge(0,11,15,-7,0,24,38,3,0,9,46,8)],hp={easeInOut:"cubic-bezier(0.4, 0, 0.2, 1)",easeOut:"cubic-bezier(0.0, 0, 0.2, 1)",easeIn:"cubic-bezier(0.4, 0, 1, 1)",sharp:"cubic-bezier(0.4, 0, 0.6, 1)"},mp={shortest:150,shorter:200,short:250,standard:300,complex:375,enteringScreen:225,leavingScreen:195};function ys(e){return`${Math.round(e)}ms`}function fp(e){if(!e)return 0;const t=e/36;return Math.min(Math.round((4+15*t**.25+t/5)*10),3e3)}function yp(e){const t={...hp,...e.easing},r={...mp,...e.duration};return{getAutoHeightDuration:fp,create:(n=["all"],o={})=>{const{duration:s=r.standard,easing:l=t.easeInOut,delay:i=0,...c}=o;if(process.env.NODE_ENV!=="production"){const d=p=>typeof p=="string",u=p=>!Number.isNaN(parseFloat(p));!d(n)&&!Array.isArray(n)&&console.error('MUI: Argument "props" must be a string or Array.'),!u(s)&&!d(s)&&console.error(`MUI: Argument "duration" must be a number or a string but found ${s}.`),d(l)||console.error('MUI: Argument "easing" must be a string.'),!u(i)&&!d(i)&&console.error('MUI: Argument "delay" must be a number or a string.'),typeof o!="object"&&console.error(["MUI: Secong argument of transition.create must be an object.","Arguments should be either `create('prop1', options)` or `create(['prop1', 'prop2'], options)`"].join(`
-`)),Object.keys(c).length!==0&&console.error(`MUI: Unrecognized argument(s) [${Object.keys(c).join(",")}].`)}return(Array.isArray(n)?n:[n]).map(d=>`${d} ${typeof s=="string"?s:ys(s)} ${l} ${typeof i=="string"?i:ys(i)}`).join(",")},...e,easing:t,duration:r}}const gp={mobileStepper:1e3,fab:1050,speedDial:1050,appBar:1100,drawer:1200,modal:1300,snackbar:1400,tooltip:1500};function bp(e){return lt(e)||typeof e>"u"||typeof e=="string"||typeof e=="boolean"||typeof e=="number"||Array.isArray(e)}function ti(e={}){const t={...e};function r(a){const n=Object.entries(a);for(let o=0;o<n.length;o++){const[s,l]=n[o];!bp(l)||s.startsWith("unstable_")?delete a[s]:lt(l)&&(a[s]={...l},r(a[s]))}}return r(t),`import { unstable_createBreakpoints as createBreakpoints, createTransitions } from '@mui/material/styles';
+} });`:_t(12,x?` (${x})`:"",JSON.stringify(m.main)));return ms(m,"light",G,a),ms(m,"dark",N,a),m.contrastText||(m.contrastText=u(m.main)),m};let f;return t==="light"?f=ei():t==="dark"&&(f=ti()),process.env.NODE_ENV!=="production"&&(f||console.error(`MUI: The palette mode \`${t}\` is not supported.`)),Le({common:{...Wr},mode:t,primary:p({color:n,name:"primary"}),secondary:p({color:s,name:"secondary",mainShade:"A400",lightShade:"A200",darkShade:"A700"}),error:p({color:l,name:"error"}),warning:p({color:d,name:"warning"}),info:p({color:i,name:"info"}),success:p({color:c,name:"success"}),grey:Xu,contrastThreshold:r,getContrastText:u,augmentColor:p,tonalOffset:a,...f},o)}function sp(e){const t={};return Object.entries(e).forEach(a=>{const[o,n]=a;typeof n=="object"&&(t[o]=`${n.fontStyle?`${n.fontStyle} `:""}${n.fontVariant?`${n.fontVariant} `:""}${n.fontWeight?`${n.fontWeight} `:""}${n.fontStretch?`${n.fontStretch} `:""}${n.fontSize||""}${n.lineHeight?`/${n.lineHeight} `:""}${n.fontFamily||""}`)}),t}function lp(e,t){return{toolbar:{minHeight:56,[e.up("xs")]:{"@media (orientation: landscape)":{minHeight:48}},[e.up("sm")]:{minHeight:64}},...t}}function ip(e){return Math.round(e*1e5)/1e5}const fs={textTransform:"uppercase"},ys='"Roboto", "Helvetica", "Arial", sans-serif';function cp(e,t){const{fontFamily:r=ys,fontSize:a=14,fontWeightLight:o=300,fontWeightRegular:n=400,fontWeightMedium:s=500,fontWeightBold:l=700,htmlFontSize:i=16,allVariants:c,pxToRem:d,...u}=typeof t=="function"?t(e):t;process.env.NODE_ENV!=="production"&&(typeof a!="number"&&console.error("MUI: `fontSize` is required to be a number."),typeof i!="number"&&console.error("MUI: `htmlFontSize` is required to be a number."));const p=a/14,f=d||(x=>`${x/i*p}rem`),g=(x,I,G,N,D)=>({fontFamily:r,fontWeight:x,fontSize:f(I),lineHeight:G,...r===ys?{letterSpacing:`${ip(N/I)}em`}:{},...D,...c}),m={h1:g(o,96,1.167,-1.5),h2:g(o,60,1.2,-.5),h3:g(n,48,1.167,0),h4:g(n,34,1.235,.25),h5:g(n,24,1.334,0),h6:g(s,20,1.6,.15),subtitle1:g(n,16,1.75,.15),subtitle2:g(s,14,1.57,.1),body1:g(n,16,1.5,.15),body2:g(n,14,1.43,.15),button:g(s,14,1.75,.4,fs),caption:g(n,12,1.66,.4),overline:g(n,12,2.66,1,fs),inherit:{fontFamily:"inherit",fontWeight:"inherit",fontSize:"inherit",lineHeight:"inherit",letterSpacing:"inherit"}};return Le({htmlFontSize:i,pxToRem:f,fontFamily:r,fontSize:a,fontWeightLight:o,fontWeightRegular:n,fontWeightMedium:s,fontWeightBold:l,...m},u,{clone:!1})}const dp=.2,up=.14,pp=.12;function ge(...e){return[`${e[0]}px ${e[1]}px ${e[2]}px ${e[3]}px rgba(0,0,0,${dp})`,`${e[4]}px ${e[5]}px ${e[6]}px ${e[7]}px rgba(0,0,0,${up})`,`${e[8]}px ${e[9]}px ${e[10]}px ${e[11]}px rgba(0,0,0,${pp})`].join(",")}const hp=["none",ge(0,2,1,-1,0,1,1,0,0,1,3,0),ge(0,3,1,-2,0,2,2,0,0,1,5,0),ge(0,3,3,-2,0,3,4,0,0,1,8,0),ge(0,2,4,-1,0,4,5,0,0,1,10,0),ge(0,3,5,-1,0,5,8,0,0,1,14,0),ge(0,3,5,-1,0,6,10,0,0,1,18,0),ge(0,4,5,-2,0,7,10,1,0,2,16,1),ge(0,5,5,-3,0,8,10,1,0,3,14,2),ge(0,5,6,-3,0,9,12,1,0,3,16,2),ge(0,6,6,-3,0,10,14,1,0,4,18,3),ge(0,6,7,-4,0,11,15,1,0,4,20,3),ge(0,7,8,-4,0,12,17,2,0,5,22,4),ge(0,7,8,-4,0,13,19,2,0,5,24,4),ge(0,7,9,-4,0,14,21,2,0,5,26,4),ge(0,8,9,-5,0,15,22,2,0,6,28,5),ge(0,8,10,-5,0,16,24,2,0,6,30,5),ge(0,8,11,-5,0,17,26,2,0,6,32,5),ge(0,9,11,-5,0,18,28,2,0,7,34,6),ge(0,9,12,-6,0,19,29,2,0,7,36,6),ge(0,10,13,-6,0,20,31,3,0,8,38,7),ge(0,10,13,-6,0,21,33,3,0,8,40,7),ge(0,10,14,-6,0,22,35,3,0,8,42,7),ge(0,11,14,-7,0,23,36,3,0,9,44,8),ge(0,11,15,-7,0,24,38,3,0,9,46,8)],mp={easeInOut:"cubic-bezier(0.4, 0, 0.2, 1)",easeOut:"cubic-bezier(0.0, 0, 0.2, 1)",easeIn:"cubic-bezier(0.4, 0, 1, 1)",sharp:"cubic-bezier(0.4, 0, 0.6, 1)"},fp={shortest:150,shorter:200,short:250,standard:300,complex:375,enteringScreen:225,leavingScreen:195};function gs(e){return`${Math.round(e)}ms`}function yp(e){if(!e)return 0;const t=e/36;return Math.min(Math.round((4+15*t**.25+t/5)*10),3e3)}function gp(e){const t={...mp,...e.easing},r={...fp,...e.duration};return{getAutoHeightDuration:yp,create:(o=["all"],n={})=>{const{duration:s=r.standard,easing:l=t.easeInOut,delay:i=0,...c}=n;if(process.env.NODE_ENV!=="production"){const d=p=>typeof p=="string",u=p=>!Number.isNaN(parseFloat(p));!d(o)&&!Array.isArray(o)&&console.error('MUI: Argument "props" must be a string or Array.'),!u(s)&&!d(s)&&console.error(`MUI: Argument "duration" must be a number or a string but found ${s}.`),d(l)||console.error('MUI: Argument "easing" must be a string.'),!u(i)&&!d(i)&&console.error('MUI: Argument "delay" must be a number or a string.'),typeof n!="object"&&console.error(["MUI: Secong argument of transition.create must be an object.","Arguments should be either `create('prop1', options)` or `create(['prop1', 'prop2'], options)`"].join(`
+`)),Object.keys(c).length!==0&&console.error(`MUI: Unrecognized argument(s) [${Object.keys(c).join(",")}].`)}return(Array.isArray(o)?o:[o]).map(d=>`${d} ${typeof s=="string"?s:gs(s)} ${l} ${typeof i=="string"?i:gs(i)}`).join(",")},...e,easing:t,duration:r}}const bp={mobileStepper:1e3,fab:1050,speedDial:1050,appBar:1100,drawer:1200,modal:1300,snackbar:1400,tooltip:1500};function Sp(e){return lt(e)||typeof e>"u"||typeof e=="string"||typeof e=="boolean"||typeof e=="number"||Array.isArray(e)}function ri(e={}){const t={...e};function r(a){const o=Object.entries(a);for(let n=0;n<o.length;n++){const[s,l]=o[n];!Sp(l)||s.startsWith("unstable_")?delete a[s]:lt(l)&&(a[s]={...l},r(a[s]))}}return r(t),`import { unstable_createBreakpoints as createBreakpoints, createTransitions } from '@mui/material/styles';
 
 const theme = ${JSON.stringify(t,null,2)};
 
 theme.breakpoints = createBreakpoints(theme.breakpoints || {});
 theme.transitions = createTransitions(theme.transitions || {});
 
-export default theme;`}function ao(e={},...t){const{breakpoints:r,mixins:a={},spacing:n,palette:o={},transitions:s={},typography:l={},shape:i,...c}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":_t(20));const d=Io(o),u=on(e);let p=Le(u,{mixins:sp(u.breakpoints,a),palette:d,shadows:pp.slice(),typography:ip(d,l),transitions:yp(s),zIndex:{...gp}});if(p=Le(p,c),p=t.reduce((y,g)=>Le(y,g),p),process.env.NODE_ENV!=="production"){const y=["active","checked","completed","disabled","error","expanded","focused","focusVisible","required","selected"],g=(m,x)=>{let I;for(I in m){const G=m[I];if(y.includes(I)&&Object.keys(G).length>0){if(process.env.NODE_ENV!=="production"){const N=ra("",I);console.error([`MUI: The \`${x}\` component increases the CSS specificity of the \`${I}\` internal state.`,"You can not override it like this: ",JSON.stringify(m,null,2),"",`Instead, you need to use the '&.${N}' syntax:`,JSON.stringify({root:{[`&.${N}`]:G}},null,2),"","https://mui.com/r/state-classes-guide"].join(`
-`))}m[I]={}}}};Object.keys(p.components).forEach(m=>{const x=p.components[m].styleOverrides;x&&m.startsWith("Mui")&&g(x,m)})}return p.unstable_sxConfig={...ta,...c==null?void 0:c.unstable_sxConfig},p.unstable_sx=function(g){return mr({sx:g,theme:this})},p.toRuntimeSource=ti,p}function Sp(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 vp=[...Array(25)].map((e,t)=>{if(t===0)return"none";const r=Sp(t);return`linear-gradient(rgba(255 255 255 / ${r}), rgba(255 255 255 / ${r}))`});function ri(e){return{inputPlaceholder:e==="dark"?.5:.42,inputUnderline:e==="dark"?.7:.42,switchTrackDisabled:e==="dark"?.2:.12,switchTrack:e==="dark"?.3:.38}}function ai(e){return e==="dark"?vp:[]}function xp(e){const{palette:t={mode:"light"},opacity:r,overlays:a,...n}=e,o=Io(t);return{palette:o,opacity:{...ri(o.mode),...r},overlays:a||ai(o.mode),...n}}function Op(e){var t;return!!e[0].match(/(cssVarPrefix|colorSchemeSelector|rootSelector|typography|mixins|breakpoints|direction|transitions)/)||!!e[0].match(/sxConfig$/)||e[0]==="palette"&&!!((t=e[1])!=null&&t.match(/(mode|contrastThreshold|tonalOffset)/))}const wp=e=>[...[...Array(25)].map((t,r)=>`--${e?`${e}-`:""}overlays-${r}`),`--${e?`${e}-`:""}palette-AppBar-darkBg`,`--${e?`${e}-`:""}palette-AppBar-darkColor`],Cp=e=>(t,r)=>{const a=e.rootSelector||":root",n=e.colorSchemeSelector;let o=n;if(n==="class"&&(o=".%s"),n==="data"&&(o="[data-%s]"),n!=null&&n.startsWith("data-")&&!n.includes("%s")&&(o=`[${n}="%s"]`),e.defaultColorScheme===t){if(t==="dark"){const s={};return wp(e.cssVarPrefix).forEach(l=>{s[l]=r[l],delete r[l]}),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: ${String(t)})`]:{[a]:r}};if(o)return o.replace("%s",String(t))}return a};function Vp(e,t){t.forEach(r=>{e[r]||(e[r]={})})}function E(e,t,r){!e[t]&&r&&(e[t]=r)}function Nr(e){return typeof e!="string"||!e.startsWith("hsl")?e:Xl(e)}function ht(e,t){`${t}Channel`in e||(e[`${t}Channel`]=Fr(Nr(e[t]),`MUI: Can't create \`palette.${t}Channel\` because \`palette.${t}\` is not one of these formats: #nnn, #nnnnnn, rgb(), rgba(), hsl(), hsla(), color().
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0, 0, 0.06)"),E(f.FilledInput,"hoverBg","rgba(0, 0, 0, 0.09)"),E(f.FilledInput,"disabledBg","rgba(0, 0, 0, 0.12)"),E(f.LinearProgress,"primaryBg",ue(f.primary.main,.62)),E(f.LinearProgress,"secondaryBg",ue(f.secondary.main,.62)),E(f.LinearProgress,"errorBg",ue(f.error.main,.62)),E(f.LinearProgress,"infoBg",ue(f.info.main,.62)),E(f.LinearProgress,"successBg",ue(f.success.main,.62)),E(f.LinearProgress,"warningBg",ue(f.warning.main,.62)),E(f.Skeleton,"bg",`rgba(${M("palette-text-primaryChannel")} / 0.11)`),E(f.Slider,"primaryTrack",ue(f.primary.main,.62)),E(f.Slider,"secondaryTrack",ue(f.secondary.main,.62)),E(f.Slider,"errorTrack",ue(f.error.main,.62)),E(f.Slider,"infoTrack",ue(f.info.main,.62)),E(f.Slider,"successTrack",ue(f.success.main,.62)),E(f.Slider,"warningTrack",ue(f.warning.main,.62));const L=ya(f.background.default,.8);E(f.SnackbarContent,"bg",L),E(f.SnackbarContent,"color",nt(()=>f.getContrastText(L))),E(f.SpeedDialAction,"fabHoverBg",ya(f.background.paper,.15)),E(f.StepConnector,"border",M("palette-grey-400")),E(f.StepContent,"border",M("palette-grey-400")),E(f.Switch,"defaultColor",M("palette-common-white")),E(f.Switch,"defaultDisabledColor",M("palette-grey-100")),E(f.Switch,"primaryDisabledColor",ue(f.primary.main,.62)),E(f.Switch,"secondaryDisabledColor",ue(f.secondary.main,.62)),E(f.Switch,"errorDisabledColor",ue(f.error.main,.62)),E(f.Switch,"infoDisabledColor",ue(f.info.main,.62)),E(f.Switch,"successDisabledColor",ue(f.success.main,.62)),E(f.Switch,"warningDisabledColor",ue(f.warning.main,.62)),E(f.TableCell,"border",ue(fa(f.divider,1),.88)),E(f.Tooltip,"bg",fa(f.grey[700],.92))}if(f.mode==="dark"){E(f.Alert,"errorColor",ue(f.error.light,.6)),E(f.Alert,"infoColor",ue(f.info.light,.6)),E(f.Alert,"successColor",ue(f.success.light,.6)),E(f.Alert,"warningColor",ue(f.warning.light,.6)),E(f.Alert,"errorFilledBg",M("palette-error-dark")),E(f.Alert,"infoFilledBg",M("palette-info-dark")),E(f.Alert,"successFilledBg",M("palette-success-dark")),E(f.Alert,"warningFilledBg",M("palette-warning-dark")),E(f.Alert,"errorFilledColor",nt(()=>f.getContrastText(f.error.dark))),E(f.Alert,"infoFilledColor",nt(()=>f.getContrastText(f.info.dark))),E(f.Alert,"successFilledColor",nt(()=>f.getContrastText(f.success.dark))),E(f.Alert,"warningFilledColor",nt(()=>f.getContrastText(f.warning.dark))),E(f.Alert,"errorStandardBg",de(f.error.light,.9)),E(f.Alert,"infoStandardBg",de(f.info.light,.9)),E(f.Alert,"successStandardBg",de(f.success.light,.9)),E(f.Alert,"warningStandardBg",de(f.warning.light,.9)),E(f.Alert,"errorIconColor",M("palette-error-main")),E(f.Alert,"infoIconColor",M("palette-info-main")),E(f.Alert,"successIconColor",M("palette-success-main")),E(f.Alert,"warningIconColor",M("palette-warning-main")),E(f.AppBar,"defaultBg",M("palette-grey-900")),E(f.AppBar,"darkBg",M("palette-background-paper")),E(f.AppBar,"darkColor",M("palette-text-primary")),E(f.Avatar,"defaultBg",M("palette-grey-600")),E(f.Button,"inheritContainedBg",M("palette-grey-800")),E(f.Button,"inheritContainedHoverBg",M("palette-grey-700")),E(f.Chip,"defaultBorder",M("palette-grey-700")),E(f.Chip,"defaultAvatarColor",M("palette-grey-300")),E(f.Chip,"defaultIconColor",M("palette-grey-300")),E(f.FilledInput,"bg","rgba(255, 255, 255, 0.09)"),E(f.FilledInput,"hoverBg","rgba(255, 255, 255, 0.13)"),E(f.FilledInput,"disabledBg","rgba(255, 255, 255, 0.12)"),E(f.LinearProgress,"primaryBg",de(f.primary.main,.5)),E(f.LinearProgress,"secondaryBg",de(f.secondary.main,.5)),E(f.LinearProgress,"errorBg",de(f.error.main,.5)),E(f.LinearProgress,"infoBg",de(f.info.main,.5)),E(f.LinearProgress,"successBg",de(f.success.main,.5)),E(f.LinearProgress,"warningBg",de(f.warning.main,.5)),E(f.Skeleton,"bg",`rgba(${M("palette-text-primaryChannel")} / 0.13)`),E(f.Slider,"primaryTrack",de(f.primary.main,.5)),E(f.Slider,"secondaryTrack",de(f.secondary.main,.5)),E(f.Slider,"errorTrack",de(f.error.main,.5)),E(f.Slider,"infoTrack",de(f.info.main,.5)),E(f.Slider,"successTrack",de(f.success.main,.5)),E(f.Slider,"warningTrack",de(f.warning.main,.5));const L=ya(f.background.default,.98);E(f.SnackbarContent,"bg",L),E(f.SnackbarContent,"color",nt(()=>f.getContrastText(L))),E(f.SpeedDialAction,"fabHoverBg",ya(f.background.paper,.15)),E(f.StepConnector,"border",M("palette-grey-600")),E(f.StepContent,"border",M("palette-grey-600")),E(f.Switch,"defaultColor",M("palette-grey-300")),E(f.Switch,"defaultDisabledColor",M("palette-grey-600")),E(f.Switch,"primaryDisabledColor",de(f.primary.main,.55)),E(f.Switch,"secondaryDisabledColor",de(f.secondary.main,.55)),E(f.Switch,"errorDisabledColor",de(f.error.main,.55)),E(f.Switch,"infoDisabledColor",de(f.info.main,.55)),E(f.Switch,"successDisabledColor",de(f.success.main,.55)),E(f.Switch,"warningDisabledColor",de(f.warning.main,.55)),E(f.TableCell,"border",de(fa(f.divider,1),.68)),E(f.Tooltip,"bg",fa(f.grey[700],.92))}ht(f.background,"default"),ht(f.background,"paper"),ht(f.common,"background"),ht(f.common,"onBackground"),ht(f,"divider"),Object.keys(f).forEach(L=>{const J=f[L];L!=="tonalOffset"&&J&&typeof J=="object"&&(J.main&&E(f[L],"mainChannel",Fr(Nr(J.main))),J.light&&E(f[L],"lightChannel",Fr(Nr(J.light))),J.dark&&E(f[L],"darkChannel",Fr(Nr(J.dark))),J.contrastText&&E(f[L],"contrastTextChannel",Fr(Nr(J.contrastText))),L==="text"&&(ht(f[L],"primary"),ht(f[L],"secondary")),L==="action"&&(J.active&&ht(f[L],"active"),J.selected&&ht(f[L],"selected")))})}),D=t.reduce((k,f)=>Le(k,f),D);const z={prefix:o,disableCssColorScheme:n,shouldSkipGeneratingVar:s,getSelector:Cp(D)},{vars:W,generateThemeVars:j,generateStyleSheets:U}=Du(D,z);return D.vars=W,Object.entries(D.colorSchemes[D.defaultColorScheme]).forEach(([k,f])=>{D[k]=f}),D.generateThemeVars=j,D.generateStyleSheets=U,D.generateSpacing=function(){return zl(c.spacing,Za(this))},D.getColorSchemeSelector=zu(l),D.spacing=D.generateSpacing(),D.shouldSkipGeneratingVar=s,D.unstable_sxConfig={...ta,...c==null?void 0:c.unstable_sxConfig},D.unstable_sx=function(f){return mr({sx:f,theme:this})},D.toRuntimeSource=ti,D}function gs(e,t,r){e.colorSchemes&&r&&(e.colorSchemes[t]={...r!==!0&&r,palette:Io({...r===!0?{}:r.palette,mode:t})})}function ni(e={},...t){const{palette:r,cssVariables:a=!1,colorSchemes:n=r?void 0:{light:!0},defaultColorScheme:o=r==null?void 0:r.mode,...s}=e,l=o||"light",i=n==null?void 0:n[l],c={...n,...r?{[l]:{...typeof i!="boolean"&&i,palette:r}}:void 0};if(a===!1){if(!("colorSchemes"in e))return ao(e,...t);let d=r;"palette"in e||c[l]&&(c[l]!==!0?d=c[l].palette:l==="dark"&&(d={mode:"dark"}));const u=ao({...e,palette:d},...t);return u.defaultColorScheme=l,u.colorSchemes=c,u.palette.mode==="light"&&(u.colorSchemes.light={...c.light!==!0&&c.light,palette:u.palette},gs(u,"dark",c.dark)),u.palette.mode==="dark"&&(u.colorSchemes.dark={...c.dark!==!0&&c.dark,palette:u.palette},gs(u,"light",c.light)),u}return!r&&!("light"in c)&&l==="light"&&(c.light=!0),_p({...s,colorSchemes:c,defaultColorScheme:l,...typeof a!="boolean"&&a},...t)}const Ap=ni(),Tp="$$material";function Eo(e){return e!=="ownerState"&&e!=="theme"&&e!=="sx"&&e!=="as"}const Ip=e=>Eo(e)&&e!=="classes",gt=Ql({themeId:Tp,defaultTheme:Ap,rootShouldForwardProp:Ip});process.env.NODE_ENV!=="production"&&(S.node,S.object.isRequired);function Mo(e){return ku(e)}const ur=Ku({createStyledComponent:gt("div",{name:"MuiStack",slot:"Root"}),useThemeProps:e=>Mo({props:e,name:"MuiStack"})});process.env.NODE_ENV!=="production"&&(ur.propTypes={children:S.node,component:S.elementType,direction:S.oneOfType([S.oneOf(["column-reverse","column","row-reverse","row"]),S.arrayOf(S.oneOf(["column-reverse","column","row-reverse","row"])),S.object]),divider:S.node,spacing:S.oneOfType([S.arrayOf(S.oneOfType([S.number,S.string])),S.number,S.object,S.string]),sx:S.oneOfType([S.arrayOf(S.oneOfType([S.func,S.object,S.bool])),S.func,S.object]),useFlexGap:S.bool});const Ep={"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. 
-Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. Bis der Stoppzustand aufgelöst ist, ist keine Bewegung mehr möglich.","SafetyBar.SafetyState.Stop.lb":"Stopp","SafetyBar.SafetyState.ti":"Sicherheitszustand","SafetyBar.StopState.Estop.Explanation.lb":"NOT-AUS aktiviert. NOT-AUS freischalten, um Roboter zu bewegen.","Jogging.Increment.hlb":"Schrittgröße","Jogging.CoordinateSystem.hlb":"Koordinatensystem","Jogging.Cartesian.bt":"Kartesisch","Jogging.Joints.bt":"Gelenke","Jogging.Velocity.bt":"Geschwindigkeit"},Mp={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Velocity","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Cartesian.MotionType.lb":"Motion type","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Joint values","Jogging.Increment.Continuous.dd":"Continuous","Jogging.Cartesian.Orientation.lb":"Orientation","Jogging.Activating.lb":"Activating jogging","Jogging.JointLimitsReached.lb":"Joint limit reached for joint {{jointNumbers}}","Jogging.Orientation.coordsys":"Robot base","Jogging.Orientation.tool":"Tool","SafetyBar.ActivationToggle.Activate.bt":"Activate","SafetyBar.ActivationToggle.Activated.bt":"Activated","SafetyBar.ActivationToggle.Activating.bt":"Activating","SafetyBar.ActivationToggle.Deactivating.bt":"Deactivating","SafetyBar.ControllerType.Physical.lb":"Physical","SafetyBar.ControllerType.Virtual.lb":"Virtual","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> is a physical robot controller. <strong>Safety precautions</strong> are active for the movement of this robot.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> is a virtual robot controller with no physical counterpart. It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. 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l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},deployCell:async(t,r,a={})=>{h("deployCell","cell",t);const n="/cells",o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(t,l,e),{url:_(o),options:l}},getCell:async(t,r={})=>{h("getCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},getCellStatus:async(t,r={})=>{h("getCellStatus","cell",t);const a="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},listCells:async(t={})=>{const r="/cells",a=new URL(r,C);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},l={};V(o,e),await P(s,e),R(a,l);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:_(a),options:o}},updateCell:async(t,r,a,n={})=>{h("updateCell","cell",t),h("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(r,i,e),{url:_(s),options:i}}}},rr=function(e){const t=E0(e);return{async deleteCell(r,a,n){var i,c;const o=await t.deleteCell(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CellApi.deleteCell"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deployCell(r,a,n){var i,c;const o=await t.deployCell(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CellApi.deployCell"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getCell(r,a){var l,i;const n=await t.getCell(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["CellApi.getCell"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async getCellStatus(r,a){var l,i;const n=await t.getCellStatus(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["CellApi.getCellStatus"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async listCells(r){var s,l;const a=await t.listCells(r),n=(e==null?void 0:e.serverIndex)??0,o=(l=(s=w["CellApi.listCells"])==null?void 0:s[n])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,o||c)},async updateCell(r,a,n,o){var c,d;const s=await t.updateCell(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["CellApi.updateCell"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class M0 extends fe{deleteCell(t,r,a){return rr(this.configuration).deleteCell(t,r,a).then(n=>n(this.axios,this.basePath))}deployCell(t,r,a){return rr(this.configuration).deployCell(t,r,a).then(n=>n(this.axios,this.basePath))}getCell(t,r){return rr(this.configuration).getCell(t,r).then(a=>a(this.axios,this.basePath))}getCellStatus(t,r){return rr(this.configuration).getCellStatus(t,r).then(a=>a(this.axios,this.basePath))}listCells(t){return rr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,a,n){return rr(this.configuration).updateCell(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const j0=function(e){return{addRobotController:async(t,r,a,n={})=>{h("addRobotController","cell",t),h("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(r,i,e),{url:_(s),options:i}},clearRobotControllers:async(t,r,a={})=>{h("clearRobotControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},deleteRobotController:async(t,r,a,n={})=>{h("deleteRobotController","cell",t),h("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,C);let l;e&&(l=e.baseOptions);const i={method:"DELETE",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.completionTimeout=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},getCurrentRobotControllerState:async(t,r,a={})=>{h("getCurrentRobotControllerState","cell",t),h("getCurrentRobotControllerState","controller",r);const n="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getMode:async(t,r,a={})=>{h("getMode","cell",t),h("getMode","controller",r);const n="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getRobotController:async(t,r,a={})=>{h("getRobotController","cell",t),h("getRobotController","controller",r);const n="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getSupportedModes:async(t,r,a={})=>{h("getSupportedModes","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getVirtualRobotConfiguration:async(t,r,a={})=>{h("getVirtualRobotConfiguration","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listControllers:async(t,r={})=>{h("listControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},setDefaultMode:async(t,r,a,n={})=>{h("setDefaultMode","cell",t),h("setDefaultMode","controller",r),h("setDefaultMode","mode",a);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.mode=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},streamFreeDrive:async(t,r,a,n={})=>{h("streamFreeDrive","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.response_rate=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},streamModeChange:async(t,r,a={})=>{h("streamModeChange","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},streamRobotControllerState:async(t,r,a,n={})=>{h("streamRobotControllerState","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.response_rate=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},updateRobotController:async(t,r,a,n,o={})=>{h("updateRobotController","cell",t),h("updateRobotController","controller",r),h("updateRobotController","robotController",a);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...o},d={},u={};V(c,e),await P(d,e),n!==void 0&&(u.completionTimeout=n),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},c.data=re(a,c,e),{url:_(l),options:c}}}},Ne=function(e){const t=j0(e);return{async addRobotController(r,a,n,o){var c,d;const s=await t.addRobotController(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.addRobotController"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async clearRobotControllers(r,a,n){var i,c;const o=await t.clearRobotControllers(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.clearRobotControllers"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deleteRobotController(r,a,n,o){var c,d;const s=await t.deleteRobotController(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.deleteRobotController"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getCurrentRobotControllerState(r,a,n){var i,c;const o=await t.getCurrentRobotControllerState(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getCurrentRobotControllerState"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getMode(r,a,n){var i,c;const o=await t.getMode(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getMode"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getRobotController(r,a,n){var i,c;const o=await t.getRobotController(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getRobotController"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getSupportedModes(r,a,n){var i,c;const o=await t.getSupportedModes(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getSupportedModes"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getVirtualRobotConfiguration(r,a,n){var i,c;const o=await t.getVirtualRobotConfiguration(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listControllers(r,a){var l,i;const n=await t.listControllers(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ControllerApi.listControllers"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async setDefaultMode(r,a,n,o){var c,d;const s=await t.setDefaultMode(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.setDefaultMode"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async streamFreeDrive(r,a,n,o){var c,d;const s=await t.streamFreeDrive(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.streamFreeDrive"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async streamModeChange(r,a,n){var i,c;const o=await t.streamModeChange(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ControllerApi.streamModeChange"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async streamRobotControllerState(r,a,n,o){var c,d;const s=await t.streamRobotControllerState(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerApi.streamRobotControllerState"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async updateRobotController(r,a,n,o,s){var d,u;const l=await t.updateRobotController(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["ControllerApi.updateRobotController"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)}}};class $0 extends fe{addRobotController(t,r,a,n){return Ne(this.configuration).addRobotController(t,r,a,n).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,a){return Ne(this.configuration).clearRobotControllers(t,r,a).then(n=>n(this.axios,this.basePath))}deleteRobotController(t,r,a,n){return Ne(this.configuration).deleteRobotController(t,r,a,n).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,a){return Ne(this.configuration).getCurrentRobotControllerState(t,r,a).then(n=>n(this.axios,this.basePath))}getMode(t,r,a){return Ne(this.configuration).getMode(t,r,a).then(n=>n(this.axios,this.basePath))}getRobotController(t,r,a){return Ne(this.configuration).getRobotController(t,r,a).then(n=>n(this.axios,this.basePath))}getSupportedModes(t,r,a){return Ne(this.configuration).getSupportedModes(t,r,a).then(n=>n(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,a){return Ne(this.configuration).getVirtualRobotConfiguration(t,r,a).then(n=>n(this.axios,this.basePath))}listControllers(t,r){return Ne(this.configuration).listControllers(t,r).then(a=>a(this.axios,this.basePath))}setDefaultMode(t,r,a,n){return Ne(this.configuration).setDefaultMode(t,r,a,n).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,a,n){return Ne(this.configuration).streamFreeDrive(t,r,a,n).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,a){return Ne(this.configuration).streamModeChange(t,r,a).then(n=>n(this.axios,this.basePath))}streamRobotControllerState(t,r,a,n){return Ne(this.configuration).streamRobotControllerState(t,r,a,n).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,a,n,o){return Ne(this.configuration).updateRobotController(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}}const U0=function(e){return{listIODescriptions:async(t,r,a,n={})=>{h("listIODescriptions","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a&&(d.ios=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},listIOValues:async(t,r,a,n={})=>{h("listIOValues","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a&&(d.ios=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},setOutputValues:async(t,r,a,n={})=>{h("setOutputValues","cell",t),h("setOutputValues","controller",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},streamIOValues:async(t,r,a,n={})=>{h("streamIOValues","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a&&(d.ios=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},waitForIOEvent:async(t,r,a,n,o,s,l,i={})=>{h("waitForIOEvent","cell",t),h("waitForIOEvent","controller",r),h("waitForIOEvent","io",a),h("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,C);let u;e&&(u=e.baseOptions);const p={method:"GET",...u,...i},y={},g={};V(p,e),await P(y,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),l!==void 0&&(g.floating_value=l),R(d,g);let m=u&&u.headers?u.headers:{};return p.headers={...y,...m,...i.headers},{url:_(d),options:p}}}},jr=function(e){const t=U0(e);return{async listIODescriptions(r,a,n,o){var c,d;const s=await t.listIODescriptions(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.listIODescriptions"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async listIOValues(r,a,n,o){var c,d;const s=await t.listIOValues(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.listIOValues"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async setOutputValues(r,a,n,o){var c,d;const s=await t.setOutputValues(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.setOutputValues"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async streamIOValues(r,a,n,o){var c,d;const s=await t.streamIOValues(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ControllerIOsApi.streamIOValues"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async waitForIOEvent(r,a,n,o,s,l,i,c){var y,g;const d=await t.waitForIOEvent(r,a,n,o,s,l,i,c),u=(e==null?void 0:e.serverIndex)??0,p=(g=(y=w["ControllerIOsApi.waitForIOEvent"])==null?void 0:y[u])==null?void 0:g.url;return(m,x)=>A(d,v,O,e)(m,p||x)}}};class k0 extends fe{listIODescriptions(t,r,a,n){return jr(this.configuration).listIODescriptions(t,r,a,n).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,a,n){return jr(this.configuration).listIOValues(t,r,a,n).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,a,n){return jr(this.configuration).setOutputValues(t,r,a,n).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,a,n){return jr(this.configuration).streamIOValues(t,r,a,n).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,a,n,o,s,l,i){return jr(this.configuration).waitForIOEvent(t,r,a,n,o,s,l,i).then(c=>c(this.axios,this.basePath))}}const B0=function(e){return{addCoordinateSystem:async(t,r,a={})=>{h("addCoordinateSystem","cell",t),h("addCoordinateSystem","addRequest",r);const n="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},deleteCoordinateSystem:async(t,r,a={})=>{h("deleteCoordinateSystem","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getCoordinateSystem:async(t,r,a,n={})=>{h("getCoordinateSystem","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},listCoordinateSystems:async(t,r,a={})=>{h("listCoordinateSystems","cell",t);const n="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.rotation_type=r),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},transformInCoordinateSystem:async(t,r,a,n={})=>{h("transformInCoordinateSystem","cell",t),h("transformInCoordinateSystem","coordinateSystem",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},$r=function(e){const t=B0(e);return{async addCoordinateSystem(r,a,n){var i,c;const o=await t.addCoordinateSystem(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deleteCoordinateSystem(r,a,n){var i,c;const o=await t.deleteCoordinateSystem(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getCoordinateSystem(r,a,n,o){var c,d;const s=await t.getCoordinateSystem(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async listCoordinateSystems(r,a,n){var i,c;const o=await t.listCoordinateSystems(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async transformInCoordinateSystem(r,a,n,o){var c,d;const s=await t.transformInCoordinateSystem(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class L0 extends fe{addCoordinateSystem(t,r,a){return $r(this.configuration).addCoordinateSystem(t,r,a).then(n=>n(this.axios,this.basePath))}deleteCoordinateSystem(t,r,a){return $r(this.configuration).deleteCoordinateSystem(t,r,a).then(n=>n(this.axios,this.basePath))}getCoordinateSystem(t,r,a,n){return $r(this.configuration).getCoordinateSystem(t,r,a,n).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,a){return $r(this.configuration).listCoordinateSystems(t,r,a).then(n=>n(this.axios,this.basePath))}transformInCoordinateSystem(t,r,a,n){return $r(this.configuration).transformInCoordinateSystem(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const F0=function(e){return{clearDevices:async(t,r={})=>{h("clearDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},createDevice:async(t,r,a={})=>{h("createDevice","cell",t),h("createDevice","createDeviceRequestInner",r);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},deleteDevice:async(t,r,a={})=>{h("deleteDevice","cell",t),h("deleteDevice","identifier",r);const n="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getDevice:async(t,r,a={})=>{h("getDevice","cell",t),h("getDevice","identifier",r);const n="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listDevices:async(t,r={})=>{h("listDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}}}},Ur=function(e){const t=F0(e);return{async clearDevices(r,a){var l,i;const n=await t.clearDevices(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["DeviceConfigurationApi.clearDevices"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async createDevice(r,a,n){var i,c;const o=await t.createDevice(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["DeviceConfigurationApi.createDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deleteDevice(r,a,n){var i,c;const o=await t.deleteDevice(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["DeviceConfigurationApi.deleteDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getDevice(r,a,n){var i,c;const o=await t.getDevice(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["DeviceConfigurationApi.getDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listDevices(r,a){var l,i;const n=await t.listDevices(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["DeviceConfigurationApi.listDevices"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)}}};class N0 extends fe{clearDevices(t,r){return Ur(this.configuration).clearDevices(t,r).then(a=>a(this.axios,this.basePath))}createDevice(t,r,a){return Ur(this.configuration).createDevice(t,r,a).then(n=>n(this.axios,this.basePath))}deleteDevice(t,r,a){return Ur(this.configuration).deleteDevice(t,r,a).then(n=>n(this.axios,this.basePath))}getDevice(t,r,a){return Ur(this.configuration).getDevice(t,r,a).then(n=>n(this.axios,this.basePath))}listDevices(t,r){return Ur(this.configuration).listDevices(t,r).then(a=>a(this.axios,this.basePath))}}const D0=function(e){return{createProgram:async(t,r,a,n={})=>{h("createProgram","cell",t),h("createProgram","body",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.name=a),c["Content-Type"]="text/plain",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(r,i,e),{url:_(s),options:i}},deleteProgram:async(t,r,a={})=>{h("deleteProgram","cell",t),h("deleteProgram","program",r);const n="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},deleteProgramList:async(t,r,a={})=>{h("deleteProgramList","cell",t),h("deleteProgramList","programIds",r);const n="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r&&(c.program_ids=r),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getProgram:async(t,r,a={})=>{h("getProgram","cell",t),h("getProgram","program",r);const n="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},updateProgram:async(t,r,a,n={})=>{h("updateProgram","cell",t),h("updateProgram","program",r),h("updateProgram","body",a);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="text/plain",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},kr=function(e){const t=D0(e);return{async createProgram(r,a,n,o){var c,d;const s=await t.createProgram(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramApi.createProgram"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async deleteProgram(r,a,n){var i,c;const o=await t.deleteProgram(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramApi.deleteProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deleteProgramList(r,a,n){var i,c;const o=await t.deleteProgramList(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramApi.deleteProgramList"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getProgram(r,a,n){var i,c;const o=await t.getProgram(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramApi.getProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async updateProgram(r,a,n,o){var c,d;const s=await t.updateProgram(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramApi.updateProgram"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class z0 extends fe{createProgram(t,r,a,n){return kr(this.configuration).createProgram(t,r,a,n).then(o=>o(this.axios,this.basePath))}deleteProgram(t,r,a){return kr(this.configuration).deleteProgram(t,r,a).then(n=>n(this.axios,this.basePath))}deleteProgramList(t,r,a){return kr(this.configuration).deleteProgramList(t,r,a).then(n=>n(this.axios,this.basePath))}getProgram(t,r,a){return kr(this.configuration).getProgram(t,r,a).then(n=>n(this.axios,this.basePath))}updateProgram(t,r,a,n){return kr(this.configuration).updateProgram(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const G0=function(e){return{getProgramMetadata:async(t,r,a={})=>{h("getProgramMetadata","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listProgramMetadata:async(t,r,a={})=>{h("listProgramMetadata","cell",t);const n="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.show_hidden=r),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},updateProgramMetadata:async(t,r,a,n={})=>{h("updateProgramMetadata","cell",t),h("updateProgramMetadata","program",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},uploadProgramMetadataImage:async(t,r,a,n={})=>{h("uploadProgramMetadataImage","cell",t),h("uploadProgramMetadataImage","program",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...n},c={},d={},u=new(e&&e.formDataCtor||FormData);V(i,e),await P(c,e),a!==void 0&&u.append("file",a),c["Content-Type"]="multipart/form-data",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...n.headers},i.data=u,{url:_(s),options:i}}}},ba=function(e){const t=G0(e);return{async getProgramMetadata(r,a,n){var i,c;const o=await t.getProgramMetadata(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listProgramMetadata(r,a,n){var i,c;const o=await t.listProgramMetadata(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async updateProgramMetadata(r,a,n,o){var c,d;const s=await t.updateProgramMetadata(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async uploadProgramMetadataImage(r,a,n,o){var c,d;const s=await t.uploadProgramMetadataImage(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class q0 extends fe{getProgramMetadata(t,r,a){return ba(this.configuration).getProgramMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}listProgramMetadata(t,r,a){return ba(this.configuration).listProgramMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}updateProgramMetadata(t,r,a,n){return ba(this.configuration).updateProgramMetadata(t,r,a,n).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,a,n){return ba(this.configuration).uploadProgramMetadataImage(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const J0=function(e){return{createRecipe:async(t,r,a,n,o={})=>{h("createRecipe","cell",t),h("createRecipe","programId",r),h("createRecipe","body",a);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"POST",...i,...o},d={},u={};V(c,e),await P(d,e),r!==void 0&&(u.program_id=r),n!==void 0&&(u.name=n),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},c.data=re(a,c,e),{url:_(l),options:c}},deleteRecipe:async(t,r,a={})=>{h("deleteRecipe","cell",t),h("deleteRecipe","recipe",r);const n="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},deleteRecipeList:async(t,r,a={})=>{h("deleteRecipeList","cell",t),h("deleteRecipeList","recipeIds",r);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r&&(c.recipe_ids=r),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getRecipe:async(t,r,a={})=>{h("getRecipe","cell",t),h("getRecipe","recipe",r);const n="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},updateRecipe:async(t,r,a,n={})=>{h("updateRecipe","cell",t),h("updateRecipe","recipe",r),h("updateRecipe","body",a);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},Br=function(e){const t=J0(e);return{async createRecipe(r,a,n,o,s){var d,u;const l=await t.createRecipe(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["LibraryRecipeApi.createRecipe"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)},async deleteRecipe(r,a,n){var i,c;const o=await t.deleteRecipe(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeApi.deleteRecipe"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deleteRecipeList(r,a,n){var i,c;const o=await t.deleteRecipeList(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeApi.deleteRecipeList"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getRecipe(r,a,n){var i,c;const o=await t.getRecipe(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeApi.getRecipe"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async updateRecipe(r,a,n,o){var c,d;const s=await t.updateRecipe(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryRecipeApi.updateRecipe"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class H0 extends fe{createRecipe(t,r,a,n,o){return Br(this.configuration).createRecipe(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,a){return Br(this.configuration).deleteRecipe(t,r,a).then(n=>n(this.axios,this.basePath))}deleteRecipeList(t,r,a){return Br(this.configuration).deleteRecipeList(t,r,a).then(n=>n(this.axios,this.basePath))}getRecipe(t,r,a){return Br(this.configuration).getRecipe(t,r,a).then(n=>n(this.axios,this.basePath))}updateRecipe(t,r,a,n){return Br(this.configuration).updateRecipe(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const W0=function(e){return{getRecipeMetadata:async(t,r,a={})=>{h("getRecipeMetadata","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listRecipeMetadata:async(t,r={})=>{h("listRecipeMetadata","cell",t);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},updateRecipeMetadata:async(t,r,a,n={})=>{h("updateRecipeMetadata","cell",t),h("updateRecipeMetadata","recipe",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},uploadRecipeMetadataImage:async(t,r,a,n={})=>{h("uploadRecipeMetadataImage","cell",t),h("uploadRecipeMetadataImage","recipe",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...n},c={},d={},u=new(e&&e.formDataCtor||FormData);V(i,e),await P(c,e),a!==void 0&&u.append("file",a),c["Content-Type"]="multipart/form-data",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...n.headers},i.data=u,{url:_(s),options:i}}}},Sa=function(e){const t=W0(e);return{async getRecipeMetadata(r,a,n){var i,c;const o=await t.getRecipeMetadata(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listRecipeMetadata(r,a){var l,i;const n=await t.listRecipeMetadata(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async updateRecipeMetadata(r,a,n,o){var c,d;const s=await t.updateRecipeMetadata(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async uploadRecipeMetadataImage(r,a,n,o){var c,d;const s=await t.uploadRecipeMetadataImage(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class Q0 extends fe{getRecipeMetadata(t,r,a){return Sa(this.configuration).getRecipeMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}listRecipeMetadata(t,r){return Sa(this.configuration).listRecipeMetadata(t,r).then(a=>a(this.axios,this.basePath))}updateRecipeMetadata(t,r,a,n){return Sa(this.configuration).updateRecipeMetadata(t,r,a,n).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,a,n){return Sa(this.configuration).uploadRecipeMetadataImage(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const K0=function(e){return{deleteAllMotions:async(t,r={})=>{h("deleteAllMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},deleteMotion:async(t,r,a={})=>{h("deleteMotion","cell",t),h("deleteMotion","motion",r);const n="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},executeTrajectory:async(t,r,a={})=>{h("executeTrajectory","cell",t),h("executeTrajectory","executeTrajectoryRequest",r);const n="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},getMotionTrajectory:async(t,r,a,n,o={})=>{h("getMotionTrajectory","cell",t),h("getMotionTrajectory","motion",r),h("getMotionTrajectory","sampleTime",a);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...o},d={},u={};V(c,e),await P(d,e),a!==void 0&&(u.sample_time=a),n!==void 0&&(u.responses_coordinate_system=n),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},{url:_(l),options:c}},getMotionTrajectorySample:async(t,r,a,n,o={})=>{h("getMotionTrajectorySample","cell",t),h("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...o},d={},u={};V(c,e),await P(d,e),a!==void 0&&(u.location_on_trajectory=a),n!==void 0&&(u.response_coordinate_system=n),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},{url:_(l),options:c}},getPlannedMotion:async(t,r,a,n={})=>{h("getPlannedMotion","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.sample_time=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},getPlanningMotionGroupModels:async(t,r={})=>{h("getPlanningMotionGroupModels","cell",t);const a="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},listMotions:async(t,r={})=>{h("listMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},loadPlannedMotion:async(t,r,a={})=>{h("loadPlannedMotion","cell",t),h("loadPlannedMotion","plannedMotion",r);const n="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},planCollisionFreePTP:async(t,r,a={})=>{h("planCollisionFreePTP","cell",t);const n="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},planMotion:async(t,r,a={})=>{h("planMotion","cell",t),h("planMotion","planRequest",r);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},planTrajectory:async(t,r,a={})=>{h("planTrajectory","cell",t);const n="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},stopExecution:async(t,r,a={})=>{h("stopExecution","cell",t),h("stopExecution","motion",r);const n="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},streamMove:async(t,r,a={})=>{h("streamMove","cell",t),h("streamMove","streamMoveRequest",r);const n="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},streamMoveBackward:async(t,r,a,n,o,s,l={})=>{h("streamMoveBackward","cell",t),h("streamMoveBackward","motion",r),h("streamMoveBackward","playbackSpeedInPercent",a);const i="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(i,C);let d;e&&(d=e.baseOptions);const u={method:"GET",...d,...l},p={},y={};V(u,e),await P(p,e),a!==void 0&&(y.playback_speed_in_percent=a),n!==void 0&&(y.response_rate=n),o!==void 0&&(y.response_coordinate_system=o),s!==void 0&&(y.start_location_on_trajectory=s),R(c,y);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...l.headers},{url:_(c),options:u}},streamMoveForward:async(t,r,a,n,o,s,l={})=>{h("streamMoveForward","cell",t),h("streamMoveForward","motion",r),h("streamMoveForward","playbackSpeedInPercent",a);const i="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(i,C);let d;e&&(d=e.baseOptions);const u={method:"GET",...d,...l},p={},y={};V(u,e),await P(p,e),a!==void 0&&(y.playback_speed_in_percent=a),n!==void 0&&(y.response_rate=n),o!==void 0&&(y.response_coordinate_system=o),s!==void 0&&(y.start_location_on_trajectory=s),R(c,y);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...l.headers},{url:_(c),options:u}},streamMoveToTrajectoryViaJointPTP:async(t,r,a,n,o,s,l,i,c,d,u={})=>{h("streamMoveToTrajectoryViaJointPTP","cell",t),h("streamMoveToTrajectoryViaJointPTP","motion",r),h("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",a);const p="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),y=new URL(p,C);let g;e&&(g=e.baseOptions);const m={method:"GET",...g,...u},x={},I={};V(m,e),await P(x,e),a!==void 0&&(I.location_on_trajectory=a),n&&(I["limit_override.joint_velocity_limits.joints"]=n),o&&(I["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(I["limit_override.tcp_velocity_limit"]=s),l!==void 0&&(I["limit_override.tcp_acceleration_limit"]=l),i!==void 0&&(I["limit_override.tcp_orientation_velocity_limit"]=i),c!==void 0&&(I["limit_override.tcp_orientation_acceleration_limit"]=c),d!==void 0&&(I.responses_coordinate_system=d),R(y,I);let G=g&&g.headers?g.headers:{};return m.headers={...x,...G,...u.headers},{url:_(y),options:m}}}},Ee=function(e){const t=K0(e);return{async deleteAllMotions(r,a){var l,i;const n=await t.deleteAllMotions(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionApi.deleteAllMotions"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async deleteMotion(r,a,n){var i,c;const o=await t.deleteMotion(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.deleteMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async executeTrajectory(r,a,n){var i,c;const o=await t.executeTrajectory(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.executeTrajectory"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getMotionTrajectory(r,a,n,o,s){var d,u;const l=await t.getMotionTrajectory(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["MotionApi.getMotionTrajectory"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)},async getMotionTrajectorySample(r,a,n,o,s){var d,u;const l=await t.getMotionTrajectorySample(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["MotionApi.getMotionTrajectorySample"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)},async getPlannedMotion(r,a,n,o){var c,d;const s=await t.getPlannedMotion(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionApi.getPlannedMotion"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getPlanningMotionGroupModels(r,a){var l,i;const n=await t.getPlanningMotionGroupModels(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionApi.getPlanningMotionGroupModels"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async listMotions(r,a){var l,i;const n=await t.listMotions(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionApi.listMotions"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async loadPlannedMotion(r,a,n){var i,c;const o=await t.loadPlannedMotion(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.loadPlannedMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async planCollisionFreePTP(r,a,n){var i,c;const o=await t.planCollisionFreePTP(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.planCollisionFreePTP"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async planMotion(r,a,n){var i,c;const o=await t.planMotion(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.planMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async planTrajectory(r,a,n){var i,c;const o=await t.planTrajectory(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.planTrajectory"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async stopExecution(r,a,n){var i,c;const o=await t.stopExecution(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.stopExecution"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async streamMove(r,a,n){var i,c;const o=await t.streamMove(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionApi.streamMove"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async streamMoveBackward(r,a,n,o,s,l,i){var p,y;const c=await t.streamMoveBackward(r,a,n,o,s,l,i),d=(e==null?void 0:e.serverIndex)??0,u=(y=(p=w["MotionApi.streamMoveBackward"])==null?void 0:p[d])==null?void 0:y.url;return(g,m)=>A(c,v,O,e)(g,u||m)},async streamMoveForward(r,a,n,o,s,l,i){var p,y;const c=await t.streamMoveForward(r,a,n,o,s,l,i),d=(e==null?void 0:e.serverIndex)??0,u=(y=(p=w["MotionApi.streamMoveForward"])==null?void 0:p[d])==null?void 0:y.url;return(g,m)=>A(c,v,O,e)(g,u||m)},async streamMoveToTrajectoryViaJointPTP(r,a,n,o,s,l,i,c,d,u,p){var x,I;const y=await t.streamMoveToTrajectoryViaJointPTP(r,a,n,o,s,l,i,c,d,u,p),g=(e==null?void 0:e.serverIndex)??0,m=(I=(x=w["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:x[g])==null?void 0:I.url;return(G,N)=>A(y,v,O,e)(G,m||N)}}};class Y0 extends fe{deleteAllMotions(t,r){return Ee(this.configuration).deleteAllMotions(t,r).then(a=>a(this.axios,this.basePath))}deleteMotion(t,r,a){return Ee(this.configuration).deleteMotion(t,r,a).then(n=>n(this.axios,this.basePath))}executeTrajectory(t,r,a){return Ee(this.configuration).executeTrajectory(t,r,a).then(n=>n(this.axios,this.basePath))}getMotionTrajectory(t,r,a,n,o){return Ee(this.configuration).getMotionTrajectory(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,a,n,o){return Ee(this.configuration).getMotionTrajectorySample(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,a,n){return Ee(this.configuration).getPlannedMotion(t,r,a,n).then(o=>o(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ee(this.configuration).getPlanningMotionGroupModels(t,r).then(a=>a(this.axios,this.basePath))}listMotions(t,r){return Ee(this.configuration).listMotions(t,r).then(a=>a(this.axios,this.basePath))}loadPlannedMotion(t,r,a){return Ee(this.configuration).loadPlannedMotion(t,r,a).then(n=>n(this.axios,this.basePath))}planCollisionFreePTP(t,r,a){return Ee(this.configuration).planCollisionFreePTP(t,r,a).then(n=>n(this.axios,this.basePath))}planMotion(t,r,a){return Ee(this.configuration).planMotion(t,r,a).then(n=>n(this.axios,this.basePath))}planTrajectory(t,r,a){return Ee(this.configuration).planTrajectory(t,r,a).then(n=>n(this.axios,this.basePath))}stopExecution(t,r,a){return Ee(this.configuration).stopExecution(t,r,a).then(n=>n(this.axios,this.basePath))}streamMove(t,r,a){return Ee(this.configuration).streamMove(t,r,a).then(n=>n(this.axios,this.basePath))}streamMoveBackward(t,r,a,n,o,s,l){return Ee(this.configuration).streamMoveBackward(t,r,a,n,o,s,l).then(i=>i(this.axios,this.basePath))}streamMoveForward(t,r,a,n,o,s,l){return Ee(this.configuration).streamMoveForward(t,r,a,n,o,s,l).then(i=>i(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,a,n,o,s,l,i,c,d,u){return Ee(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,a,n,o,s,l,i,c,d,u).then(p=>p(this.axios,this.basePath))}}const X0=function(e){return{activateAllMotionGroups:async(t,r,a={})=>{h("activateAllMotionGroups","cell",t),h("activateAllMotionGroups","controller",r);const n="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.controller=r),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},activateMotionGroup:async(t,r,a={})=>{h("activateMotionGroup","cell",t),h("activateMotionGroup","motionGroup",r);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.motion_group=r),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},deactivateMotionGroup:async(t,r,a={})=>{h("deactivateMotionGroup","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listMotionGroups:async(t,r={})=>{h("listMotionGroups","cell",t);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}}}},va=function(e){const t=X0(e);return{async activateAllMotionGroups(r,a,n){var i,c;const o=await t.activateAllMotionGroups(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupApi.activateAllMotionGroups"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async activateMotionGroup(r,a,n){var i,c;const o=await t.activateMotionGroup(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupApi.activateMotionGroup"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deactivateMotionGroup(r,a,n){var i,c;const o=await t.deactivateMotionGroup(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupApi.deactivateMotionGroup"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listMotionGroups(r,a){var l,i;const n=await t.listMotionGroups(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["MotionGroupApi.listMotionGroups"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)}}};class Z0 extends fe{activateAllMotionGroups(t,r,a){return va(this.configuration).activateAllMotionGroups(t,r,a).then(n=>n(this.axios,this.basePath))}activateMotionGroup(t,r,a){return va(this.configuration).activateMotionGroup(t,r,a).then(n=>n(this.axios,this.basePath))}deactivateMotionGroup(t,r,a){return va(this.configuration).deactivateMotionGroup(t,r,a).then(n=>n(this.axios,this.basePath))}listMotionGroups(t,r){return va(this.configuration).listMotionGroups(t,r).then(a=>a(this.axios,this.basePath))}}const eS=function(e){return{getActivePayload:async(t,r,a={})=>{h("getActivePayload","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getActiveTcp:async(t,r,a,n={})=>{h("getActiveTcp","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},getCurrentMotionGroupState:async(t,r,a,n,o={})=>{h("getCurrentMotionGroupState","cell",t),h("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...o},d={},u={};V(c,e),await P(d,e),a!==void 0&&(u.tcp=a),n!==void 0&&(u.response_coordinate_system=n),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},{url:_(l),options:c}},getInfoCapabilities:async(t,r,a={})=>{h("getInfoCapabilities","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getMotionGroupSpecification:async(t,r,a={})=>{h("getMotionGroupSpecification","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getMounting:async(t,r,a={})=>{h("getMounting","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getOptimizerConfiguration:async(t,r,a,n={})=>{h("getOptimizerConfiguration","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.tcp=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},getSafetySetup:async(t,r,a={})=>{h("getSafetySetup","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listPayloads:async(t,r,a={})=>{h("listPayloads","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listTcps:async(t,r,a,n={})=>{h("listTcps","cell",t),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},streamMotionGroupState:async(t,r,a,n,o,s={})=>{h("streamMotionGroupState","cell",t),h("streamMotionGroupState","motionGroup",r);const l="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(l,C);let c;e&&(c=e.baseOptions);const d={method:"GET",...c,...s},u={},p={};V(d,e),await P(u,e),a!==void 0&&(p.response_rate=a),n!==void 0&&(p.response_coordinate_system=n),o!==void 0&&(p.tcp=o),R(i,p);let y=c&&c.headers?c.headers:{};return d.headers={...u,...y,...s.headers},{url:_(i),options:d}}}},Xe=function(e){const t=eS(e);return{async getActivePayload(r,a,n){var i,c;const o=await t.getActivePayload(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getActivePayload"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getActiveTcp(r,a,n,o){var c,d;const s=await t.getActiveTcp(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getCurrentMotionGroupState(r,a,n,o,s){var d,u;const l=await t.getCurrentMotionGroupState(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)},async getInfoCapabilities(r,a,n){var i,c;const o=await t.getInfoCapabilities(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getMotionGroupSpecification(r,a,n){var i,c;const o=await t.getMotionGroupSpecification(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getMounting(r,a,n){var i,c;const o=await t.getMounting(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getMounting"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getOptimizerConfiguration(r,a,n,o){var c,d;const s=await t.getOptimizerConfiguration(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getSafetySetup(r,a,n){var i,c;const o=await t.getSafetySetup(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.getSafetySetup"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listPayloads(r,a,n){var i,c;const o=await t.listPayloads(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupInfosApi.listPayloads"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listTcps(r,a,n,o){var c,d;const s=await t.listTcps(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupInfosApi.listTcps"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async streamMotionGroupState(r,a,n,o,s,l){var u,p;const i=await t.streamMotionGroupState(r,a,n,o,s,l),c=(e==null?void 0:e.serverIndex)??0,d=(p=(u=w["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:u[c])==null?void 0:p.url;return(y,g)=>A(i,v,O,e)(y,d||g)}}};class tS extends fe{getActivePayload(t,r,a){return Xe(this.configuration).getActivePayload(t,r,a).then(n=>n(this.axios,this.basePath))}getActiveTcp(t,r,a,n){return Xe(this.configuration).getActiveTcp(t,r,a,n).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,a,n,o){return Xe(this.configuration).getCurrentMotionGroupState(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,a){return Xe(this.configuration).getInfoCapabilities(t,r,a).then(n=>n(this.axios,this.basePath))}getMotionGroupSpecification(t,r,a){return Xe(this.configuration).getMotionGroupSpecification(t,r,a).then(n=>n(this.axios,this.basePath))}getMounting(t,r,a){return Xe(this.configuration).getMounting(t,r,a).then(n=>n(this.axios,this.basePath))}getOptimizerConfiguration(t,r,a,n){return Xe(this.configuration).getOptimizerConfiguration(t,r,a,n).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,a){return Xe(this.configuration).getSafetySetup(t,r,a).then(n=>n(this.axios,this.basePath))}listPayloads(t,r,a){return Xe(this.configuration).listPayloads(t,r,a).then(n=>n(this.axios,this.basePath))}listTcps(t,r,a,n){return Xe(this.configuration).listTcps(t,r,a,n).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,a,n,o,s){return Xe(this.configuration).streamMotionGroupState(t,r,a,n,o,s).then(l=>l(this.axios,this.basePath))}}const rS=function(e){return{directionJogging:async(t,r,a={})=>{h("directionJogging","cell",t),h("directionJogging","directionJoggingRequest",r);const n="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},getJoggingCapabilities:async(t,r,a={})=>{h("getJoggingCapabilities","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},jointJogging:async(t,r,a={})=>{h("jointJogging","cell",t),h("jointJogging","jointJoggingRequest",r);const n="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},stopJogging:async(t,r,a={})=>{h("stopJogging","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}}}},xa=function(e){const t=rS(e);return{async directionJogging(r,a,n){var i,c;const o=await t.directionJogging(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.directionJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getJoggingCapabilities(r,a,n){var i,c;const o=await t.getJoggingCapabilities(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async jointJogging(r,a,n){var i,c;const o=await t.jointJogging(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.jointJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async stopJogging(r,a,n){var i,c;const o=await t.stopJogging(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupJoggingApi.stopJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)}}};class aS extends fe{directionJogging(t,r,a){return xa(this.configuration).directionJogging(t,r,a).then(n=>n(this.axios,this.basePath))}getJoggingCapabilities(t,r,a){return xa(this.configuration).getJoggingCapabilities(t,r,a).then(n=>n(this.axios,this.basePath))}jointJogging(t,r,a){return xa(this.configuration).jointJogging(t,r,a).then(n=>n(this.axios,this.basePath))}stopJogging(t,r,a){return xa(this.configuration).stopJogging(t,r,a).then(n=>n(this.axios,this.basePath))}}const nS=function(e){return{calculateAllInverseKinematic:async(t,r,a,n={})=>{h("calculateAllInverseKinematic","cell",t),h("calculateAllInverseKinematic","motionGroup",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},calculateForwardKinematic:async(t,r,a,n={})=>{h("calculateForwardKinematic","cell",t),h("calculateForwardKinematic","motionGroup",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},calculateInverseKinematic:async(t,r,a,n={})=>{h("calculateInverseKinematic","cell",t),h("calculateInverseKinematic","motionGroup",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},getKinematicCapabilities:async(t,r,a={})=>{h("getKinematicCapabilities","cell",t),h("getKinematicCapabilities","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}}}},Oa=function(e){const t=nS(e);return{async calculateAllInverseKinematic(r,a,n,o){var c,d;const s=await t.calculateAllInverseKinematic(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async calculateForwardKinematic(r,a,n,o){var c,d;const s=await t.calculateForwardKinematic(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async calculateInverseKinematic(r,a,n,o){var c,d;const s=await t.calculateInverseKinematic(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getKinematicCapabilities(r,a,n){var i,c;const o=await t.getKinematicCapabilities(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)}}};class oS extends fe{calculateAllInverseKinematic(t,r,a,n){return Oa(this.configuration).calculateAllInverseKinematic(t,r,a,n).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,a,n){return Oa(this.configuration).calculateForwardKinematic(t,r,a,n).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,a,n){return Oa(this.configuration).calculateInverseKinematic(t,r,a,n).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,a){return Oa(this.configuration).getKinematicCapabilities(t,r,a).then(n=>n(this.axios,this.basePath))}}const sS=function(e){return{createProgramRunner:async(t,r,a={})=>{h("createProgramRunner","cell",t),h("createProgramRunner","request",r);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="text/plain",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},executeProgram:async(t,r,a={})=>{h("executeProgram","cell",t),h("executeProgram","codeWithArguments",r);const n="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},getProgramRunner:async(t,r,a={})=>{h("getProgramRunner","cell",t),h("getProgramRunner","runner",r);const n="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listProgramRunners:async(t,r={})=>{h("listProgramRunners","cell",t);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},migrateProgram:async(t,r,a={})=>{h("migrateProgram","cell",t),h("migrateProgram","request1",r);const n="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="text/plain",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},planProgram:async(t,r,a,n={})=>{h("planProgram","cell",t),h("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,C);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.identifier=a),c["Content-Type"]="text/plain",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(r,i,e),{url:_(s),options:i}},stopAllProgramRunner:async(t,r={})=>{h("stopAllProgramRunner","cell",t);const a="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},stopProgramRunner:async(t,r,a={})=>{h("stopProgramRunner","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}}}},Ot=function(e){const t=sS(e);return{async createProgramRunner(r,a,n){var i,c;const o=await t.createProgramRunner(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.createProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async executeProgram(r,a,n){var i,c;const o=await t.executeProgram(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.executeProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getProgramRunner(r,a,n){var i,c;const o=await t.getProgramRunner(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.getProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listProgramRunners(r,a){var l,i;const n=await t.listProgramRunners(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramApi.listProgramRunners"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async migrateProgram(r,a,n){var i,c;const o=await t.migrateProgram(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.migrateProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async planProgram(r,a,n,o){var c,d;const s=await t.planProgram(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ProgramApi.planProgram"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async stopAllProgramRunner(r,a){var l,i;const n=await t.stopAllProgramRunner(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramApi.stopAllProgramRunner"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async stopProgramRunner(r,a,n){var i,c;const o=await t.stopProgramRunner(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramApi.stopProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)}}};class lS extends fe{createProgramRunner(t,r,a){return Ot(this.configuration).createProgramRunner(t,r,a).then(n=>n(this.axios,this.basePath))}executeProgram(t,r,a){return Ot(this.configuration).executeProgram(t,r,a).then(n=>n(this.axios,this.basePath))}getProgramRunner(t,r,a){return Ot(this.configuration).getProgramRunner(t,r,a).then(n=>n(this.axios,this.basePath))}listProgramRunners(t,r){return Ot(this.configuration).listProgramRunners(t,r).then(a=>a(this.axios,this.basePath))}migrateProgram(t,r,a){return Ot(this.configuration).migrateProgram(t,r,a).then(n=>n(this.axios,this.basePath))}planProgram(t,r,a,n){return Ot(this.configuration).planProgram(t,r,a,n).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return Ot(this.configuration).stopAllProgramRunner(t,r).then(a=>a(this.axios,this.basePath))}stopProgramRunner(t,r,a){return Ot(this.configuration).stopProgramRunner(t,r,a).then(n=>n(this.axios,this.basePath))}}const iS=function(e){return{clearProgramsValues:async(t,r={})=>{h("clearProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},createProgramsValue:async(t,r,a={})=>{h("createProgramsValue","cell",t),h("createProgramsValue","requestBody",r);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(o),options:l}},deleteProgramValue:async(t,r,a={})=>{h("deleteProgramValue","cell",t),h("deleteProgramValue","key",r);const n="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getProgramValue:async(t,r,a={})=>{h("getProgramValue","cell",t),h("getProgramValue","key",r);const n="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listProgramsValues:async(t,r={})=>{h("listProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},updateProgramValue:async(t,r,a,n={})=>{h("updateProgramValue","cell",t),h("updateProgramValue","key",r),h("updateProgramValue","value",a);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},ar=function(e){const t=iS(e);return{async clearProgramsValues(r,a){var l,i;const n=await t.clearProgramsValues(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramValuesApi.clearProgramsValues"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async createProgramsValue(r,a,n){var i,c;const o=await t.createProgramsValue(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramValuesApi.createProgramsValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deleteProgramValue(r,a,n){var i,c;const o=await t.deleteProgramValue(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramValuesApi.deleteProgramValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getProgramValue(r,a,n){var i,c;const o=await t.getProgramValue(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["ProgramValuesApi.getProgramValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listProgramsValues(r,a){var l,i;const n=await t.listProgramsValues(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["ProgramValuesApi.listProgramsValues"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async updateProgramValue(r,a,n,o){var c,d;const s=await t.updateProgramValue(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["ProgramValuesApi.updateProgramValue"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class cS extends fe{clearProgramsValues(t,r){return ar(this.configuration).clearProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}createProgramsValue(t,r,a){return ar(this.configuration).createProgramsValue(t,r,a).then(n=>n(this.axios,this.basePath))}deleteProgramValue(t,r,a){return ar(this.configuration).deleteProgramValue(t,r,a).then(n=>n(this.axios,this.basePath))}getProgramValue(t,r,a){return ar(this.configuration).getProgramValue(t,r,a).then(n=>n(this.axios,this.basePath))}listProgramsValues(t,r){return ar(this.configuration).listProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}updateProgramValue(t,r,a,n){return ar(this.configuration).updateProgramValue(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const dS=function(e){return{deleteStoredCollider:async(t,r,a={})=>{h("deleteStoredCollider","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},deleteStoredCollisionLinkChain:async(t,r,a={})=>{h("deleteStoredCollisionLinkChain","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},deleteStoredCollisionTool:async(t,r,a={})=>{h("deleteStoredCollisionTool","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getDefaultLinkChain:async(t,r,a={})=>{h("getDefaultLinkChain","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getStoredCollider:async(t,r,a={})=>{h("getStoredCollider","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getStoredCollisionLinkChain:async(t,r,a={})=>{h("getStoredCollisionLinkChain","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getStoredCollisionTool:async(t,r,a={})=>{h("getStoredCollisionTool","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listCollisionLinkChains:async(t,r={})=>{h("listCollisionLinkChains","cell",t);const a="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},listStoredColliders:async(t,r={})=>{h("listStoredColliders","cell",t);const a="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},listStoredCollisionTools:async(t,r={})=>{h("listStoredCollisionTools","cell",t);const a="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},storeCollider:async(t,r,a,n={})=>{h("storeCollider","cell",t),h("storeCollider","collider",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},storeCollisionLinkChain:async(t,r,a,n={})=>{h("storeCollisionLinkChain","cell",t),h("storeCollisionLinkChain","linkChain",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},storeCollisionTool:async(t,r,a,n={})=>{h("storeCollisionTool","cell",t),h("storeCollisionTool","tool",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},ze=function(e){const t=dS(e);return{async deleteStoredCollider(r,a,n){var i,c;const o=await t.deleteStoredCollider(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deleteStoredCollisionLinkChain(r,a,n){var i,c;const o=await t.deleteStoredCollisionLinkChain(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async deleteStoredCollisionTool(r,a,n){var i,c;const o=await t.deleteStoredCollisionTool(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getDefaultLinkChain(r,a,n){var i,c;const o=await t.getDefaultLinkChain(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getStoredCollider(r,a,n){var i,c;const o=await t.getStoredCollider(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getStoredCollisionLinkChain(r,a,n){var i,c;const o=await t.getStoredCollisionLinkChain(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getStoredCollisionTool(r,a,n){var i,c;const o=await t.getStoredCollisionTool(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listCollisionLinkChains(r,a){var l,i;const n=await t.listCollisionLinkChains(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async listStoredColliders(r,a){var l,i;const n=await t.listStoredColliders(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async listStoredCollisionTools(r,a){var l,i;const n=await t.listStoredCollisionTools(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async storeCollider(r,a,n,o){var c,d;const s=await t.storeCollider(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async storeCollisionLinkChain(r,a,n,o){var c,d;const s=await t.storeCollisionLinkChain(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async storeCollisionTool(r,a,n,o){var c,d;const s=await t.storeCollisionTool(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class uS extends fe{deleteStoredCollider(t,r,a){return ze(this.configuration).deleteStoredCollider(t,r,a).then(n=>n(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,a){return ze(this.configuration).deleteStoredCollisionLinkChain(t,r,a).then(n=>n(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,a){return ze(this.configuration).deleteStoredCollisionTool(t,r,a).then(n=>n(this.axios,this.basePath))}getDefaultLinkChain(t,r,a){return ze(this.configuration).getDefaultLinkChain(t,r,a).then(n=>n(this.axios,this.basePath))}getStoredCollider(t,r,a){return ze(this.configuration).getStoredCollider(t,r,a).then(n=>n(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,a){return ze(this.configuration).getStoredCollisionLinkChain(t,r,a).then(n=>n(this.axios,this.basePath))}getStoredCollisionTool(t,r,a){return ze(this.configuration).getStoredCollisionTool(t,r,a).then(n=>n(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ze(this.configuration).listCollisionLinkChains(t,r).then(a=>a(this.axios,this.basePath))}listStoredColliders(t,r){return ze(this.configuration).listStoredColliders(t,r).then(a=>a(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ze(this.configuration).listStoredCollisionTools(t,r).then(a=>a(this.axios,this.basePath))}storeCollider(t,r,a,n){return ze(this.configuration).storeCollider(t,r,a,n).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,a,n){return ze(this.configuration).storeCollisionLinkChain(t,r,a,n).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,a,n){return ze(this.configuration).storeCollisionTool(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const pS=function(e){return{deleteStoredCollisionScene:async(t,r,a={})=>{h("deleteStoredCollisionScene","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getStoredCollisionScene:async(t,r,a={})=>{h("getStoredCollisionScene","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listStoredCollisionScenes:async(t,r={})=>{h("listStoredCollisionScenes","cell",t);const a="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},storeCollisionScene:async(t,r,a,n={})=>{h("storeCollisionScene","cell",t),h("storeCollisionScene","scene",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},wa=function(e){const t=pS(e);return{async deleteStoredCollisionScene(r,a,n){var i,c;const o=await t.deleteStoredCollisionScene(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getStoredCollisionScene(r,a,n){var i,c;const o=await t.getStoredCollisionScene(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listStoredCollisionScenes(r,a){var l,i;const n=await t.listStoredCollisionScenes(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async storeCollisionScene(r,a,n,o){var c,d;const s=await t.storeCollisionScene(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class hS extends fe{deleteStoredCollisionScene(t,r,a){return wa(this.configuration).deleteStoredCollisionScene(t,r,a).then(n=>n(this.axios,this.basePath))}getStoredCollisionScene(t,r,a){return wa(this.configuration).getStoredCollisionScene(t,r,a).then(n=>n(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return wa(this.configuration).listStoredCollisionScenes(t,r).then(a=>a(this.axios,this.basePath))}storeCollisionScene(t,r,a,n){return wa(this.configuration).storeCollisionScene(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const mS=function(e){return{clearAllObjects:async(t,r={})=>{h("clearAllObjects","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},deleteObject:async(t,r,a={})=>{h("deleteObject","cell",t),h("deleteObject","key",r);const n="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getObject:async(t,r,a={})=>{h("getObject","cell",t),h("getObject","key",r);const n="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getObjectMetadata:async(t,r,a={})=>{h("getObjectMetadata","cell",t),h("getObjectMetadata","key",r);const n="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(n,C);let s;e&&(s=e.baseOptions);const l={method:"HEAD",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listAllObjectKeys:async(t,r={})=>{h("listAllObjectKeys","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},storeObject:async(t,r,a,n,o={})=>{h("storeObject","cell",t),h("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...o},d={},u={},p=new(e&&e.formDataCtor||FormData);V(c,e),await P(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)),R(l,u);let y=i&&i.headers?i.headers:{};return c.headers={...d,...y,...o.headers},c.data=p,{url:_(l),options:c}}}},nr=function(e){const t=mS(e);return{async clearAllObjects(r,a){var l,i;const n=await t.clearAllObjects(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreObjectApi.clearAllObjects"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async deleteObject(r,a,n){var i,c;const o=await t.deleteObject(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreObjectApi.deleteObject"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getObject(r,a,n){var i,c;const o=await t.getObject(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreObjectApi.getObject"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getObjectMetadata(r,a,n){var i,c;const o=await t.getObjectMetadata(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["StoreObjectApi.getObjectMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listAllObjectKeys(r,a){var l,i;const n=await t.listAllObjectKeys(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["StoreObjectApi.listAllObjectKeys"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async storeObject(r,a,n,o,s){var d,u;const l=await t.storeObject(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["StoreObjectApi.storeObject"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)}}};class fS extends fe{clearAllObjects(t,r){return nr(this.configuration).clearAllObjects(t,r).then(a=>a(this.axios,this.basePath))}deleteObject(t,r,a){return nr(this.configuration).deleteObject(t,r,a).then(n=>n(this.axios,this.basePath))}getObject(t,r,a){return nr(this.configuration).getObject(t,r,a).then(n=>n(this.axios,this.basePath))}getObjectMetadata(t,r,a){return nr(this.configuration).getObjectMetadata(t,r,a).then(n=>n(this.axios,this.basePath))}listAllObjectKeys(t,r){return nr(this.configuration).listAllObjectKeys(t,r).then(a=>a(this.axios,this.basePath))}storeObject(t,r,a,n,o){return nr(this.configuration).storeObject(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}}const yS=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{h("checkNovaVersionUpdate","channel",t);const a="/system/update",n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},l={},i={};V(s,e),await P(l,e),t!==void 0&&(i.channel=t),R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},{url:_(n),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",a=new URL(r,C);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},l={};V(o,e),await P(s,e),R(a,l);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:_(a),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",a=new URL(r,C);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},l={};V(o,e),await P(s,e),R(a,l);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:_(a),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",a=new URL(r,C);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},l={};V(o,e),await P(s,e),R(a,l);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:_(a),options:o}},updateNovaVersion:async(t,r={})=>{h("updateNovaVersion","updateNovaVersionRequest",t);const a="/system/update",n=new URL(a,C);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},l={},i={};V(s,e),await P(l,e),l["Content-Type"]="application/json",R(n,i);let c=o&&o.headers?o.headers:{};return s.headers={...l,...c,...r.headers},s.data=re(t,s,e),{url:_(n),options:s}}}},Lr=function(e){const t=yS(e);return{async checkNovaVersionUpdate(r,a){var l,i;const n=await t.checkNovaVersionUpdate(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["SystemApi.checkNovaVersionUpdate"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)},async getDiagnosePackage(r){var s,l;const a=await t.getDiagnosePackage(r),n=(e==null?void 0:e.serverIndex)??0,o=(l=(s=w["SystemApi.getDiagnosePackage"])==null?void 0:s[n])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,o||c)},async getSystemStatus(r){var s,l;const a=await t.getSystemStatus(r),n=(e==null?void 0:e.serverIndex)??0,o=(l=(s=w["SystemApi.getSystemStatus"])==null?void 0:s[n])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,o||c)},async getSystemVersion(r){var s,l;const a=await t.getSystemVersion(r),n=(e==null?void 0:e.serverIndex)??0,o=(l=(s=w["SystemApi.getSystemVersion"])==null?void 0:s[n])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,o||c)},async updateNovaVersion(r,a){var l,i;const n=await t.updateNovaVersion(r,a),o=(e==null?void 0:e.serverIndex)??0,s=(i=(l=w["SystemApi.updateNovaVersion"])==null?void 0:l[o])==null?void 0:i.url;return(c,d)=>A(n,v,O,e)(c,s||d)}}};class gS extends fe{checkNovaVersionUpdate(t,r){return Lr(this.configuration).checkNovaVersionUpdate(t,r).then(a=>a(this.axios,this.basePath))}getDiagnosePackage(t){return Lr(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Lr(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Lr(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Lr(this.configuration).updateNovaVersion(t,r).then(a=>a(this.axios,this.basePath))}}const bS=function(e){return{getMotionGroupState:async(t,r,a,n={})=>{h("getMotionGroupState","cell",t),h("getMotionGroupState","controller",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},getMotionGroups:async(t,r,a={})=>{h("getMotionGroups","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getVirtualRobotIOValue:async(t,r,a,n={})=>{h("getVirtualRobotIOValue","cell",t),h("getVirtualRobotIOValue","controller",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},listIOs:async(t,r,a={})=>{h("listIOs","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},setMotionGroupState:async(t,r,a,n,o={})=>{h("setMotionGroupState","cell",t),h("setMotionGroupState","controller",r),h("setMotionGroupState","id",a),h("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))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...o},d={},u={};V(c,e),await P(d,e),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},c.data=re(n,c,e),{url:_(l),options:c}},setVirtualRobotIOValue:async(t,r,a,n,o,s,l={})=>{h("setVirtualRobotIOValue","cell",t),h("setVirtualRobotIOValue","controller",r),h("setVirtualRobotIOValue","io",a);const i="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(a))),c=new URL(i,C);let d;e&&(d=e.baseOptions);const u={method:"PUT",...d,...l},p={},y={};V(u,e),await P(p,e),n!==void 0&&(y.bool=n),o!==void 0&&(y.integer=o),s!==void 0&&(y.double=s),R(c,y);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...l.headers},{url:_(c),options:u}}}},or=function(e){const t=bS(e);return{async getMotionGroupState(r,a,n,o){var c,d;const s=await t.getMotionGroupState(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getMotionGroups(r,a,n){var i,c;const o=await t.getMotionGroups(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotApi.getMotionGroups"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getVirtualRobotIOValue(r,a,n,o){var c,d;const s=await t.getVirtualRobotIOValue(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async listIOs(r,a,n){var i,c;const o=await t.listIOs(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotApi.listIOs"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async setMotionGroupState(r,a,n,o,s){var d,u;const l=await t.setMotionGroupState(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["VirtualRobotApi.setMotionGroupState"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)},async setVirtualRobotIOValue(r,a,n,o,s,l,i){var p,y;const c=await t.setVirtualRobotIOValue(r,a,n,o,s,l,i),d=(e==null?void 0:e.serverIndex)??0,u=(y=(p=w["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:p[d])==null?void 0:y.url;return(g,m)=>A(c,v,O,e)(g,u||m)}}};class SS extends fe{getMotionGroupState(t,r,a,n){return or(this.configuration).getMotionGroupState(t,r,a,n).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,a){return or(this.configuration).getMotionGroups(t,r,a).then(n=>n(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,a,n){return or(this.configuration).getVirtualRobotIOValue(t,r,a,n).then(o=>o(this.axios,this.basePath))}listIOs(t,r,a){return or(this.configuration).listIOs(t,r,a).then(n=>n(this.axios,this.basePath))}setMotionGroupState(t,r,a,n,o){return or(this.configuration).setMotionGroupState(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,a,n,o,s,l){return or(this.configuration).setVirtualRobotIOValue(t,r,a,n,o,s,l).then(i=>i(this.axios,this.basePath))}}const vS=function(e){return{externalJointsStream:async(t,r,a,n={})=>{h("externalJointsStream","cell",t),h("externalJointsStream","controller",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},getMotionGroupBehavior:async(t,r,a,n={})=>{h("getMotionGroupBehavior","cell",t),h("getMotionGroupBehavior","controller",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},setMotionGroupBehavior:async(t,r,a,n,o={})=>{h("setMotionGroupBehavior","cell",t),h("setMotionGroupBehavior","controller",r),h("setMotionGroupBehavior","id",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...o},d={},u={};V(c,e),await P(d,e),n!==void 0&&(u.behavior=n),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},{url:_(l),options:c}}}},Wn=function(e){const t=vS(e);return{async externalJointsStream(r,a,n,o){var c,d;const s=await t.externalJointsStream(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getMotionGroupBehavior(r,a,n,o){var c,d;const s=await t.getMotionGroupBehavior(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async setMotionGroupBehavior(r,a,n,o,s){var d,u;const l=await t.setMotionGroupBehavior(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)}}};class xS extends fe{externalJointsStream(t,r,a,n){return Wn(this.configuration).externalJointsStream(t,r,a,n).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,a,n){return Wn(this.configuration).getMotionGroupBehavior(t,r,a,n).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,a,n,o){return Wn(this.configuration).setMotionGroupBehavior(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}}const OS=function(e){return{getCycleTime:async(t,r,a={})=>{h("getCycleTime","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getEStop:async(t,r,a={})=>{h("getEStop","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},getOperationMode:async(t,r,a={})=>{h("getOperationMode","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},pushEStop:async(t,r,a={})=>{h("pushEStop","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},releaseEStop:async(t,r,a={})=>{h("releaseEStop","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},setOperationMode:async(t,r,a,n={})=>{h("setOperationMode","cell",t),h("setOperationMode","controller",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.mode=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}}}},sr=function(e){const t=OS(e);return{async getCycleTime(r,a,n){var i,c;const o=await t.getCycleTime(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.getCycleTime"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getEStop(r,a,n){var i,c;const o=await t.getEStop(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.getEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async getOperationMode(r,a,n){var i,c;const o=await t.getOperationMode(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.getOperationMode"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async pushEStop(r,a,n){var i,c;const o=await t.pushEStop(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.pushEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async releaseEStop(r,a,n){var i,c;const o=await t.releaseEStop(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotModeApi.releaseEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async setOperationMode(r,a,n,o){var c,d;const s=await t.setOperationMode(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class wS extends fe{getCycleTime(t,r,a){return sr(this.configuration).getCycleTime(t,r,a).then(n=>n(this.axios,this.basePath))}getEStop(t,r,a){return sr(this.configuration).getEStop(t,r,a).then(n=>n(this.axios,this.basePath))}getOperationMode(t,r,a){return sr(this.configuration).getOperationMode(t,r,a).then(n=>n(this.axios,this.basePath))}pushEStop(t,r,a){return sr(this.configuration).pushEStop(t,r,a).then(n=>n(this.axios,this.basePath))}releaseEStop(t,r,a){return sr(this.configuration).releaseEStop(t,r,a).then(n=>n(this.axios,this.basePath))}setOperationMode(t,r,a,n){return sr(this.configuration).setOperationMode(t,r,a,n).then(o=>o(this.axios,this.basePath))}}const CS=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,a,n={})=>{h("addVirtualRobotCoordinateSystem","cell",t),h("addVirtualRobotCoordinateSystem","controller",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...n},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},i.data=re(a,i,e),{url:_(s),options:i}},addVirtualRobotTcp:async(t,r,a,n,o={})=>{h("addVirtualRobotTcp","cell",t),h("addVirtualRobotTcp","controller",r),h("addVirtualRobotTcp","id",a),h("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))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...o},d={},u={};V(c,e),await P(d,e),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},c.data=re(n,c,e),{url:_(l),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,a,n,o={})=>{h("deleteVirtualRobotCoordinateSystem","cell",t),h("deleteVirtualRobotCoordinateSystem","controller",r),h("deleteVirtualRobotCoordinateSystem","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(a))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"DELETE",...i,...o},d={},u={};V(c,e),await P(d,e),n!==void 0&&(u.delete_dependent=n),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},{url:_(l),options:c}},deleteVirtualRobotTcp:async(t,r,a,n,o={})=>{h("deleteVirtualRobotTcp","cell",t),h("deleteVirtualRobotTcp","controller",r),h("deleteVirtualRobotTcp","id",a),h("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))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"DELETE",...i,...o},d={},u={};V(c,e),await P(d,e),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},{url:_(l),options:c}},getVirtualRobotMounting:async(t,r,a,n={})=>{h("getVirtualRobotMounting","cell",t),h("getVirtualRobotMounting","controller",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},listVirtualRobotCoordinateSystems:async(t,r,a={})=>{h("listVirtualRobotCoordinateSystems","cell",t),h("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,C);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(o,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(o),options:l}},listVirtualRobotTcps:async(t,r,a,n={})=>{h("listVirtualRobotTcps","cell",t),h("listVirtualRobotTcps","controller",r),h("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,C);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...n},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...n.headers},{url:_(s),options:i}},setVirtualRobotMounting:async(t,r,a,n,o={})=>{h("setVirtualRobotMounting","cell",t),h("setVirtualRobotMounting","controller",r),h("setVirtualRobotMounting","id",a),h("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))),l=new URL(s,C);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...o},d={},u={};V(c,e),await P(d,e),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...o.headers},c.data=re(n,c,e),{url:_(l),options:c}}}},wt=function(e){const t=CS(e);return{async addVirtualRobotCoordinateSystem(r,a,n,o){var c,d;const s=await t.addVirtualRobotCoordinateSystem(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async addVirtualRobotTcp(r,a,n,o,s){var d,u;const l=await t.addVirtualRobotTcp(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)},async deleteVirtualRobotCoordinateSystem(r,a,n,o,s){var d,u;const l=await t.deleteVirtualRobotCoordinateSystem(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)},async deleteVirtualRobotTcp(r,a,n,o,s){var d,u;const l=await t.deleteVirtualRobotTcp(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)},async getVirtualRobotMounting(r,a,n,o){var c,d;const s=await t.getVirtualRobotMounting(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async listVirtualRobotCoordinateSystems(r,a,n){var i,c;const o=await t.listVirtualRobotCoordinateSystems(r,a,n),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=w["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(o,v,O,e)(d,l||u)},async listVirtualRobotTcps(r,a,n,o){var c,d;const s=await t.listVirtualRobotTcps(r,a,n,o),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=w["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async setVirtualRobotMounting(r,a,n,o,s){var d,u;const l=await t.setVirtualRobotMounting(r,a,n,o,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=w["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:d[i])==null?void 0:u.url;return(p,y)=>A(l,v,O,e)(p,c||y)}}};class VS extends fe{addVirtualRobotCoordinateSystem(t,r,a,n){return wt(this.configuration).addVirtualRobotCoordinateSystem(t,r,a,n).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,a,n,o){return wt(this.configuration).addVirtualRobotTcp(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,a,n,o){return wt(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,a,n,o){return wt(this.configuration).deleteVirtualRobotTcp(t,r,a,n,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,a,n){return wt(this.configuration).getVirtualRobotMounting(t,r,a,n).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,a){return wt(this.configuration).listVirtualRobotCoordinateSystems(t,r,a).then(n=>n(this.axios,this.basePath))}listVirtualRobotTcps(t,r,a,n){return wt(this.configuration).listVirtualRobotTcps(t,r,a,n).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,a,n,o){return wt(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 PS{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,l){let i=a[n+0],c=a[n+1],d=a[n+2],u=a[n+3];const p=o[s+0],y=o[s+1],g=o[s+2],m=o[s+3];if(l===0){t[r+0]=i,t[r+1]=c,t[r+2]=d,t[r+3]=u;return}if(l===1){t[r+0]=p,t[r+1]=y,t[r+2]=g,t[r+3]=m;return}if(u!==m||i!==p||c!==y||d!==g){let x=1-l;const I=i*p+c*y+d*g+u*m,G=I>=0?1:-1,N=1-I*I;if(N>Number.EPSILON){const z=Math.sqrt(N),W=Math.atan2(z,I*G);x=Math.sin(x*W)/z,l=Math.sin(l*W)/z}const D=l*G;if(i=i*x+p*D,c=c*x+y*D,d=d*x+g*D,u=u*x+m*D,x===1-l){const z=1/Math.sqrt(i*i+c*c+d*d+u*u);i*=z,c*=z,d*=z,u*=z}}t[r]=i,t[r+1]=c,t[r+2]=d,t[r+3]=u}static multiplyQuaternionsFlat(t,r,a,n,o,s){const l=a[n],i=a[n+1],c=a[n+2],d=a[n+3],u=o[s],p=o[s+1],y=o[s+2],g=o[s+3];return t[r]=l*g+d*u+i*y-c*p,t[r+1]=i*g+d*p+c*u-l*y,t[r+2]=c*g+d*y+l*p-i*u,t[r+3]=d*g-l*u-i*p-c*y,t}get x(){return this._x}set x(t){this._x=t,this._onChangeCallback()}get y(){return this._y}set y(t){this._y=t,this._onChangeCallback()}get z(){return this._z}set z(t){this._z=t,this._onChangeCallback()}get w(){return this._w}set w(t){this._w=t,this._onChangeCallback()}set(t,r,a,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,l=Math.cos,i=Math.sin,c=l(a/2),d=l(n/2),u=l(o/2),p=i(a/2),y=i(n/2),g=i(o/2);switch(s){case"XYZ":this._x=p*d*u+c*y*g,this._y=c*y*u-p*d*g,this._z=c*d*g+p*y*u,this._w=c*d*u-p*y*g;break;case"YXZ":this._x=p*d*u+c*y*g,this._y=c*y*u-p*d*g,this._z=c*d*g-p*y*u,this._w=c*d*u+p*y*g;break;case"ZXY":this._x=p*d*u-c*y*g,this._y=c*y*u+p*d*g,this._z=c*d*g+p*y*u,this._w=c*d*u-p*y*g;break;case"ZYX":this._x=p*d*u-c*y*g,this._y=c*y*u+p*d*g,this._z=c*d*g-p*y*u,this._w=c*d*u+p*y*g;break;case"YZX":this._x=p*d*u+c*y*g,this._y=c*y*u+p*d*g,this._z=c*d*g-p*y*u,this._w=c*d*u-p*y*g;break;case"XZY":this._x=p*d*u-c*y*g,this._y=c*y*u-p*d*g,this._z=c*d*g+p*y*u,this._w=c*d*u+p*y*g;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const a=r/2,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],l=r[5],i=r[9],c=r[2],d=r[6],u=r[10],p=a+l+u;if(p>0){const y=.5/Math.sqrt(p+1);this._w=.25/y,this._x=(d-i)*y,this._y=(o-c)*y,this._z=(s-n)*y}else if(a>l&&a>u){const y=2*Math.sqrt(1+a-l-u);this._w=(d-i)/y,this._x=.25*y,this._y=(n+s)/y,this._z=(o+c)/y}else if(l>u){const y=2*Math.sqrt(1+l-a-u);this._w=(o-c)/y,this._x=(n+s)/y,this._y=.25*y,this._z=(i+d)/y}else{const y=2*Math.sqrt(1+u-a-l);this._w=(s-n)/y,this._x=(o+c)/y,this._y=(i+d)/y,this._z=.25*y}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let a=t.dot(r)+1;return a<Number.EPSILON?(a=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=a):(this._x=0,this._y=-t.z,this._z=t.y,this._w=a)):(this._x=t.y*r.z-t.z*r.y,this._y=t.z*r.x-t.x*r.z,this._z=t.x*r.y-t.y*r.x,this._w=a),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(mt(this.dot(t),-1,1)))}rotateTowards(t,r){const a=this.angleTo(t);if(a===0)return this;const 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,l=r._x,i=r._y,c=r._z,d=r._w;return this._x=a*d+s*l+n*c-o*i,this._y=n*d+s*i+o*l-a*c,this._z=o*d+s*c+a*i-n*l,this._w=s*d-a*l-n*i-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 l=s*t._w+a*t._x+n*t._y+o*t._z;if(l<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,l=-l):this.copy(t),l>=1)return this._w=s,this._x=a,this._y=n,this._z=o,this;const i=1-l*l;if(i<=Number.EPSILON){const y=1-r;return this._w=y*s+r*this._w,this._x=y*a+r*this._x,this._y=y*n+r*this._y,this._z=y*o+r*this._z,this.normalize(),this}const c=Math.sqrt(i),d=Math.atan2(c,l),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 hr{constructor(t=0,r=0,a=0){hr.prototype.isVector3=!0,this.x=t,this.y=r,this.z=a}set(t,r,a){return a===void 0&&(a=this.z),this.x=t,this.y=r,this.z=a,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,r){switch(t){case 0:this.x=r;break;case 1:this.y=r;break;case 2:this.z=r;break;default:throw new Error("index is out of range: "+t)}return this}getComponent(t){switch(t){case 0:return this.x;case 1:return this.y;case 2:return this.z;default:throw new Error("index is out of range: "+t)}}clone(){return new this.constructor(this.x,this.y,this.z)}copy(t){return this.x=t.x,this.y=t.y,this.z=t.z,this}add(t){return this.x+=t.x,this.y+=t.y,this.z+=t.z,this}addScalar(t){return this.x+=t,this.y+=t,this.z+=t,this}addVectors(t,r){return this.x=t.x+r.x,this.y=t.y+r.y,this.z=t.z+r.z,this}addScaledVector(t,r){return this.x+=t.x*r,this.y+=t.y*r,this.z+=t.z*r,this}sub(t){return this.x-=t.x,this.y-=t.y,this.z-=t.z,this}subScalar(t){return this.x-=t,this.y-=t,this.z-=t,this}subVectors(t,r){return this.x=t.x-r.x,this.y=t.y-r.y,this.z=t.z-r.z,this}multiply(t){return this.x*=t.x,this.y*=t.y,this.z*=t.z,this}multiplyScalar(t){return this.x*=t,this.y*=t,this.z*=t,this}multiplyVectors(t,r){return this.x=t.x*r.x,this.y=t.y*r.y,this.z=t.z*r.z,this}applyEuler(t){return this.applyQuaternion(nl.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(nl.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,l=t.z,i=t.w,c=2*(s*n-l*a),d=2*(l*r-o*n),u=2*(o*a-s*r);return this.x=r+i*c+s*u-l*d,this.y=a+i*d+l*c-o*u,this.z=n+i*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 a=t.x,n=t.y,o=t.z,s=r.x,l=r.y,i=r.z;return this.x=n*i-o*l,this.y=o*s-a*i,this.z=a*l-n*s,this}projectOnVector(t){const r=t.lengthSq();if(r===0)return this.set(0,0,0);const a=t.dot(this)/r;return this.copy(t).multiplyScalar(a)}projectOnPlane(t){return Qn.copy(this).projectOnVector(t),this.sub(Qn)}reflect(t){return this.sub(Qn.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const r=Math.sqrt(this.lengthSq()*t.lengthSq());if(r===0)return Math.PI/2;const a=this.dot(t)/r;return Math.acos(mt(a,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const r=this.x-t.x,a=this.y-t.y,n=this.z-t.z;return r*r+a*a+n*n}manhattanDistanceTo(t){return Math.abs(this.x-t.x)+Math.abs(this.y-t.y)+Math.abs(this.z-t.z)}setFromSpherical(t){return this.setFromSphericalCoords(t.radius,t.phi,t.theta)}setFromSphericalCoords(t,r,a){const n=Math.sin(r)*t;return this.x=n*Math.sin(a),this.y=Math.cos(r)*t,this.z=n*Math.cos(a),this}setFromCylindrical(t){return 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a+=Math.abs(e.orientation.x-t.orientation.x),a+=Math.abs(e.orientation.y-t.orientation.y),a+=Math.abs(e.orientation.z-t.orientation.z),a+=Math.abs(e.position.x-t.position.x),a+=Math.abs(e.position.y-t.position.y),a+=Math.abs(e.position.z-t.position.z),a>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var sl=1e-4,TS=class Xi{constructor(t,r,a,n,o,s,l,i,c,d,u,p){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=n,this.motionStateSocket=o,this.isVirtual=s,this.tcps=l,this.motionGroupSpecification=i,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",y=>{var g;const m=(g=Rt(y.data))==null?void 0:g.result;m&&Ae.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",y=>{var g;const m=(g=Rt(y.data))==null?void 0:g.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${y.data}`);Ki(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,sl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),Yi(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,sl)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),Ae.makeAutoObservable(this)}static connect(t,r,a){return me(this,null,function*(){var n,o;const[s,l]=r.split("@"),i=a.find(W=>W.controller===l),c=i==null?void 0:i.physical_motion_groups.find(W=>W.motion_group===r);if(!i||!c)throw new Error(`Controller ${l} or motion group ${r} not found`);const d=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),u=yield d.firstMessage(),p=(n=Rt(u.data))==null?void 0:n.result;if(!p)throw new Error(`Unable to parse initial motion state message ${u.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
-  `,p);const g=(yield t.api.controller.getRobotController(i.controller)).configuration.kind==="VirtualController",m=yield me(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(W){return console.error(`Error fetching mounting for ${c.motion_group}`,W),null}}),x=t.openReconnectingWebsocket(`/controllers/${i.controller}/state-stream?response_rate=1000`),I=yield x.firstMessage(),G=(o=Rt(I.data))==null?void 0:o.result;if(!G)throw new Error(`Unable to parse initial controller state message ${I.data}`);console.log(`Connected controller state websocket to controller ${i.controller}. Initial state:
-  `,G);const{tcps:N}=yield t.api.motionGroupInfos.listTcps(r),D=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),z=yield t.api.motionGroupInfos.getSafetySetup(r);return new Xi(t,i,c,p,d,g,N,D,z,m,G,x)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}get dhParameters(){return this.motionGroupSpecification.dh_parameters}get safetyZones(){return this.safetySetup.safety_zones}get mountingPosition(){return this.mounting?[this.mounting.pose.position.x/1e3,this.mounting.pose.position.y/1e3,this.mounting.pose.position.z/1e3]:[0,0,0]}get mountingQuaternion(){var t,r,a,n,o,s;const l=new Oe.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),i=l.length(),c=l.normalize();return new Oe.Quaternion().setFromAxisAngle(c,i)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return me(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Ae.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Ae.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Ae.runInAction(()=>{this.activationState="active"}),t}})}activate(){return me(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Ae.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Ae.runInAction(()=>{this.activationState="active"})}catch(t){throw Ae.runInAction(()=>{this.activationState="inactive"}),t}})}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingCartesianSocket&&this.connectedJoggingCartesianSocket.close(),this.connectedJoggingJointsSocket&&this.connectedJoggingJointsSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}},IS=class Zi{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return me(this,arguments,function*(a,n,o={}){const s=yield a.connectMotionStream(n);return new Zi(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 me(this,null,function*(){this.cartesianWebsocket&&this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:{x:0,y:0,z:0},rotation_direction:{x:0,y:0,z:0},position_velocity:0,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId}),this.jointWebsocket&&this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:new Array(this.numJoints).fill(0)})})}dispose(){this.cartesianWebsocket&&this.cartesianWebsocket.dispose(),this.jointWebsocket&&this.jointWebsocket.dispose()}setJoggingMode(t,r){console.log("Setting jogging mode to",t),r&&($g(this.cartesianJoggingOpts,r)||this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),this.cartesianJoggingOpts=r),t!=="cartesian"&&this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),t!=="joint"&&this.jointWebsocket&&(this.jointWebsocket.dispose(),this.jointWebsocket=null),t==="cartesian"&&!this.cartesianWebsocket&&(this.cartesianWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-tcp"),this.cartesianWebsocket.addEventListener("message",a=>{const n=Rt(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=Rt(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 me(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 me(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 me(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 me(this,arguments,function*({currentTcpPose:r,currentJoints:a,coordSystemId:n,velocityInRelevantUnits:o,axis:s,direction:l,motion:i}){var c;const d=[];if(!Yg(r.coordinate_system,n))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${n}`);if(i.type==="translate"){const y=Object.assign({},r.position);y[s]+=i.distanceMm*(l==="-"?-1:1),d.push({settings:{limits_override:{tcp_velocity_limit:o}},line:{position:y,orientation:r.orientation,coordinate_system:n}})}else if(i.type==="rotate"){const y=new hr(r.orientation.x,r.orientation.y,r.orientation.z),g=y.length(),m=y.clone().normalize(),x=i.distanceRads*(l==="-"?-1:1),I=new hr(0,0,0);I[s]=1;const G=Math.cos(.5*x)*Math.cos(.5*g),N=Math.sin(.5*x)*Math.sin(.5*g),D=Math.sin(.5*x)*Math.cos(.5*g),z=Math.cos(.5*x)*Math.sin(.5*g),W=I.dot(m),j=I.clone().cross(m),U=2*Math.acos(G-N*W),k=U/Math.sin(.5*U),f=new hr().addScaledVector(j,N).addScaledVector(I,D).addScaledVector(m,z).multiplyScalar(k);d.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:f,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 me(this,arguments,function*({joint:r,currentJoints:a,velocityRadsPerSec:n,direction:o,distanceRads:s}){var l;const i=[...a.joints];i[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:i}}]}),u=(l=d.plan_successful_response)==null?void 0:l.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 ES(e,t){const r=new Ze.Vector3(t.x,t.y,t.z),a=new Ze.Vector3(e.x,e.y,e.z),n=r.length(),o=r.normalize();let s=a.length(),l=a.normalize();l.dot(o)<0&&(s=-s,l=l.multiplyScalar(-1));let i=s-n;return i-=2*Math.PI*Math.floor((i+Math.PI)/(2*Math.PI)),s=n+i,l.multiplyScalar(s)}var MS=class ec{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 l;const i=(l=Rt(s.data))==null?void 0:l.result;if(!i)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);Ki(this.rapidlyChangingMotionState.state.joint_position.joints,i.state.joint_position.joints,ll)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.state=i.state}),Yi(this.rapidlyChangingMotionState.tcp_pose,i.tcp_pose,ll)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=i.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:i.tcp_pose.position,orientation:ES(i.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:i.tcp_pose.tcp,coordinate_system:i.tcp_pose.coordinate_system}})}),Ae.makeAutoObservable(this)}static open(t,r){return me(this,null,function*(){var a;const{instances:n}=yield t.api.controller.listControllers(),[o,s]=r.split("@"),l=n.find(p=>p.controller===s),i=l==null?void 0:l.physical_motion_groups.find(p=>p.motion_group===r);if(!l||!i)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield c.firstMessage();console.log("got first message",d);const u=(a=Rt(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 ${i.motion_group}. Initial state:
-  `,u),new ec(t,l,i,u,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},jS=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(gS),this.cell=this.withUnwrappedResponsesOnly(M0),this.deviceConfig=this.withCellId(N0),this.motionGroup=this.withCellId(Z0),this.motionGroupInfos=this.withCellId(tS),this.controller=this.withCellId($0),this.program=this.withCellId(lS),this.programValues=this.withCellId(cS),this.controllerIOs=this.withCellId(k0),this.motionGroupKinematic=this.withCellId(oS),this.motion=this.withCellId(Y0),this.coordinateSystems=this.withCellId(L0),this.application=this.withCellId(al),this.applicationGlobal=this.withUnwrappedResponsesOnly(al),this.motionGroupJogging=this.withCellId(aS),this.virtualRobot=this.withCellId(SS),this.virtualRobotSetup=this.withCellId(VS),this.virtualRobotMode=this.withCellId(wS),this.virtualRobotBehavior=this.withCellId(xS),this.libraryProgramMetadata=this.withCellId(q0),this.libraryProgram=this.withCellId(z0),this.libraryRecipeMetadata=this.withCellId(Q0),this.libraryRecipe=this.withCellId(H0),this.storeObject=this.withCellId(fS),this.storeCollisionComponents=this.withCellId(uS),this.storeCollisionScenes=this.withCellId(hS)}withCellId(e){var t,r;const a=new e(po(cr({},this.opts),{isJsonMime:n=>n==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(n!=="constructor"&&typeof a[n]=="function"){const o=a[n];a[n]=(...s)=>o.apply(a,[this.cellId,...s]).then(l=>l.data)}return a}withUnwrappedResponsesOnly(e){var t,r;const a=new e(po(cr({},this.opts),{isJsonMime:n=>n==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const n of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(n!=="constructor"&&typeof a[n]=="function"){const o=a[n];a[n]=(...s)=>o.apply(a,s).then(l=>l.data)}return a}},$S=class{constructor(){this.connections=[]}handleAPIRequest(e){return me(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 l of n){const i=AS.match(l.path)(s||"");if(o===l.method&&i){const c=l.handle();return{status:200,statusText:"Success",data:JSON.stringify(c),headers:{},config:e,request:{responseURL:e.url}}}}throw new So(`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(US)})),e.url.includes("/move-joint")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:48:26.096266444Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3492152690887451,-1.5659207105636597,1.6653711795806885,-1.0991662740707397,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:""},tcp_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"671259"}],sequence_number:"671259"},movement_state:"MOVEMENT_STATE_MOVING"}})})),e.url.includes("/move-tcp")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:43:12.188335774Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3352527618408203,-1.5659207105636597,1.6653711795806885,-1.110615611076355,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:""},tcp_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"627897"}],sequence_number:"627897"},movement_state:"MOVEMENT_STATE_MOVING"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}},US={result:{state:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",joint_position:{joints:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:""},tcp_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"1"},tcp_pose:{position:{x:302.90748476115556,y:-152.87065869452337,z:424.0454619321661},orientation:{x:2.3403056115045353,y:-1.1706836379431356,z:.9772511964246311},coordinate_system:"",tcp:"Flange"}}},kS=class{constructor(e){this.authPromise=null,this.accessToken=null;var 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Promise.reject(l)}else((s=n.response)==null?void 0:s.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(n)})),this.api=new jS(r,po(cr({},e),{basePath:Kn(this.config.instanceUrl,"/api/v1"),isJsonMime:n=>n==="application/json",baseOptions:cr(cr({},this.mock?{adapter:n=>this.mock.handleAPIRequest(n)}:{}),e.baseOptions),axiosInstance:a}))}renewAuthentication(){return me(this,null,function*(){if(!this.authPromise){this.authPromise=Zg(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?zn.setString("wbjs.access_token",this.accessToken):zn.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL(Kn(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return 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0:e.serverIndex)??0,c=(u=(d=C["ApplicationApi.updateApp"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)}}};class ol extends fe{addApp(t,r,a,o){return rr(this.configuration).addApp(t,r,a,o).then(n=>n(this.axios,this.basePath))}clearApps(t,r,a){return rr(this.configuration).clearApps(t,r,a).then(o=>o(this.axios,this.basePath))}deleteApp(t,r,a,o){return rr(this.configuration).deleteApp(t,r,a,o).then(n=>n(this.axios,this.basePath))}getApp(t,r,a){return rr(this.configuration).getApp(t,r,a).then(o=>o(this.axios,this.basePath))}listApps(t,r){return rr(this.configuration).listApps(t,r).then(a=>a(this.axios,this.basePath))}updateApp(t,r,a,o,n){return rr(this.configuration).updateApp(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const M0=function(e){return{deleteCell:async(t,r,a={})=>{h("deleteCell","cell",t);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deployCell:async(t,r,a={})=>{h("deployCell","cell",t);const o="/cells",n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(t,l,e),{url:_(n),options:l}},getCell:async(t,r={})=>{h("getCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},getCellStatus:async(t,r={})=>{h("getCellStatus","cell",t);const a="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listCells:async(t={})=>{const r="/cells",a=new URL(r,w);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};V(n,e),await P(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},updateCell:async(t,r,a,o={})=>{h("updateCell","cell",t),h("updateCell","cell2",r);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}}}},ar=function(e){const t=M0(e);return{async deleteCell(r,a,o){var i,c;const n=await t.deleteCell(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["CellApi.deleteCell"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deployCell(r,a,o){var i,c;const n=await t.deployCell(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["CellApi.deployCell"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getCell(r,a){var l,i;const o=await t.getCell(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["CellApi.getCell"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async getCellStatus(r,a){var l,i;const o=await t.getCellStatus(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["CellApi.getCellStatus"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listCells(r){var s,l;const a=await t.listCells(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=C["CellApi.listCells"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async updateCell(r,a,o,n){var c,d;const s=await t.updateCell(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["CellApi.updateCell"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class j0 extends fe{deleteCell(t,r,a){return ar(this.configuration).deleteCell(t,r,a).then(o=>o(this.axios,this.basePath))}deployCell(t,r,a){return ar(this.configuration).deployCell(t,r,a).then(o=>o(this.axios,this.basePath))}getCell(t,r){return ar(this.configuration).getCell(t,r).then(a=>a(this.axios,this.basePath))}getCellStatus(t,r){return ar(this.configuration).getCellStatus(t,r).then(a=>a(this.axios,this.basePath))}listCells(t){return ar(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,a,o){return ar(this.configuration).updateCell(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const $0=function(e){return{addRobotController:async(t,r,a,o={})=>{h("addRobotController","cell",t),h("addRobotController","robotController",r);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.completionTimeout=a),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}},clearRobotControllers:async(t,r,a={})=>{h("clearRobotControllers","cell",t);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteRobotController:async(t,r,a,o={})=>{h("deleteRobotController","cell",t),h("deleteRobotController","controller",r);const n="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"DELETE",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.completionTimeout=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},getCurrentRobotControllerState:async(t,r,a={})=>{h("getCurrentRobotControllerState","cell",t),h("getCurrentRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getMode:async(t,r,a={})=>{h("getMode","cell",t),h("getMode","controller",r);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getRobotController:async(t,r,a={})=>{h("getRobotController","cell",t),h("getRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getSupportedModes:async(t,r,a={})=>{h("getSupportedModes","cell",t),h("getSupportedModes","controller",r);const o="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getVirtualRobotConfiguration:async(t,r,a={})=>{h("getVirtualRobotConfiguration","cell",t),h("getVirtualRobotConfiguration","controller",r);const o="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listControllers:async(t,r={})=>{h("listControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},setDefaultMode:async(t,r,a,o={})=>{h("setDefaultMode","cell",t),h("setDefaultMode","controller",r),h("setDefaultMode","mode",a);const n="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.mode=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},streamFreeDrive:async(t,r,a,o={})=>{h("streamFreeDrive","cell",t),h("streamFreeDrive","controller",r);const n="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.response_rate=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},streamModeChange:async(t,r,a={})=>{h("streamModeChange","cell",t),h("streamModeChange","controller",r);const o="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},streamRobotControllerState:async(t,r,a,o={})=>{h("streamRobotControllerState","cell",t),h("streamRobotControllerState","controller",r);const n="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.response_rate=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},updateRobotController:async(t,r,a,o,n={})=>{h("updateRobotController","cell",t),h("updateRobotController","controller",r),h("updateRobotController","robotController",a);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},u={};V(c,e),await P(d,e),o!==void 0&&(u.completionTimeout=o),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},c.data=re(a,c,e),{url:_(l),options:c}}}},Ne=function(e){const t=$0(e);return{async addRobotController(r,a,o,n){var c,d;const s=await t.addRobotController(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ControllerApi.addRobotController"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async clearRobotControllers(r,a,o){var i,c;const n=await t.clearRobotControllers(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ControllerApi.clearRobotControllers"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deleteRobotController(r,a,o,n){var c,d;const s=await t.deleteRobotController(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ControllerApi.deleteRobotController"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getCurrentRobotControllerState(r,a,o){var i,c;const n=await t.getCurrentRobotControllerState(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ControllerApi.getCurrentRobotControllerState"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getMode(r,a,o){var i,c;const n=await t.getMode(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ControllerApi.getMode"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getRobotController(r,a,o){var i,c;const n=await t.getRobotController(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ControllerApi.getRobotController"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getSupportedModes(r,a,o){var i,c;const n=await t.getSupportedModes(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ControllerApi.getSupportedModes"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getVirtualRobotConfiguration(r,a,o){var i,c;const n=await t.getVirtualRobotConfiguration(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listControllers(r,a){var l,i;const o=await t.listControllers(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["ControllerApi.listControllers"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async setDefaultMode(r,a,o,n){var c,d;const s=await t.setDefaultMode(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ControllerApi.setDefaultMode"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async streamFreeDrive(r,a,o,n){var c,d;const s=await t.streamFreeDrive(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ControllerApi.streamFreeDrive"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async streamModeChange(r,a,o){var i,c;const n=await t.streamModeChange(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ControllerApi.streamModeChange"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async streamRobotControllerState(r,a,o,n){var c,d;const s=await t.streamRobotControllerState(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ControllerApi.streamRobotControllerState"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async updateRobotController(r,a,o,n,s){var d,u;const l=await t.updateRobotController(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["ControllerApi.updateRobotController"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)}}};class U0 extends fe{addRobotController(t,r,a,o){return Ne(this.configuration).addRobotController(t,r,a,o).then(n=>n(this.axios,this.basePath))}clearRobotControllers(t,r,a){return Ne(this.configuration).clearRobotControllers(t,r,a).then(o=>o(this.axios,this.basePath))}deleteRobotController(t,r,a,o){return Ne(this.configuration).deleteRobotController(t,r,a,o).then(n=>n(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,a){return Ne(this.configuration).getCurrentRobotControllerState(t,r,a).then(o=>o(this.axios,this.basePath))}getMode(t,r,a){return Ne(this.configuration).getMode(t,r,a).then(o=>o(this.axios,this.basePath))}getRobotController(t,r,a){return Ne(this.configuration).getRobotController(t,r,a).then(o=>o(this.axios,this.basePath))}getSupportedModes(t,r,a){return Ne(this.configuration).getSupportedModes(t,r,a).then(o=>o(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,a){return Ne(this.configuration).getVirtualRobotConfiguration(t,r,a).then(o=>o(this.axios,this.basePath))}listControllers(t,r){return Ne(this.configuration).listControllers(t,r).then(a=>a(this.axios,this.basePath))}setDefaultMode(t,r,a,o){return Ne(this.configuration).setDefaultMode(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamFreeDrive(t,r,a,o){return Ne(this.configuration).streamFreeDrive(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamModeChange(t,r,a){return Ne(this.configuration).streamModeChange(t,r,a).then(o=>o(this.axios,this.basePath))}streamRobotControllerState(t,r,a,o){return Ne(this.configuration).streamRobotControllerState(t,r,a,o).then(n=>n(this.axios,this.basePath))}updateRobotController(t,r,a,o,n){return Ne(this.configuration).updateRobotController(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const k0=function(e){return{listIODescriptions:async(t,r,a,o={})=>{h("listIODescriptions","cell",t),h("listIODescriptions","controller",r);const n="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a&&(d.ios=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},listIOValues:async(t,r,a,o={})=>{h("listIOValues","cell",t),h("listIOValues","controller",r);const n="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a&&(d.ios=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},setOutputValues:async(t,r,a,o={})=>{h("setOutputValues","cell",t),h("setOutputValues","controller",r),h("setOutputValues","iOValue",a);const n="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},streamIOValues:async(t,r,a,o={})=>{h("streamIOValues","cell",t),h("streamIOValues","controller",r);const n="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a&&(d.ios=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},waitForIOEvent:async(t,r,a,o,n,s,l,i={})=>{h("waitForIOEvent","cell",t),h("waitForIOEvent","controller",r),h("waitForIOEvent","io",a),h("waitForIOEvent","comparisonType",o);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),d=new URL(c,w);let u;e&&(u=e.baseOptions);const p={method:"GET",...u,...i},f={},g={};V(p,e),await P(f,e),a!==void 0&&(g.io=a),o!==void 0&&(g.comparison_type=o),n!==void 0&&(g.boolean_value=n),s!==void 0&&(g.integer_value=s),l!==void 0&&(g.floating_value=l),R(d,g);let m=u&&u.headers?u.headers:{};return p.headers={...f,...m,...i.headers},{url:_(d),options:p}}}},$r=function(e){const t=k0(e);return{async listIODescriptions(r,a,o,n){var c,d;const s=await t.listIODescriptions(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ControllerIOsApi.listIODescriptions"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async listIOValues(r,a,o,n){var c,d;const s=await t.listIOValues(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ControllerIOsApi.listIOValues"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async setOutputValues(r,a,o,n){var c,d;const s=await t.setOutputValues(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ControllerIOsApi.setOutputValues"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async streamIOValues(r,a,o,n){var c,d;const s=await t.streamIOValues(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ControllerIOsApi.streamIOValues"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async waitForIOEvent(r,a,o,n,s,l,i,c){var f,g;const d=await t.waitForIOEvent(r,a,o,n,s,l,i,c),u=(e==null?void 0:e.serverIndex)??0,p=(g=(f=C["ControllerIOsApi.waitForIOEvent"])==null?void 0:f[u])==null?void 0:g.url;return(m,x)=>A(d,v,O,e)(m,p||x)}}};class B0 extends fe{listIODescriptions(t,r,a,o){return $r(this.configuration).listIODescriptions(t,r,a,o).then(n=>n(this.axios,this.basePath))}listIOValues(t,r,a,o){return $r(this.configuration).listIOValues(t,r,a,o).then(n=>n(this.axios,this.basePath))}setOutputValues(t,r,a,o){return $r(this.configuration).setOutputValues(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamIOValues(t,r,a,o){return $r(this.configuration).streamIOValues(t,r,a,o).then(n=>n(this.axios,this.basePath))}waitForIOEvent(t,r,a,o,n,s,l,i){return $r(this.configuration).waitForIOEvent(t,r,a,o,n,s,l,i).then(c=>c(this.axios,this.basePath))}}const L0=function(e){return{addCoordinateSystem:async(t,r,a={})=>{h("addCoordinateSystem","cell",t),h("addCoordinateSystem","addRequest",r);const o="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},deleteCoordinateSystem:async(t,r,a={})=>{h("deleteCoordinateSystem","cell",t),h("deleteCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getCoordinateSystem:async(t,r,a,o={})=>{h("getCoordinateSystem","cell",t),h("getCoordinateSystem","coordinateSystem",r);const n="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},listCoordinateSystems:async(t,r,a={})=>{h("listCoordinateSystems","cell",t);const o="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.rotation_type=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},transformInCoordinateSystem:async(t,r,a,o={})=>{h("transformInCoordinateSystem","cell",t),h("transformInCoordinateSystem","coordinateSystem",r),h("transformInCoordinateSystem","pose",a);const n="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},Ur=function(e){const t=L0(e);return{async addCoordinateSystem(r,a,o){var i,c;const n=await t.addCoordinateSystem(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deleteCoordinateSystem(r,a,o){var i,c;const n=await t.deleteCoordinateSystem(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getCoordinateSystem(r,a,o,n){var c,d;const s=await t.getCoordinateSystem(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async listCoordinateSystems(r,a,o){var i,c;const n=await t.listCoordinateSystems(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async transformInCoordinateSystem(r,a,o,n){var c,d;const s=await t.transformInCoordinateSystem(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class F0 extends fe{addCoordinateSystem(t,r,a){return Ur(this.configuration).addCoordinateSystem(t,r,a).then(o=>o(this.axios,this.basePath))}deleteCoordinateSystem(t,r,a){return Ur(this.configuration).deleteCoordinateSystem(t,r,a).then(o=>o(this.axios,this.basePath))}getCoordinateSystem(t,r,a,o){return Ur(this.configuration).getCoordinateSystem(t,r,a,o).then(n=>n(this.axios,this.basePath))}listCoordinateSystems(t,r,a){return Ur(this.configuration).listCoordinateSystems(t,r,a).then(o=>o(this.axios,this.basePath))}transformInCoordinateSystem(t,r,a,o){return Ur(this.configuration).transformInCoordinateSystem(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const N0=function(e){return{clearDevices:async(t,r={})=>{h("clearDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},createDevice:async(t,r,a={})=>{h("createDevice","cell",t),h("createDevice","createDeviceRequestInner",r);const o="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},deleteDevice:async(t,r,a={})=>{h("deleteDevice","cell",t),h("deleteDevice","identifier",r);const o="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getDevice:async(t,r,a={})=>{h("getDevice","cell",t),h("getDevice","identifier",r);const o="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listDevices:async(t,r={})=>{h("listDevices","cell",t);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}}}},kr=function(e){const t=N0(e);return{async clearDevices(r,a){var l,i;const o=await t.clearDevices(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["DeviceConfigurationApi.clearDevices"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async createDevice(r,a,o){var i,c;const n=await t.createDevice(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["DeviceConfigurationApi.createDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deleteDevice(r,a,o){var i,c;const n=await t.deleteDevice(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["DeviceConfigurationApi.deleteDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getDevice(r,a,o){var i,c;const n=await t.getDevice(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["DeviceConfigurationApi.getDevice"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listDevices(r,a){var l,i;const o=await t.listDevices(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["DeviceConfigurationApi.listDevices"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)}}};class D0 extends fe{clearDevices(t,r){return kr(this.configuration).clearDevices(t,r).then(a=>a(this.axios,this.basePath))}createDevice(t,r,a){return kr(this.configuration).createDevice(t,r,a).then(o=>o(this.axios,this.basePath))}deleteDevice(t,r,a){return kr(this.configuration).deleteDevice(t,r,a).then(o=>o(this.axios,this.basePath))}getDevice(t,r,a){return kr(this.configuration).getDevice(t,r,a).then(o=>o(this.axios,this.basePath))}listDevices(t,r){return kr(this.configuration).listDevices(t,r).then(a=>a(this.axios,this.basePath))}}const z0=function(e){return{createProgram:async(t,r,a,o={})=>{h("createProgram","cell",t),h("createProgram","body",r);const n="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.name=a),c["Content-Type"]="text/plain",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}},deleteProgram:async(t,r,a={})=>{h("deleteProgram","cell",t),h("deleteProgram","program",r);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteProgramList:async(t,r,a={})=>{h("deleteProgramList","cell",t),h("deleteProgramList","programIds",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r&&(c.program_ids=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getProgram:async(t,r,a={})=>{h("getProgram","cell",t),h("getProgram","program",r);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},updateProgram:async(t,r,a,o={})=>{h("updateProgram","cell",t),h("updateProgram","program",r),h("updateProgram","body",a);const n="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="text/plain",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},Br=function(e){const t=z0(e);return{async createProgram(r,a,o,n){var c,d;const s=await t.createProgram(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["LibraryProgramApi.createProgram"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async deleteProgram(r,a,o){var i,c;const n=await t.deleteProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["LibraryProgramApi.deleteProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deleteProgramList(r,a,o){var i,c;const n=await t.deleteProgramList(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["LibraryProgramApi.deleteProgramList"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getProgram(r,a,o){var i,c;const n=await t.getProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["LibraryProgramApi.getProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async updateProgram(r,a,o,n){var c,d;const s=await t.updateProgram(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["LibraryProgramApi.updateProgram"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class G0 extends fe{createProgram(t,r,a,o){return Br(this.configuration).createProgram(t,r,a,o).then(n=>n(this.axios,this.basePath))}deleteProgram(t,r,a){return Br(this.configuration).deleteProgram(t,r,a).then(o=>o(this.axios,this.basePath))}deleteProgramList(t,r,a){return Br(this.configuration).deleteProgramList(t,r,a).then(o=>o(this.axios,this.basePath))}getProgram(t,r,a){return Br(this.configuration).getProgram(t,r,a).then(o=>o(this.axios,this.basePath))}updateProgram(t,r,a,o){return Br(this.configuration).updateProgram(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const J0=function(e){return{getProgramMetadata:async(t,r,a={})=>{h("getProgramMetadata","cell",t),h("getProgramMetadata","program",r);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listProgramMetadata:async(t,r,a={})=>{h("listProgramMetadata","cell",t);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.show_hidden=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},updateProgramMetadata:async(t,r,a,o={})=>{h("updateProgramMetadata","cell",t),h("updateProgramMetadata","program",r),h("updateProgramMetadata","updateProgramMetadataRequest",a);const n="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},uploadProgramMetadataImage:async(t,r,a,o={})=>{h("uploadProgramMetadataImage","cell",t),h("uploadProgramMetadataImage","program",r),h("uploadProgramMetadataImage","file",a);const n="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={},u=new(e&&e.formDataCtor||FormData);V(i,e),await P(c,e),a!==void 0&&u.append("file",a),c["Content-Type"]="multipart/form-data",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=u,{url:_(s),options:i}}}},Sa=function(e){const t=J0(e);return{async getProgramMetadata(r,a,o){var i,c;const n=await t.getProgramMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listProgramMetadata(r,a,o){var i,c;const n=await t.listProgramMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async updateProgramMetadata(r,a,o,n){var c,d;const s=await t.updateProgramMetadata(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async uploadProgramMetadataImage(r,a,o,n){var c,d;const s=await t.uploadProgramMetadataImage(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class q0 extends fe{getProgramMetadata(t,r,a){return Sa(this.configuration).getProgramMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}listProgramMetadata(t,r,a){return Sa(this.configuration).listProgramMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}updateProgramMetadata(t,r,a,o){return Sa(this.configuration).updateProgramMetadata(t,r,a,o).then(n=>n(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,a,o){return Sa(this.configuration).uploadProgramMetadataImage(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const H0=function(e){return{createRecipe:async(t,r,a,o,n={})=>{h("createRecipe","cell",t),h("createRecipe","programId",r),h("createRecipe","body",a);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"POST",...i,...n},d={},u={};V(c,e),await P(d,e),r!==void 0&&(u.program_id=r),o!==void 0&&(u.name=o),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},c.data=re(a,c,e),{url:_(l),options:c}},deleteRecipe:async(t,r,a={})=>{h("deleteRecipe","cell",t),h("deleteRecipe","recipe",r);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteRecipeList:async(t,r,a={})=>{h("deleteRecipeList","cell",t),h("deleteRecipeList","recipeIds",r);const o="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r&&(c.recipe_ids=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getRecipe:async(t,r,a={})=>{h("getRecipe","cell",t),h("getRecipe","recipe",r);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},updateRecipe:async(t,r,a,o={})=>{h("updateRecipe","cell",t),h("updateRecipe","recipe",r),h("updateRecipe","body",a);const n="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},Lr=function(e){const t=H0(e);return{async createRecipe(r,a,o,n,s){var d,u;const l=await t.createRecipe(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["LibraryRecipeApi.createRecipe"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)},async deleteRecipe(r,a,o){var i,c;const n=await t.deleteRecipe(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["LibraryRecipeApi.deleteRecipe"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deleteRecipeList(r,a,o){var i,c;const n=await t.deleteRecipeList(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["LibraryRecipeApi.deleteRecipeList"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getRecipe(r,a,o){var i,c;const n=await t.getRecipe(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["LibraryRecipeApi.getRecipe"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async updateRecipe(r,a,o,n){var c,d;const s=await t.updateRecipe(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["LibraryRecipeApi.updateRecipe"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class W0 extends fe{createRecipe(t,r,a,o,n){return Lr(this.configuration).createRecipe(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,a){return Lr(this.configuration).deleteRecipe(t,r,a).then(o=>o(this.axios,this.basePath))}deleteRecipeList(t,r,a){return Lr(this.configuration).deleteRecipeList(t,r,a).then(o=>o(this.axios,this.basePath))}getRecipe(t,r,a){return Lr(this.configuration).getRecipe(t,r,a).then(o=>o(this.axios,this.basePath))}updateRecipe(t,r,a,o){return Lr(this.configuration).updateRecipe(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const Q0=function(e){return{getRecipeMetadata:async(t,r,a={})=>{h("getRecipeMetadata","cell",t),h("getRecipeMetadata","recipe",r);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listRecipeMetadata:async(t,r={})=>{h("listRecipeMetadata","cell",t);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},updateRecipeMetadata:async(t,r,a,o={})=>{h("updateRecipeMetadata","cell",t),h("updateRecipeMetadata","recipe",r),h("updateRecipeMetadata","updateRecipeMetadataRequest",a);const n="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},uploadRecipeMetadataImage:async(t,r,a,o={})=>{h("uploadRecipeMetadataImage","cell",t),h("uploadRecipeMetadataImage","recipe",r),h("uploadRecipeMetadataImage","file",a);const n="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={},u=new(e&&e.formDataCtor||FormData);V(i,e),await P(c,e),a!==void 0&&u.append("file",a),c["Content-Type"]="multipart/form-data",R(s,d);let p=l&&l.headers?l.headers:{};return i.headers={...c,...p,...o.headers},i.data=u,{url:_(s),options:i}}}},va=function(e){const t=Q0(e);return{async getRecipeMetadata(r,a,o){var i,c;const n=await t.getRecipeMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listRecipeMetadata(r,a){var l,i;const o=await t.listRecipeMetadata(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async updateRecipeMetadata(r,a,o,n){var c,d;const s=await t.updateRecipeMetadata(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async uploadRecipeMetadataImage(r,a,o,n){var c,d;const s=await t.uploadRecipeMetadataImage(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class K0 extends fe{getRecipeMetadata(t,r,a){return va(this.configuration).getRecipeMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}listRecipeMetadata(t,r){return va(this.configuration).listRecipeMetadata(t,r).then(a=>a(this.axios,this.basePath))}updateRecipeMetadata(t,r,a,o){return va(this.configuration).updateRecipeMetadata(t,r,a,o).then(n=>n(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,a,o){return va(this.configuration).uploadRecipeMetadataImage(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const Y0=function(e){return{deleteAllMotions:async(t,r={})=>{h("deleteAllMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},deleteMotion:async(t,r,a={})=>{h("deleteMotion","cell",t),h("deleteMotion","motion",r);const o="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},executeTrajectory:async(t,r,a={})=>{h("executeTrajectory","cell",t),h("executeTrajectory","executeTrajectoryRequest",r);const o="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},getMotionTrajectory:async(t,r,a,o,n={})=>{h("getMotionTrajectory","cell",t),h("getMotionTrajectory","motion",r),h("getMotionTrajectory","sampleTime",a);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...n},d={},u={};V(c,e),await P(d,e),a!==void 0&&(u.sample_time=a),o!==void 0&&(u.responses_coordinate_system=o),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},{url:_(l),options:c}},getMotionTrajectorySample:async(t,r,a,o,n={})=>{h("getMotionTrajectorySample","cell",t),h("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...n},d={},u={};V(c,e),await P(d,e),a!==void 0&&(u.location_on_trajectory=a),o!==void 0&&(u.response_coordinate_system=o),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},{url:_(l),options:c}},getPlannedMotion:async(t,r,a,o={})=>{h("getPlannedMotion","cell",t),h("getPlannedMotion","motion",r);const n="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.sample_time=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},getPlanningMotionGroupModels:async(t,r={})=>{h("getPlanningMotionGroupModels","cell",t);const a="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listMotions:async(t,r={})=>{h("listMotions","cell",t);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},loadPlannedMotion:async(t,r,a={})=>{h("loadPlannedMotion","cell",t),h("loadPlannedMotion","plannedMotion",r);const o="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planCollisionFreePTP:async(t,r,a={})=>{h("planCollisionFreePTP","cell",t);const o="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planMotion:async(t,r,a={})=>{h("planMotion","cell",t),h("planMotion","planRequest",r);const o="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planTrajectory:async(t,r,a={})=>{h("planTrajectory","cell",t);const o="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},stopExecution:async(t,r,a={})=>{h("stopExecution","cell",t),h("stopExecution","motion",r);const o="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},streamMove:async(t,r,a={})=>{h("streamMove","cell",t),h("streamMove","streamMoveRequest",r);const o="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},streamMoveBackward:async(t,r,a,o,n,s,l={})=>{h("streamMoveBackward","cell",t),h("streamMoveBackward","motion",r),h("streamMoveBackward","playbackSpeedInPercent",a);const i="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(i,w);let d;e&&(d=e.baseOptions);const u={method:"GET",...d,...l},p={},f={};V(u,e),await P(p,e),a!==void 0&&(f.playback_speed_in_percent=a),o!==void 0&&(f.response_rate=o),n!==void 0&&(f.response_coordinate_system=n),s!==void 0&&(f.start_location_on_trajectory=s),R(c,f);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...l.headers},{url:_(c),options:u}},streamMoveForward:async(t,r,a,o,n,s,l={})=>{h("streamMoveForward","cell",t),h("streamMoveForward","motion",r),h("streamMoveForward","playbackSpeedInPercent",a);const i="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(i,w);let d;e&&(d=e.baseOptions);const u={method:"GET",...d,...l},p={},f={};V(u,e),await P(p,e),a!==void 0&&(f.playback_speed_in_percent=a),o!==void 0&&(f.response_rate=o),n!==void 0&&(f.response_coordinate_system=n),s!==void 0&&(f.start_location_on_trajectory=s),R(c,f);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...l.headers},{url:_(c),options:u}},streamMoveToTrajectoryViaJointPTP:async(t,r,a,o,n,s,l,i,c,d,u={})=>{h("streamMoveToTrajectoryViaJointPTP","cell",t),h("streamMoveToTrajectoryViaJointPTP","motion",r),h("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",a);const p="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),f=new URL(p,w);let g;e&&(g=e.baseOptions);const m={method:"GET",...g,...u},x={},I={};V(m,e),await P(x,e),a!==void 0&&(I.location_on_trajectory=a),o&&(I["limit_override.joint_velocity_limits.joints"]=o),n&&(I["limit_override.joint_acceleration_limits.joints"]=n),s!==void 0&&(I["limit_override.tcp_velocity_limit"]=s),l!==void 0&&(I["limit_override.tcp_acceleration_limit"]=l),i!==void 0&&(I["limit_override.tcp_orientation_velocity_limit"]=i),c!==void 0&&(I["limit_override.tcp_orientation_acceleration_limit"]=c),d!==void 0&&(I.responses_coordinate_system=d),R(f,I);let G=g&&g.headers?g.headers:{};return m.headers={...x,...G,...u.headers},{url:_(f),options:m}}}},Ee=function(e){const t=Y0(e);return{async deleteAllMotions(r,a){var l,i;const o=await t.deleteAllMotions(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["MotionApi.deleteAllMotions"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async deleteMotion(r,a,o){var i,c;const n=await t.deleteMotion(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionApi.deleteMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async executeTrajectory(r,a,o){var i,c;const n=await t.executeTrajectory(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionApi.executeTrajectory"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getMotionTrajectory(r,a,o,n,s){var d,u;const l=await t.getMotionTrajectory(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["MotionApi.getMotionTrajectory"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)},async getMotionTrajectorySample(r,a,o,n,s){var d,u;const l=await t.getMotionTrajectorySample(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["MotionApi.getMotionTrajectorySample"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)},async getPlannedMotion(r,a,o,n){var c,d;const s=await t.getPlannedMotion(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["MotionApi.getPlannedMotion"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getPlanningMotionGroupModels(r,a){var l,i;const o=await t.getPlanningMotionGroupModels(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["MotionApi.getPlanningMotionGroupModels"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listMotions(r,a){var l,i;const o=await t.listMotions(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["MotionApi.listMotions"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async loadPlannedMotion(r,a,o){var i,c;const n=await t.loadPlannedMotion(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionApi.loadPlannedMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async planCollisionFreePTP(r,a,o){var i,c;const n=await t.planCollisionFreePTP(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionApi.planCollisionFreePTP"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async planMotion(r,a,o){var i,c;const n=await t.planMotion(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionApi.planMotion"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async planTrajectory(r,a,o){var i,c;const n=await t.planTrajectory(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionApi.planTrajectory"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async stopExecution(r,a,o){var i,c;const n=await t.stopExecution(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionApi.stopExecution"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async streamMove(r,a,o){var i,c;const n=await t.streamMove(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionApi.streamMove"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async streamMoveBackward(r,a,o,n,s,l,i){var p,f;const c=await t.streamMoveBackward(r,a,o,n,s,l,i),d=(e==null?void 0:e.serverIndex)??0,u=(f=(p=C["MotionApi.streamMoveBackward"])==null?void 0:p[d])==null?void 0:f.url;return(g,m)=>A(c,v,O,e)(g,u||m)},async streamMoveForward(r,a,o,n,s,l,i){var p,f;const c=await t.streamMoveForward(r,a,o,n,s,l,i),d=(e==null?void 0:e.serverIndex)??0,u=(f=(p=C["MotionApi.streamMoveForward"])==null?void 0:p[d])==null?void 0:f.url;return(g,m)=>A(c,v,O,e)(g,u||m)},async streamMoveToTrajectoryViaJointPTP(r,a,o,n,s,l,i,c,d,u,p){var x,I;const f=await t.streamMoveToTrajectoryViaJointPTP(r,a,o,n,s,l,i,c,d,u,p),g=(e==null?void 0:e.serverIndex)??0,m=(I=(x=C["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:x[g])==null?void 0:I.url;return(G,N)=>A(f,v,O,e)(G,m||N)}}};class X0 extends fe{deleteAllMotions(t,r){return Ee(this.configuration).deleteAllMotions(t,r).then(a=>a(this.axios,this.basePath))}deleteMotion(t,r,a){return Ee(this.configuration).deleteMotion(t,r,a).then(o=>o(this.axios,this.basePath))}executeTrajectory(t,r,a){return Ee(this.configuration).executeTrajectory(t,r,a).then(o=>o(this.axios,this.basePath))}getMotionTrajectory(t,r,a,o,n){return Ee(this.configuration).getMotionTrajectory(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,a,o,n){return Ee(this.configuration).getMotionTrajectorySample(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,a,o){return Ee(this.configuration).getPlannedMotion(t,r,a,o).then(n=>n(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ee(this.configuration).getPlanningMotionGroupModels(t,r).then(a=>a(this.axios,this.basePath))}listMotions(t,r){return Ee(this.configuration).listMotions(t,r).then(a=>a(this.axios,this.basePath))}loadPlannedMotion(t,r,a){return Ee(this.configuration).loadPlannedMotion(t,r,a).then(o=>o(this.axios,this.basePath))}planCollisionFreePTP(t,r,a){return Ee(this.configuration).planCollisionFreePTP(t,r,a).then(o=>o(this.axios,this.basePath))}planMotion(t,r,a){return Ee(this.configuration).planMotion(t,r,a).then(o=>o(this.axios,this.basePath))}planTrajectory(t,r,a){return Ee(this.configuration).planTrajectory(t,r,a).then(o=>o(this.axios,this.basePath))}stopExecution(t,r,a){return Ee(this.configuration).stopExecution(t,r,a).then(o=>o(this.axios,this.basePath))}streamMove(t,r,a){return Ee(this.configuration).streamMove(t,r,a).then(o=>o(this.axios,this.basePath))}streamMoveBackward(t,r,a,o,n,s,l){return Ee(this.configuration).streamMoveBackward(t,r,a,o,n,s,l).then(i=>i(this.axios,this.basePath))}streamMoveForward(t,r,a,o,n,s,l){return Ee(this.configuration).streamMoveForward(t,r,a,o,n,s,l).then(i=>i(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,a,o,n,s,l,i,c,d,u){return Ee(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,a,o,n,s,l,i,c,d,u).then(p=>p(this.axios,this.basePath))}}const Z0=function(e){return{activateAllMotionGroups:async(t,r,a={})=>{h("activateAllMotionGroups","cell",t),h("activateAllMotionGroups","controller",r);const o="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.controller=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},activateMotionGroup:async(t,r,a={})=>{h("activateMotionGroup","cell",t),h("activateMotionGroup","motionGroup",r);const o="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.motion_group=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deactivateMotionGroup:async(t,r,a={})=>{h("deactivateMotionGroup","cell",t),h("deactivateMotionGroup","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listMotionGroups:async(t,r={})=>{h("listMotionGroups","cell",t);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}}}},xa=function(e){const t=Z0(e);return{async activateAllMotionGroups(r,a,o){var i,c;const n=await t.activateAllMotionGroups(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupApi.activateAllMotionGroups"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async activateMotionGroup(r,a,o){var i,c;const n=await t.activateMotionGroup(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupApi.activateMotionGroup"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deactivateMotionGroup(r,a,o){var i,c;const n=await t.deactivateMotionGroup(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupApi.deactivateMotionGroup"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listMotionGroups(r,a){var l,i;const o=await t.listMotionGroups(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["MotionGroupApi.listMotionGroups"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)}}};class eS extends fe{activateAllMotionGroups(t,r,a){return xa(this.configuration).activateAllMotionGroups(t,r,a).then(o=>o(this.axios,this.basePath))}activateMotionGroup(t,r,a){return xa(this.configuration).activateMotionGroup(t,r,a).then(o=>o(this.axios,this.basePath))}deactivateMotionGroup(t,r,a){return xa(this.configuration).deactivateMotionGroup(t,r,a).then(o=>o(this.axios,this.basePath))}listMotionGroups(t,r){return xa(this.configuration).listMotionGroups(t,r).then(a=>a(this.axios,this.basePath))}}const tS=function(e){return{getActivePayload:async(t,r,a={})=>{h("getActivePayload","cell",t),h("getActivePayload","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getActiveTcp:async(t,r,a,o={})=>{h("getActiveTcp","cell",t),h("getActiveTcp","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},getCurrentMotionGroupState:async(t,r,a,o,n={})=>{h("getCurrentMotionGroupState","cell",t),h("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"GET",...i,...n},d={},u={};V(c,e),await P(d,e),a!==void 0&&(u.tcp=a),o!==void 0&&(u.response_coordinate_system=o),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},{url:_(l),options:c}},getInfoCapabilities:async(t,r,a={})=>{h("getInfoCapabilities","cell",t),h("getInfoCapabilities","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getMotionGroupSpecification:async(t,r,a={})=>{h("getMotionGroupSpecification","cell",t),h("getMotionGroupSpecification","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getMounting:async(t,r,a={})=>{h("getMounting","cell",t),h("getMounting","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getOptimizerConfiguration:async(t,r,a,o={})=>{h("getOptimizerConfiguration","cell",t),h("getOptimizerConfiguration","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.tcp=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},getSafetySetup:async(t,r,a={})=>{h("getSafetySetup","cell",t),h("getSafetySetup","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listPayloads:async(t,r,a={})=>{h("listPayloads","cell",t),h("listPayloads","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listTcps:async(t,r,a,o={})=>{h("listTcps","cell",t),h("listTcps","motionGroup",r);const n="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.rotation_type=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},streamMotionGroupState:async(t,r,a,o,n,s={})=>{h("streamMotionGroupState","cell",t),h("streamMotionGroupState","motionGroup",r);const l="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(l,w);let c;e&&(c=e.baseOptions);const d={method:"GET",...c,...s},u={},p={};V(d,e),await P(u,e),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),n!==void 0&&(p.tcp=n),R(i,p);let f=c&&c.headers?c.headers:{};return d.headers={...u,...f,...s.headers},{url:_(i),options:d}}}},Xe=function(e){const t=tS(e);return{async getActivePayload(r,a,o){var i,c;const n=await t.getActivePayload(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupInfosApi.getActivePayload"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getActiveTcp(r,a,o,n){var c,d;const s=await t.getActiveTcp(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getCurrentMotionGroupState(r,a,o,n,s){var d,u;const l=await t.getCurrentMotionGroupState(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)},async getInfoCapabilities(r,a,o){var i,c;const n=await t.getInfoCapabilities(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getMotionGroupSpecification(r,a,o){var i,c;const n=await t.getMotionGroupSpecification(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getMounting(r,a,o){var i,c;const n=await t.getMounting(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupInfosApi.getMounting"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getOptimizerConfiguration(r,a,o,n){var c,d;const s=await t.getOptimizerConfiguration(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getSafetySetup(r,a,o){var i,c;const n=await t.getSafetySetup(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupInfosApi.getSafetySetup"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listPayloads(r,a,o){var i,c;const n=await t.listPayloads(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupInfosApi.listPayloads"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listTcps(r,a,o,n){var c,d;const s=await t.listTcps(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["MotionGroupInfosApi.listTcps"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async streamMotionGroupState(r,a,o,n,s,l){var u,p;const i=await t.streamMotionGroupState(r,a,o,n,s,l),c=(e==null?void 0:e.serverIndex)??0,d=(p=(u=C["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:u[c])==null?void 0:p.url;return(f,g)=>A(i,v,O,e)(f,d||g)}}};class rS extends fe{getActivePayload(t,r,a){return Xe(this.configuration).getActivePayload(t,r,a).then(o=>o(this.axios,this.basePath))}getActiveTcp(t,r,a,o){return Xe(this.configuration).getActiveTcp(t,r,a,o).then(n=>n(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,a,o,n){return Xe(this.configuration).getCurrentMotionGroupState(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,a){return Xe(this.configuration).getInfoCapabilities(t,r,a).then(o=>o(this.axios,this.basePath))}getMotionGroupSpecification(t,r,a){return Xe(this.configuration).getMotionGroupSpecification(t,r,a).then(o=>o(this.axios,this.basePath))}getMounting(t,r,a){return Xe(this.configuration).getMounting(t,r,a).then(o=>o(this.axios,this.basePath))}getOptimizerConfiguration(t,r,a,o){return Xe(this.configuration).getOptimizerConfiguration(t,r,a,o).then(n=>n(this.axios,this.basePath))}getSafetySetup(t,r,a){return Xe(this.configuration).getSafetySetup(t,r,a).then(o=>o(this.axios,this.basePath))}listPayloads(t,r,a){return Xe(this.configuration).listPayloads(t,r,a).then(o=>o(this.axios,this.basePath))}listTcps(t,r,a,o){return Xe(this.configuration).listTcps(t,r,a,o).then(n=>n(this.axios,this.basePath))}streamMotionGroupState(t,r,a,o,n,s){return Xe(this.configuration).streamMotionGroupState(t,r,a,o,n,s).then(l=>l(this.axios,this.basePath))}}const aS=function(e){return{directionJogging:async(t,r,a={})=>{h("directionJogging","cell",t),h("directionJogging","directionJoggingRequest",r);const o="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},getJoggingCapabilities:async(t,r,a={})=>{h("getJoggingCapabilities","cell",t),h("getJoggingCapabilities","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},jointJogging:async(t,r,a={})=>{h("jointJogging","cell",t),h("jointJogging","jointJoggingRequest",r);const o="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},stopJogging:async(t,r,a={})=>{h("stopJogging","cell",t),h("stopJogging","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}}}},Oa=function(e){const t=aS(e);return{async directionJogging(r,a,o){var i,c;const n=await t.directionJogging(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupJoggingApi.directionJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getJoggingCapabilities(r,a,o){var i,c;const n=await t.getJoggingCapabilities(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async jointJogging(r,a,o){var i,c;const n=await t.jointJogging(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupJoggingApi.jointJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async stopJogging(r,a,o){var i,c;const n=await t.stopJogging(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupJoggingApi.stopJogging"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)}}};class oS extends fe{directionJogging(t,r,a){return Oa(this.configuration).directionJogging(t,r,a).then(o=>o(this.axios,this.basePath))}getJoggingCapabilities(t,r,a){return Oa(this.configuration).getJoggingCapabilities(t,r,a).then(o=>o(this.axios,this.basePath))}jointJogging(t,r,a){return Oa(this.configuration).jointJogging(t,r,a).then(o=>o(this.axios,this.basePath))}stopJogging(t,r,a){return Oa(this.configuration).stopJogging(t,r,a).then(o=>o(this.axios,this.basePath))}}const nS=function(e){return{calculateAllInverseKinematic:async(t,r,a,o={})=>{h("calculateAllInverseKinematic","cell",t),h("calculateAllInverseKinematic","motionGroup",r),h("calculateAllInverseKinematic","allJointPositionsRequest",a);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},calculateForwardKinematic:async(t,r,a,o={})=>{h("calculateForwardKinematic","cell",t),h("calculateForwardKinematic","motionGroup",r),h("calculateForwardKinematic","tcpPoseRequest",a);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},calculateInverseKinematic:async(t,r,a,o={})=>{h("calculateInverseKinematic","cell",t),h("calculateInverseKinematic","motionGroup",r),h("calculateInverseKinematic","jointPositionRequest",a);const n="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},getKinematicCapabilities:async(t,r,a={})=>{h("getKinematicCapabilities","cell",t),h("getKinematicCapabilities","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}}}},Ca=function(e){const t=nS(e);return{async calculateAllInverseKinematic(r,a,o,n){var c,d;const s=await t.calculateAllInverseKinematic(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async calculateForwardKinematic(r,a,o,n){var c,d;const s=await t.calculateForwardKinematic(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async calculateInverseKinematic(r,a,o,n){var c,d;const s=await t.calculateInverseKinematic(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getKinematicCapabilities(r,a,o){var i,c;const n=await t.getKinematicCapabilities(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)}}};class sS extends fe{calculateAllInverseKinematic(t,r,a,o){return Ca(this.configuration).calculateAllInverseKinematic(t,r,a,o).then(n=>n(this.axios,this.basePath))}calculateForwardKinematic(t,r,a,o){return Ca(this.configuration).calculateForwardKinematic(t,r,a,o).then(n=>n(this.axios,this.basePath))}calculateInverseKinematic(t,r,a,o){return Ca(this.configuration).calculateInverseKinematic(t,r,a,o).then(n=>n(this.axios,this.basePath))}getKinematicCapabilities(t,r,a){return Ca(this.configuration).getKinematicCapabilities(t,r,a).then(o=>o(this.axios,this.basePath))}}const lS=function(e){return{createProgramRunner:async(t,r,a={})=>{h("createProgramRunner","cell",t),h("createProgramRunner","request",r);const o="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="text/plain",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},executeProgram:async(t,r,a={})=>{h("executeProgram","cell",t),h("executeProgram","codeWithArguments",r);const o="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},getProgramRunner:async(t,r,a={})=>{h("getProgramRunner","cell",t),h("getProgramRunner","runner",r);const o="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listProgramRunners:async(t,r={})=>{h("listProgramRunners","cell",t);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},migrateProgram:async(t,r,a={})=>{h("migrateProgram","cell",t),h("migrateProgram","request1",r);const o="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="text/plain",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},planProgram:async(t,r,a,o={})=>{h("planProgram","cell",t),h("planProgram","request",r);const n="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"POST",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.identifier=a),c["Content-Type"]="text/plain",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(r,i,e),{url:_(s),options:i}},stopAllProgramRunner:async(t,r={})=>{h("stopAllProgramRunner","cell",t);const a="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"POST",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},stopProgramRunner:async(t,r,a={})=>{h("stopProgramRunner","cell",t),h("stopProgramRunner","runner",r);const o="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}}}},Ot=function(e){const t=lS(e);return{async createProgramRunner(r,a,o){var i,c;const n=await t.createProgramRunner(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ProgramApi.createProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async executeProgram(r,a,o){var i,c;const n=await t.executeProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ProgramApi.executeProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getProgramRunner(r,a,o){var i,c;const n=await t.getProgramRunner(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ProgramApi.getProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listProgramRunners(r,a){var l,i;const o=await t.listProgramRunners(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["ProgramApi.listProgramRunners"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async migrateProgram(r,a,o){var i,c;const n=await t.migrateProgram(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ProgramApi.migrateProgram"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async planProgram(r,a,o,n){var c,d;const s=await t.planProgram(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ProgramApi.planProgram"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async stopAllProgramRunner(r,a){var l,i;const o=await t.stopAllProgramRunner(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["ProgramApi.stopAllProgramRunner"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async stopProgramRunner(r,a,o){var i,c;const n=await t.stopProgramRunner(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ProgramApi.stopProgramRunner"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)}}};class iS extends fe{createProgramRunner(t,r,a){return Ot(this.configuration).createProgramRunner(t,r,a).then(o=>o(this.axios,this.basePath))}executeProgram(t,r,a){return Ot(this.configuration).executeProgram(t,r,a).then(o=>o(this.axios,this.basePath))}getProgramRunner(t,r,a){return Ot(this.configuration).getProgramRunner(t,r,a).then(o=>o(this.axios,this.basePath))}listProgramRunners(t,r){return Ot(this.configuration).listProgramRunners(t,r).then(a=>a(this.axios,this.basePath))}migrateProgram(t,r,a){return Ot(this.configuration).migrateProgram(t,r,a).then(o=>o(this.axios,this.basePath))}planProgram(t,r,a,o){return Ot(this.configuration).planProgram(t,r,a,o).then(n=>n(this.axios,this.basePath))}stopAllProgramRunner(t,r){return Ot(this.configuration).stopAllProgramRunner(t,r).then(a=>a(this.axios,this.basePath))}stopProgramRunner(t,r,a){return Ot(this.configuration).stopProgramRunner(t,r,a).then(o=>o(this.axios,this.basePath))}}const cS=function(e){return{clearProgramsValues:async(t,r={})=>{h("clearProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},createProgramsValue:async(t,r,a={})=>{h("createProgramsValue","cell",t),h("createProgramsValue","requestBody",r);const o="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"POST",...s,...a},i={},c={};V(l,e),await P(i,e),i["Content-Type"]="application/json",R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},l.data=re(r,l,e),{url:_(n),options:l}},deleteProgramValue:async(t,r,a={})=>{h("deleteProgramValue","cell",t),h("deleteProgramValue","key",r);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getProgramValue:async(t,r,a={})=>{h("getProgramValue","cell",t),h("getProgramValue","key",r);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listProgramsValues:async(t,r={})=>{h("listProgramsValues","cell",t);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},updateProgramValue:async(t,r,a,o={})=>{h("updateProgramValue","cell",t),h("updateProgramValue","key",r),h("updateProgramValue","value",a);const n="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},or=function(e){const t=cS(e);return{async clearProgramsValues(r,a){var l,i;const o=await t.clearProgramsValues(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["ProgramValuesApi.clearProgramsValues"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async createProgramsValue(r,a,o){var i,c;const n=await t.createProgramsValue(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ProgramValuesApi.createProgramsValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deleteProgramValue(r,a,o){var i,c;const n=await t.deleteProgramValue(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ProgramValuesApi.deleteProgramValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getProgramValue(r,a,o){var i,c;const n=await t.getProgramValue(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["ProgramValuesApi.getProgramValue"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listProgramsValues(r,a){var l,i;const o=await t.listProgramsValues(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["ProgramValuesApi.listProgramsValues"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async updateProgramValue(r,a,o,n){var c,d;const s=await t.updateProgramValue(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["ProgramValuesApi.updateProgramValue"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class dS extends fe{clearProgramsValues(t,r){return or(this.configuration).clearProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}createProgramsValue(t,r,a){return or(this.configuration).createProgramsValue(t,r,a).then(o=>o(this.axios,this.basePath))}deleteProgramValue(t,r,a){return or(this.configuration).deleteProgramValue(t,r,a).then(o=>o(this.axios,this.basePath))}getProgramValue(t,r,a){return or(this.configuration).getProgramValue(t,r,a).then(o=>o(this.axios,this.basePath))}listProgramsValues(t,r){return or(this.configuration).listProgramsValues(t,r).then(a=>a(this.axios,this.basePath))}updateProgramValue(t,r,a,o){return or(this.configuration).updateProgramValue(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const uS=function(e){return{deleteStoredCollider:async(t,r,a={})=>{h("deleteStoredCollider","cell",t),h("deleteStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteStoredCollisionLinkChain:async(t,r,a={})=>{h("deleteStoredCollisionLinkChain","cell",t),h("deleteStoredCollisionLinkChain","linkChain",r);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deleteStoredCollisionTool:async(t,r,a={})=>{h("deleteStoredCollisionTool","cell",t),h("deleteStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getDefaultLinkChain:async(t,r,a={})=>{h("getDefaultLinkChain","cell",t),h("getDefaultLinkChain","motionGroupModel",r);const o="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollider:async(t,r,a={})=>{h("getStoredCollider","cell",t),h("getStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollisionLinkChain:async(t,r,a={})=>{h("getStoredCollisionLinkChain","cell",t),h("getStoredCollisionLinkChain","linkChain",r);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollisionTool:async(t,r,a={})=>{h("getStoredCollisionTool","cell",t),h("getStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listCollisionLinkChains:async(t,r={})=>{h("listCollisionLinkChains","cell",t);const a="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listStoredColliders:async(t,r={})=>{h("listStoredColliders","cell",t);const a="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},listStoredCollisionTools:async(t,r={})=>{h("listStoredCollisionTools","cell",t);const a="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},storeCollider:async(t,r,a,o={})=>{h("storeCollider","cell",t),h("storeCollider","collider",r),h("storeCollider","collider2",a);const n="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},storeCollisionLinkChain:async(t,r,a,o={})=>{h("storeCollisionLinkChain","cell",t),h("storeCollisionLinkChain","linkChain",r),h("storeCollisionLinkChain","collider",a);const n="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},storeCollisionTool:async(t,r,a,o={})=>{h("storeCollisionTool","cell",t),h("storeCollisionTool","tool",r),h("storeCollisionTool","requestBody",a);const n="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},ze=function(e){const t=uS(e);return{async deleteStoredCollider(r,a,o){var i,c;const n=await t.deleteStoredCollider(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deleteStoredCollisionLinkChain(r,a,o){var i,c;const n=await t.deleteStoredCollisionLinkChain(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async deleteStoredCollisionTool(r,a,o){var i,c;const n=await t.deleteStoredCollisionTool(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getDefaultLinkChain(r,a,o){var i,c;const n=await t.getDefaultLinkChain(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getStoredCollider(r,a,o){var i,c;const n=await t.getStoredCollider(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getStoredCollisionLinkChain(r,a,o){var i,c;const n=await t.getStoredCollisionLinkChain(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getStoredCollisionTool(r,a,o){var i,c;const n=await t.getStoredCollisionTool(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listCollisionLinkChains(r,a){var l,i;const o=await t.listCollisionLinkChains(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listStoredColliders(r,a){var l,i;const o=await t.listStoredColliders(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async listStoredCollisionTools(r,a){var l,i;const o=await t.listStoredCollisionTools(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async storeCollider(r,a,o,n){var c,d;const s=await t.storeCollider(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async storeCollisionLinkChain(r,a,o,n){var c,d;const s=await t.storeCollisionLinkChain(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async storeCollisionTool(r,a,o,n){var c,d;const s=await t.storeCollisionTool(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class pS extends fe{deleteStoredCollider(t,r,a){return ze(this.configuration).deleteStoredCollider(t,r,a).then(o=>o(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,a){return ze(this.configuration).deleteStoredCollisionLinkChain(t,r,a).then(o=>o(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,a){return ze(this.configuration).deleteStoredCollisionTool(t,r,a).then(o=>o(this.axios,this.basePath))}getDefaultLinkChain(t,r,a){return ze(this.configuration).getDefaultLinkChain(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollider(t,r,a){return ze(this.configuration).getStoredCollider(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,a){return ze(this.configuration).getStoredCollisionLinkChain(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollisionTool(t,r,a){return ze(this.configuration).getStoredCollisionTool(t,r,a).then(o=>o(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ze(this.configuration).listCollisionLinkChains(t,r).then(a=>a(this.axios,this.basePath))}listStoredColliders(t,r){return ze(this.configuration).listStoredColliders(t,r).then(a=>a(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ze(this.configuration).listStoredCollisionTools(t,r).then(a=>a(this.axios,this.basePath))}storeCollider(t,r,a,o){return ze(this.configuration).storeCollider(t,r,a,o).then(n=>n(this.axios,this.basePath))}storeCollisionLinkChain(t,r,a,o){return ze(this.configuration).storeCollisionLinkChain(t,r,a,o).then(n=>n(this.axios,this.basePath))}storeCollisionTool(t,r,a,o){return ze(this.configuration).storeCollisionTool(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const hS=function(e){return{deleteStoredCollisionScene:async(t,r,a={})=>{h("deleteStoredCollisionScene","cell",t),h("deleteStoredCollisionScene","scene",r);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getStoredCollisionScene:async(t,r,a={})=>{h("getStoredCollisionScene","cell",t),h("getStoredCollisionScene","scene",r);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listStoredCollisionScenes:async(t,r={})=>{h("listStoredCollisionScenes","cell",t);const a="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},storeCollisionScene:async(t,r,a,o={})=>{h("storeCollisionScene","cell",t),h("storeCollisionScene","scene",r),h("storeCollisionScene","collisionSceneAssembly",a);const n="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}}}},wa=function(e){const t=hS(e);return{async deleteStoredCollisionScene(r,a,o){var i,c;const n=await t.deleteStoredCollisionScene(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getStoredCollisionScene(r,a,o){var i,c;const n=await t.getStoredCollisionScene(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listStoredCollisionScenes(r,a){var l,i;const o=await t.listStoredCollisionScenes(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async storeCollisionScene(r,a,o,n){var c,d;const s=await t.storeCollisionScene(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class mS extends fe{deleteStoredCollisionScene(t,r,a){return wa(this.configuration).deleteStoredCollisionScene(t,r,a).then(o=>o(this.axios,this.basePath))}getStoredCollisionScene(t,r,a){return wa(this.configuration).getStoredCollisionScene(t,r,a).then(o=>o(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return wa(this.configuration).listStoredCollisionScenes(t,r).then(a=>a(this.axios,this.basePath))}storeCollisionScene(t,r,a,o){return wa(this.configuration).storeCollisionScene(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const fS=function(e){return{clearAllObjects:async(t,r={})=>{h("clearAllObjects","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"DELETE",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},deleteObject:async(t,r,a={})=>{h("deleteObject","cell",t),h("deleteObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getObject:async(t,r,a={})=>{h("getObject","cell",t),h("getObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getObjectMetadata:async(t,r,a={})=>{h("getObjectMetadata","cell",t),h("getObjectMetadata","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"HEAD",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listAllObjectKeys:async(t,r={})=>{h("listAllObjectKeys","cell",t);const a="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},storeObject:async(t,r,a,o,n={})=>{h("storeObject","cell",t),h("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},u={},p=new(e&&e.formDataCtor||FormData);V(c,e),await P(d,e),o!==void 0&&p.append("AnyValue",new Blob([JSON.stringify(o)],{type:"application/json"})),d["Content-Type"]="multipart/form-data",a!=null&&(d["X-Metadata"]=typeof a=="string"?a:JSON.stringify(a)),R(l,u);let f=i&&i.headers?i.headers:{};return c.headers={...d,...f,...n.headers},c.data=p,{url:_(l),options:c}}}},nr=function(e){const t=fS(e);return{async clearAllObjects(r,a){var l,i;const o=await t.clearAllObjects(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["StoreObjectApi.clearAllObjects"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async deleteObject(r,a,o){var i,c;const n=await t.deleteObject(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreObjectApi.deleteObject"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getObject(r,a,o){var i,c;const n=await t.getObject(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreObjectApi.getObject"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getObjectMetadata(r,a,o){var i,c;const n=await t.getObjectMetadata(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["StoreObjectApi.getObjectMetadata"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listAllObjectKeys(r,a){var l,i;const o=await t.listAllObjectKeys(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["StoreObjectApi.listAllObjectKeys"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async storeObject(r,a,o,n,s){var d,u;const l=await t.storeObject(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["StoreObjectApi.storeObject"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)}}};class yS extends fe{clearAllObjects(t,r){return nr(this.configuration).clearAllObjects(t,r).then(a=>a(this.axios,this.basePath))}deleteObject(t,r,a){return nr(this.configuration).deleteObject(t,r,a).then(o=>o(this.axios,this.basePath))}getObject(t,r,a){return nr(this.configuration).getObject(t,r,a).then(o=>o(this.axios,this.basePath))}getObjectMetadata(t,r,a){return nr(this.configuration).getObjectMetadata(t,r,a).then(o=>o(this.axios,this.basePath))}listAllObjectKeys(t,r){return nr(this.configuration).listAllObjectKeys(t,r).then(a=>a(this.axios,this.basePath))}storeObject(t,r,a,o,n){return nr(this.configuration).storeObject(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const gS=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{h("checkNovaVersionUpdate","channel",t);const a="/system/update",o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"GET",...n,...r},l={},i={};V(s,e),await P(l,e),t!==void 0&&(i.channel=t),R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},{url:_(o),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",a=new URL(r,w);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};V(n,e),await P(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},getSystemStatus:async(t={})=>{const r="/system/status",a=new URL(r,w);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};V(n,e),await P(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},getSystemVersion:async(t={})=>{const r="/system/version",a=new URL(r,w);let o;e&&(o=e.baseOptions);const n={method:"GET",...o,...t},s={},l={};V(n,e),await P(s,e),R(a,l);let i=o&&o.headers?o.headers:{};return n.headers={...s,...i,...t.headers},{url:_(a),options:n}},updateNovaVersion:async(t,r={})=>{h("updateNovaVersion","updateNovaVersionRequest",t);const a="/system/update",o=new URL(a,w);let n;e&&(n=e.baseOptions);const s={method:"PUT",...n,...r},l={},i={};V(s,e),await P(l,e),l["Content-Type"]="application/json",R(o,i);let c=n&&n.headers?n.headers:{};return s.headers={...l,...c,...r.headers},s.data=re(t,s,e),{url:_(o),options:s}}}},Fr=function(e){const t=gS(e);return{async checkNovaVersionUpdate(r,a){var l,i;const o=await t.checkNovaVersionUpdate(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["SystemApi.checkNovaVersionUpdate"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)},async getDiagnosePackage(r){var s,l;const a=await t.getDiagnosePackage(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=C["SystemApi.getDiagnosePackage"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async getSystemStatus(r){var s,l;const a=await t.getSystemStatus(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=C["SystemApi.getSystemStatus"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async getSystemVersion(r){var s,l;const a=await t.getSystemVersion(r),o=(e==null?void 0:e.serverIndex)??0,n=(l=(s=C["SystemApi.getSystemVersion"])==null?void 0:s[o])==null?void 0:l.url;return(i,c)=>A(a,v,O,e)(i,n||c)},async updateNovaVersion(r,a){var l,i;const o=await t.updateNovaVersion(r,a),n=(e==null?void 0:e.serverIndex)??0,s=(i=(l=C["SystemApi.updateNovaVersion"])==null?void 0:l[n])==null?void 0:i.url;return(c,d)=>A(o,v,O,e)(c,s||d)}}};class bS extends fe{checkNovaVersionUpdate(t,r){return Fr(this.configuration).checkNovaVersionUpdate(t,r).then(a=>a(this.axios,this.basePath))}getDiagnosePackage(t){return Fr(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Fr(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Fr(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Fr(this.configuration).updateNovaVersion(t,r).then(a=>a(this.axios,this.basePath))}}const SS=function(e){return{getMotionGroupState:async(t,r,a,o={})=>{h("getMotionGroupState","cell",t),h("getMotionGroupState","controller",r),h("getMotionGroupState","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},getMotionGroups:async(t,r,a={})=>{h("getMotionGroups","cell",t),h("getMotionGroups","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getVirtualRobotIOValue:async(t,r,a,o={})=>{h("getVirtualRobotIOValue","cell",t),h("getVirtualRobotIOValue","controller",r),h("getVirtualRobotIOValue","io",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(a))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},listIOs:async(t,r,a={})=>{h("listIOs","cell",t),h("listIOs","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},setMotionGroupState:async(t,r,a,o,n={})=>{h("setMotionGroupState","cell",t),h("setMotionGroupState","controller",r),h("setMotionGroupState","id",a),h("setMotionGroupState","motionGroupJoints",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},u={};V(c,e),await P(d,e),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},c.data=re(o,c,e),{url:_(l),options:c}},setVirtualRobotIOValue:async(t,r,a,o,n,s,l={})=>{h("setVirtualRobotIOValue","cell",t),h("setVirtualRobotIOValue","controller",r),h("setVirtualRobotIOValue","io",a);const i="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(a))),c=new URL(i,w);let d;e&&(d=e.baseOptions);const u={method:"PUT",...d,...l},p={},f={};V(u,e),await P(p,e),o!==void 0&&(f.bool=o),n!==void 0&&(f.integer=n),s!==void 0&&(f.double=s),R(c,f);let g=d&&d.headers?d.headers:{};return u.headers={...p,...g,...l.headers},{url:_(c),options:u}}}},sr=function(e){const t=SS(e);return{async getMotionGroupState(r,a,o,n){var c,d;const s=await t.getMotionGroupState(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getMotionGroups(r,a,o){var i,c;const n=await t.getMotionGroups(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["VirtualRobotApi.getMotionGroups"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getVirtualRobotIOValue(r,a,o,n){var c,d;const s=await t.getVirtualRobotIOValue(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async listIOs(r,a,o){var i,c;const n=await t.listIOs(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["VirtualRobotApi.listIOs"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async setMotionGroupState(r,a,o,n,s){var d,u;const l=await t.setMotionGroupState(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotApi.setMotionGroupState"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)},async setVirtualRobotIOValue(r,a,o,n,s,l,i){var p,f;const c=await t.setVirtualRobotIOValue(r,a,o,n,s,l,i),d=(e==null?void 0:e.serverIndex)??0,u=(f=(p=C["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:p[d])==null?void 0:f.url;return(g,m)=>A(c,v,O,e)(g,u||m)}}};class vS extends fe{getMotionGroupState(t,r,a,o){return sr(this.configuration).getMotionGroupState(t,r,a,o).then(n=>n(this.axios,this.basePath))}getMotionGroups(t,r,a){return sr(this.configuration).getMotionGroups(t,r,a).then(o=>o(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,a,o){return sr(this.configuration).getVirtualRobotIOValue(t,r,a,o).then(n=>n(this.axios,this.basePath))}listIOs(t,r,a){return sr(this.configuration).listIOs(t,r,a).then(o=>o(this.axios,this.basePath))}setMotionGroupState(t,r,a,o,n){return sr(this.configuration).setMotionGroupState(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,a,o,n,s,l){return sr(this.configuration).setVirtualRobotIOValue(t,r,a,o,n,s,l).then(i=>i(this.axios,this.basePath))}}const xS=function(e){return{externalJointsStream:async(t,r,a,o={})=>{h("externalJointsStream","cell",t),h("externalJointsStream","controller",r),h("externalJointsStream","externalJointStreamDatapoint",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},getMotionGroupBehavior:async(t,r,a,o={})=>{h("getMotionGroupBehavior","cell",t),h("getMotionGroupBehavior","controller",r),h("getMotionGroupBehavior","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},setMotionGroupBehavior:async(t,r,a,o,n={})=>{h("setMotionGroupBehavior","cell",t),h("setMotionGroupBehavior","controller",r),h("setMotionGroupBehavior","id",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},u={};V(c,e),await P(d,e),o!==void 0&&(u.behavior=o),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},{url:_(l),options:c}}}},Qo=function(e){const t=xS(e);return{async externalJointsStream(r,a,o,n){var c,d;const s=await t.externalJointsStream(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async getMotionGroupBehavior(r,a,o,n){var c,d;const s=await t.getMotionGroupBehavior(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async setMotionGroupBehavior(r,a,o,n,s){var d,u;const l=await t.setMotionGroupBehavior(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)}}};class OS extends fe{externalJointsStream(t,r,a,o){return Qo(this.configuration).externalJointsStream(t,r,a,o).then(n=>n(this.axios,this.basePath))}getMotionGroupBehavior(t,r,a,o){return Qo(this.configuration).getMotionGroupBehavior(t,r,a,o).then(n=>n(this.axios,this.basePath))}setMotionGroupBehavior(t,r,a,o,n){return Qo(this.configuration).setMotionGroupBehavior(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}const CS=function(e){return{getCycleTime:async(t,r,a={})=>{h("getCycleTime","cell",t),h("getCycleTime","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getEStop:async(t,r,a={})=>{h("getEStop","cell",t),h("getEStop","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},getOperationMode:async(t,r,a={})=>{h("getOperationMode","cell",t),h("getOperationMode","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},pushEStop:async(t,r,a={})=>{h("pushEStop","cell",t),h("pushEStop","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},releaseEStop:async(t,r,a={})=>{h("releaseEStop","cell",t),h("releaseEStop","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"PUT",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},setOperationMode:async(t,r,a,o={})=>{h("setOperationMode","cell",t),h("setOperationMode","controller",r),h("setOperationMode","mode",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),a!==void 0&&(d.mode=a),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}}}},lr=function(e){const t=CS(e);return{async getCycleTime(r,a,o){var i,c;const n=await t.getCycleTime(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["VirtualRobotModeApi.getCycleTime"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getEStop(r,a,o){var i,c;const n=await t.getEStop(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["VirtualRobotModeApi.getEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async getOperationMode(r,a,o){var i,c;const n=await t.getOperationMode(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["VirtualRobotModeApi.getOperationMode"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async pushEStop(r,a,o){var i,c;const n=await t.pushEStop(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["VirtualRobotModeApi.pushEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async releaseEStop(r,a,o){var i,c;const n=await t.releaseEStop(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["VirtualRobotModeApi.releaseEStop"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async setOperationMode(r,a,o,n){var c,d;const s=await t.setOperationMode(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)}}};class wS extends fe{getCycleTime(t,r,a){return lr(this.configuration).getCycleTime(t,r,a).then(o=>o(this.axios,this.basePath))}getEStop(t,r,a){return lr(this.configuration).getEStop(t,r,a).then(o=>o(this.axios,this.basePath))}getOperationMode(t,r,a){return lr(this.configuration).getOperationMode(t,r,a).then(o=>o(this.axios,this.basePath))}pushEStop(t,r,a){return lr(this.configuration).pushEStop(t,r,a).then(o=>o(this.axios,this.basePath))}releaseEStop(t,r,a){return lr(this.configuration).releaseEStop(t,r,a).then(o=>o(this.axios,this.basePath))}setOperationMode(t,r,a,o){return lr(this.configuration).setOperationMode(t,r,a,o).then(n=>n(this.axios,this.basePath))}}const VS=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,a,o={})=>{h("addVirtualRobotCoordinateSystem","cell",t),h("addVirtualRobotCoordinateSystem","controller",r),h("addVirtualRobotCoordinateSystem","coordinateSystem",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"PUT",...l,...o},c={},d={};V(i,e),await P(c,e),c["Content-Type"]="application/json",R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},i.data=re(a,i,e),{url:_(s),options:i}},addVirtualRobotTcp:async(t,r,a,o,n={})=>{h("addVirtualRobotTcp","cell",t),h("addVirtualRobotTcp","controller",r),h("addVirtualRobotTcp","id",a),h("addVirtualRobotTcp","robotTcp",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},u={};V(c,e),await P(d,e),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},c.data=re(o,c,e),{url:_(l),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,a,o,n={})=>{h("deleteVirtualRobotCoordinateSystem","cell",t),h("deleteVirtualRobotCoordinateSystem","controller",r),h("deleteVirtualRobotCoordinateSystem","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(a))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"DELETE",...i,...n},d={},u={};V(c,e),await P(d,e),o!==void 0&&(u.delete_dependent=o),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},{url:_(l),options:c}},deleteVirtualRobotTcp:async(t,r,a,o,n={})=>{h("deleteVirtualRobotTcp","cell",t),h("deleteVirtualRobotTcp","controller",r),h("deleteVirtualRobotTcp","id",a),h("deleteVirtualRobotTcp","tcp",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))).replace("{tcp}",encodeURIComponent(String(o))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"DELETE",...i,...n},d={},u={};V(c,e),await P(d,e),R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},{url:_(l),options:c}},getVirtualRobotMounting:async(t,r,a,o={})=>{h("getVirtualRobotMounting","cell",t),h("getVirtualRobotMounting","controller",r),h("getVirtualRobotMounting","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},listVirtualRobotCoordinateSystems:async(t,r,a={})=>{h("listVirtualRobotCoordinateSystems","cell",t),h("listVirtualRobotCoordinateSystems","controller",r);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),n=new URL(o,w);let s;e&&(s=e.baseOptions);const l={method:"GET",...s,...a},i={},c={};V(l,e),await P(i,e),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},listVirtualRobotTcps:async(t,r,a,o={})=>{h("listVirtualRobotTcps","cell",t),h("listVirtualRobotTcps","controller",r),h("listVirtualRobotTcps","id",a);const n="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),s=new URL(n,w);let l;e&&(l=e.baseOptions);const i={method:"GET",...l,...o},c={},d={};V(i,e),await P(c,e),R(s,d);let u=l&&l.headers?l.headers:{};return i.headers={...c,...u,...o.headers},{url:_(s),options:i}},setVirtualRobotMounting:async(t,r,a,o,n={})=>{h("setVirtualRobotMounting","cell",t),h("setVirtualRobotMounting","controller",r),h("setVirtualRobotMounting","id",a),h("setVirtualRobotMounting","coordinateSystem",o);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(a))),l=new URL(s,w);let i;e&&(i=e.baseOptions);const c={method:"PUT",...i,...n},d={},u={};V(c,e),await P(d,e),d["Content-Type"]="application/json",R(l,u);let p=i&&i.headers?i.headers:{};return c.headers={...d,...p,...n.headers},c.data=re(o,c,e),{url:_(l),options:c}}}},Ct=function(e){const t=VS(e);return{async addVirtualRobotCoordinateSystem(r,a,o,n){var c,d;const s=await t.addVirtualRobotCoordinateSystem(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async addVirtualRobotTcp(r,a,o,n,s){var d,u;const l=await t.addVirtualRobotTcp(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)},async deleteVirtualRobotCoordinateSystem(r,a,o,n,s){var d,u;const l=await t.deleteVirtualRobotCoordinateSystem(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)},async deleteVirtualRobotTcp(r,a,o,n,s){var d,u;const l=await t.deleteVirtualRobotTcp(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)},async getVirtualRobotMounting(r,a,o,n){var c,d;const s=await t.getVirtualRobotMounting(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async listVirtualRobotCoordinateSystems(r,a,o){var i,c;const n=await t.listVirtualRobotCoordinateSystems(r,a,o),s=(e==null?void 0:e.serverIndex)??0,l=(c=(i=C["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:i[s])==null?void 0:c.url;return(d,u)=>A(n,v,O,e)(d,l||u)},async listVirtualRobotTcps(r,a,o,n){var c,d;const s=await t.listVirtualRobotTcps(r,a,o,n),l=(e==null?void 0:e.serverIndex)??0,i=(d=(c=C["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[l])==null?void 0:d.url;return(u,p)=>A(s,v,O,e)(u,i||p)},async setVirtualRobotMounting(r,a,o,n,s){var d,u;const l=await t.setVirtualRobotMounting(r,a,o,n,s),i=(e==null?void 0:e.serverIndex)??0,c=(u=(d=C["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:d[i])==null?void 0:u.url;return(p,f)=>A(l,v,O,e)(p,c||f)}}};class PS extends fe{addVirtualRobotCoordinateSystem(t,r,a,o){return Ct(this.configuration).addVirtualRobotCoordinateSystem(t,r,a,o).then(n=>n(this.axios,this.basePath))}addVirtualRobotTcp(t,r,a,o,n){return Ct(this.configuration).addVirtualRobotTcp(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,a,o,n){return Ct(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,a,o,n){return Ct(this.configuration).deleteVirtualRobotTcp(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,a,o){return Ct(this.configuration).getVirtualRobotMounting(t,r,a,o).then(n=>n(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,a){return Ct(this.configuration).listVirtualRobotCoordinateSystems(t,r,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotTcps(t,r,a,o){return Ct(this.configuration).listVirtualRobotTcps(t,r,a,o).then(n=>n(this.axios,this.basePath))}setVirtualRobotMounting(t,r,a,o,n){return Ct(this.configuration).setVirtualRobotMounting(t,r,a,o,n).then(s=>s(this.axios,this.basePath))}}function mt(e,t,r){return Math.max(t,Math.min(r,e))}class RS{constructor(t=0,r=0,a=0,o=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=a,this._w=o}static slerpFlat(t,r,a,o,n,s,l){let i=a[o+0],c=a[o+1],d=a[o+2],u=a[o+3];const p=n[s+0],f=n[s+1],g=n[s+2],m=n[s+3];if(l===0){t[r+0]=i,t[r+1]=c,t[r+2]=d,t[r+3]=u;return}if(l===1){t[r+0]=p,t[r+1]=f,t[r+2]=g,t[r+3]=m;return}if(u!==m||i!==p||c!==f||d!==g){let x=1-l;const I=i*p+c*f+d*g+u*m,G=I>=0?1:-1,N=1-I*I;if(N>Number.EPSILON){const z=Math.sqrt(N),W=Math.atan2(z,I*G);x=Math.sin(x*W)/z,l=Math.sin(l*W)/z}const D=l*G;if(i=i*x+p*D,c=c*x+f*D,d=d*x+g*D,u=u*x+m*D,x===1-l){const z=1/Math.sqrt(i*i+c*c+d*d+u*u);i*=z,c*=z,d*=z,u*=z}}t[r]=i,t[r+1]=c,t[r+2]=d,t[r+3]=u}static multiplyQuaternionsFlat(t,r,a,o,n,s){const l=a[o],i=a[o+1],c=a[o+2],d=a[o+3],u=n[s],p=n[s+1],f=n[s+2],g=n[s+3];return t[r]=l*g+d*u+i*f-c*p,t[r+1]=i*g+d*p+c*u-l*f,t[r+2]=c*g+d*f+l*p-i*u,t[r+3]=d*g-l*u-i*p-c*f,t}get x(){return this._x}set x(t){this._x=t,this._onChangeCallback()}get y(){return this._y}set y(t){this._y=t,this._onChangeCallback()}get z(){return this._z}set z(t){this._z=t,this._onChangeCallback()}get w(){return this._w}set w(t){this._w=t,this._onChangeCallback()}set(t,r,a,o){return this._x=t,this._y=r,this._z=a,this._w=o,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._w)}copy(t){return this._x=t.x,this._y=t.y,this._z=t.z,this._w=t.w,this._onChangeCallback(),this}setFromEuler(t,r=!0){const a=t._x,o=t._y,n=t._z,s=t._order,l=Math.cos,i=Math.sin,c=l(a/2),d=l(o/2),u=l(n/2),p=i(a/2),f=i(o/2),g=i(n/2);switch(s){case"XYZ":this._x=p*d*u+c*f*g,this._y=c*f*u-p*d*g,this._z=c*d*g+p*f*u,this._w=c*d*u-p*f*g;break;case"YXZ":this._x=p*d*u+c*f*g,this._y=c*f*u-p*d*g,this._z=c*d*g-p*f*u,this._w=c*d*u+p*f*g;break;case"ZXY":this._x=p*d*u-c*f*g,this._y=c*f*u+p*d*g,this._z=c*d*g+p*f*u,this._w=c*d*u-p*f*g;break;case"ZYX":this._x=p*d*u-c*f*g,this._y=c*f*u+p*d*g,this._z=c*d*g-p*f*u,this._w=c*d*u+p*f*g;break;case"YZX":this._x=p*d*u+c*f*g,this._y=c*f*u+p*d*g,this._z=c*d*g-p*f*u,this._w=c*d*u-p*f*g;break;case"XZY":this._x=p*d*u-c*f*g,this._y=c*f*u-p*d*g,this._z=c*d*g+p*f*u,this._w=c*d*u+p*f*g;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const a=r/2,o=Math.sin(a);return this._x=t.x*o,this._y=t.y*o,this._z=t.z*o,this._w=Math.cos(a),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,a=r[0],o=r[4],n=r[8],s=r[1],l=r[5],i=r[9],c=r[2],d=r[6],u=r[10],p=a+l+u;if(p>0){const f=.5/Math.sqrt(p+1);this._w=.25/f,this._x=(d-i)*f,this._y=(n-c)*f,this._z=(s-o)*f}else if(a>l&&a>u){const f=2*Math.sqrt(1+a-l-u);this._w=(d-i)/f,this._x=.25*f,this._y=(o+s)/f,this._z=(n+c)/f}else if(l>u){const f=2*Math.sqrt(1+l-a-u);this._w=(n-c)/f,this._x=(o+s)/f,this._y=.25*f,this._z=(i+d)/f}else{const f=2*Math.sqrt(1+u-a-l);this._w=(s-o)/f,this._x=(n+c)/f,this._y=(i+d)/f,this._z=.25*f}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let a=t.dot(r)+1;return a<Number.EPSILON?(a=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=a):(this._x=0,this._y=-t.z,this._z=t.y,this._w=a)):(this._x=t.y*r.z-t.z*r.y,this._y=t.z*r.x-t.x*r.z,this._z=t.x*r.y-t.y*r.x,this._w=a),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(mt(this.dot(t),-1,1)))}rotateTowards(t,r){const a=this.angleTo(t);if(a===0)return this;const o=Math.min(1,r/a);return this.slerp(t,o),this}identity(){return this.set(0,0,0,1)}invert(){return this.conjugate()}conjugate(){return this._x*=-1,this._y*=-1,this._z*=-1,this._onChangeCallback(),this}dot(t){return this._x*t._x+this._y*t._y+this._z*t._z+this._w*t._w}lengthSq(){return this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w}length(){return Math.sqrt(this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w)}normalize(){let t=this.length();return t===0?(this._x=0,this._y=0,this._z=0,this._w=1):(t=1/t,this._x=this._x*t,this._y=this._y*t,this._z=this._z*t,this._w=this._w*t),this._onChangeCallback(),this}multiply(t){return this.multiplyQuaternions(this,t)}premultiply(t){return this.multiplyQuaternions(t,this)}multiplyQuaternions(t,r){const a=t._x,o=t._y,n=t._z,s=t._w,l=r._x,i=r._y,c=r._z,d=r._w;return this._x=a*d+s*l+o*c-n*i,this._y=o*d+s*i+n*l-a*c,this._z=n*d+s*c+a*i-o*l,this._w=s*d-a*l-o*i-n*c,this._onChangeCallback(),this}slerp(t,r){if(r===0)return this;if(r===1)return this.copy(t);const a=this._x,o=this._y,n=this._z,s=this._w;let l=s*t._w+a*t._x+o*t._y+n*t._z;if(l<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,l=-l):this.copy(t),l>=1)return this._w=s,this._x=a,this._y=o,this._z=n,this;const i=1-l*l;if(i<=Number.EPSILON){const f=1-r;return this._w=f*s+r*this._w,this._x=f*a+r*this._x,this._y=f*o+r*this._y,this._z=f*n+r*this._z,this.normalize(),this}const c=Math.sqrt(i),d=Math.atan2(c,l),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=o*u+this._y*p,this._z=n*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(),o=Math.sqrt(1-a),n=Math.sqrt(a);return this.set(o*Math.sin(t),o*Math.cos(t),n*Math.sin(r),n*Math.cos(r))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,r=0){return this._x=t[r],this._y=t[r+1],this._z=t[r+2],this._w=t[r+3],this._onChangeCallback(),this}toArray(t=[],r=0){return t[r]=this._x,t[r+1]=this._y,t[r+2]=this._z,t[r+3]=this._w,t}fromBufferAttribute(t,r){return this._x=t.getX(r),this._y=t.getY(r),this._z=t.getZ(r),this._w=t.getW(r),this._onChangeCallback(),this}toJSON(){return this.toArray()}_onChange(t){return this._onChangeCallback=t,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._w}}class mr{constructor(t=0,r=0,a=0){mr.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(nl.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(nl.setFromAxisAngle(t,r))}applyMatrix3(t){const r=this.x,a=this.y,o=this.z,n=t.elements;return this.x=n[0]*r+n[3]*a+n[6]*o,this.y=n[1]*r+n[4]*a+n[7]*o,this.z=n[2]*r+n[5]*a+n[8]*o,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const r=this.x,a=this.y,o=this.z,n=t.elements,s=1/(n[3]*r+n[7]*a+n[11]*o+n[15]);return this.x=(n[0]*r+n[4]*a+n[8]*o+n[12])*s,this.y=(n[1]*r+n[5]*a+n[9]*o+n[13])*s,this.z=(n[2]*r+n[6]*a+n[10]*o+n[14])*s,this}applyQuaternion(t){const r=this.x,a=this.y,o=this.z,n=t.x,s=t.y,l=t.z,i=t.w,c=2*(s*o-l*a),d=2*(l*r-n*o),u=2*(n*a-s*r);return this.x=r+i*c+s*u-l*d,this.y=a+i*d+l*c-n*u,this.z=o+i*u+n*d-s*c,this}project(t){return this.applyMatrix4(t.matrixWorldInverse).applyMatrix4(t.projectionMatrix)}unproject(t){return this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,a=this.y,o=this.z,n=t.elements;return this.x=n[0]*r+n[4]*a+n[8]*o,this.y=n[1]*r+n[5]*a+n[9]*o,this.z=n[2]*r+n[6]*a+n[10]*o,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,r){return this.x=mt(this.x,t.x,r.x),this.y=mt(this.y,t.y,r.y),this.z=mt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=mt(this.x,t,r),this.y=mt(this.y,t,r),this.z=mt(this.z,t,r),this}clampLength(t,r){const a=this.length();return this.divideScalar(a||1).multiplyScalar(mt(a,t,r))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)}normalize(){return this.divideScalar(this.length()||1)}setLength(t){return this.normalize().multiplyScalar(t)}lerp(t,r){return this.x+=(t.x-this.x)*r,this.y+=(t.y-this.y)*r,this.z+=(t.z-this.z)*r,this}lerpVectors(t,r,a){return this.x=t.x+(r.x-t.x)*a,this.y=t.y+(r.y-t.y)*a,this.z=t.z+(r.z-t.z)*a,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,r){const a=t.x,o=t.y,n=t.z,s=r.x,l=r.y,i=r.z;return this.x=o*i-n*l,this.y=n*s-a*i,this.z=a*l-o*s,this}projectOnVector(t){const r=t.lengthSq();if(r===0)return this.set(0,0,0);const a=t.dot(this)/r;return this.copy(t).multiplyScalar(a)}projectOnPlane(t){return Ko.copy(this).projectOnVector(t),this.sub(Ko)}reflect(t){return this.sub(Ko.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const r=Math.sqrt(this.lengthSq()*t.lengthSq());if(r===0)return Math.PI/2;const a=this.dot(t)/r;return Math.acos(mt(a,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const r=this.x-t.x,a=this.y-t.y,o=this.z-t.z;return r*r+a*a+o*o}manhattanDistanceTo(t){return Math.abs(this.x-t.x)+Math.abs(this.y-t.y)+Math.abs(this.z-t.z)}setFromSpherical(t){return this.setFromSphericalCoords(t.radius,t.phi,t.theta)}setFromSphericalCoords(t,r,a){const o=Math.sin(r)*t;return this.x=o*Math.sin(a),this.y=Math.cos(r)*t,this.z=o*Math.cos(a),this}setFromCylindrical(t){return this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,r,a){return this.x=t*Math.sin(r),this.y=a,this.z=t*Math.cos(r),this}setFromMatrixPosition(t){const r=t.elements;return this.x=r[12],this.y=r[13],this.z=r[14],this}setFromMatrixScale(t){const r=this.setFromMatrixColumn(t,0).length(),a=this.setFromMatrixColumn(t,1).length(),o=this.setFromMatrixColumn(t,2).length();return this.x=r,this.y=a,this.z=o,this}setFromMatrixColumn(t,r){return this.fromArray(t.elements,r*4)}setFromMatrix3Column(t,r){return this.fromArray(t.elements,r*3)}setFromEuler(t){return this.x=t._x,this.y=t._y,this.z=t._z,this}setFromColor(t){return this.x=t.r,this.y=t.g,this.z=t.b,this}equals(t){return t.x===this.x&&t.y===this.y&&t.z===this.z}fromArray(t,r=0){return this.x=t[r],this.y=t[r+1],this.z=t[r+2],this}toArray(t=[],r=0){return t[r]=this.x,t[r+1]=this.y,t[r+2]=this.z,t}fromBufferAttribute(t,r){return this.x=t.getX(r),this.y=t.getY(r),this.z=t.getZ(r),this}random(){return this.x=Math.random(),this.y=Math.random(),this.z=Math.random(),this}randomDirection(){const t=Math.random()*Math.PI*2,r=Math.random()*2-1,a=Math.sqrt(1-r*r);return this.x=a*Math.cos(t),this.y=r,this.z=a*Math.sin(t),this}*[Symbol.iterator](){yield this.x,yield this.y,yield this.z}}const Ko=new mr,nl=new RS;function _S(e){var t=[];if(e.length===0)return"";if(typeof e[0]!="string")throw new TypeError("Url must be a string. 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Received "+o);o!==""&&(a>0&&(o=o.replace(/^[\/]+/,"")),a<e.length-1?o=o.replace(/[\/]+$/,""):o=o.replace(/[\/]+$/,"/"),t.push(o))}var n=t.join("/");n=n.replace(/\/(\?|&|#[^!])/g,"$1");var s=n.split("?");return n=s.shift()+(s.length>0?"?":"")+s.join("&"),n}function Yo(){var e;return typeof arguments[0]=="object"?e=arguments[0]:e=[].slice.call(arguments),_S(e)}var st={},sl;function AS(){if(sl)return st;sl=1,Object.defineProperty(st,"__esModule",{value:!0}),st.TokenData=void 0,st.parse=u,st.compile=p,st.match=m,st.pathToRegexp=x,st.stringify=D;const e="/",t=j=>j,r=/^[$_\p{ID_Start}]$/u,a=/^[$\u200c\u200d\p{ID_Continue}]$/u,o="https://git.new/pathToRegexpError",n={"{":"{","}":"}","(":"(",")":")","[":"[","]":"]","+":"+","?":"?","!":"!"};function s(j){return j.replace(/[{}()\[\]+?!:*]/g,"\\$&")}function l(j){return j.replace(/[.+*?^${}()[\]|/\\]/g,"\\$&")}function*i(j){const U=[...j];let k=0;function y(){let M="";if(r.test(U[++k]))for(M+=U[k];a.test(U[++k]);)M+=U[k];else if(U[k]==='"'){let 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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 ll=1e-4,IS=class Zi{constructor(t,r,a,o,n,s,l,i,c,d,u,p){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=o,this.motionStateSocket=n,this.isVirtual=s,this.tcps=l,this.motionGroupSpecification=i,this.safetySetup=c,this.mounting=d,this.initialControllerState=u,this.controllerStateSocket=p,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=o,this.controllerState=u,p.addEventListener("message",f=>{var g;const m=(g=Rt(f.data))==null?void 0:g.result;m&&Ae.runInAction(()=>{this.controllerState=m})}),n.addEventListener("message",f=>{var g;const m=(g=Rt(f.data))==null?void 0:g.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${f.data}`);Yi(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,ll)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),Xi(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,ll)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),Ae.makeAutoObservable(this)}static connect(t,r,a){return me(this,null,function*(){var o,n;const[s,l]=r.split("@"),i=a.find(W=>W.controller===l),c=i==null?void 0:i.physical_motion_groups.find(W=>W.motion_group===r);if(!i||!c)throw new Error(`Controller ${l} or motion group ${r} not found`);const d=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),u=yield d.firstMessage(),p=(o=Rt(u.data))==null?void 0:o.result;if(!p)throw new Error(`Unable to parse initial motion state message ${u.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
+  `,p);const g=(yield t.api.controller.getRobotController(i.controller)).configuration.kind==="VirtualController",m=yield me(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(W){return console.error(`Error fetching mounting for ${c.motion_group}`,W),null}}),x=t.openReconnectingWebsocket(`/controllers/${i.controller}/state-stream?response_rate=1000`),I=yield x.firstMessage(),G=(n=Rt(I.data))==null?void 0:n.result;if(!G)throw new Error(`Unable to parse initial controller state message ${I.data}`);console.log(`Connected controller state websocket to controller ${i.controller}. Initial state:
+  `,G);const{tcps:N}=yield t.api.motionGroupInfos.listTcps(r),D=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),z=yield t.api.motionGroupInfos.getSafetySetup(r);return new Zi(t,i,c,p,d,g,N,D,z,m,G,x)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}get dhParameters(){return this.motionGroupSpecification.dh_parameters}get safetyZones(){return this.safetySetup.safety_zones}get mountingPosition(){return this.mounting?[this.mounting.pose.position.x/1e3,this.mounting.pose.position.y/1e3,this.mounting.pose.position.z/1e3]:[0,0,0]}get mountingQuaternion(){var t,r,a,o,n,s;const l=new Ce.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((o=(a=this.mounting)==null?void 0:a.pose.orientation)==null?void 0:o.y)||0,((s=(n=this.mounting)==null?void 0:n.pose.orientation)==null?void 0:s.z)||0),i=l.length(),c=l.normalize();return new Ce.Quaternion().setFromAxisAngle(c,i)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return me(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Ae.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Ae.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Ae.runInAction(()=>{this.activationState="active"}),t}})}activate(){return me(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Ae.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Ae.runInAction(()=>{this.activationState="active"})}catch(t){throw Ae.runInAction(()=>{this.activationState="inactive"}),t}})}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingCartesianSocket&&this.connectedJoggingCartesianSocket.close(),this.connectedJoggingJointsSocket&&this.connectedJoggingJointsSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}},ES=class ec{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return me(this,arguments,function*(a,o,n={}){const s=yield a.connectMotionStream(o);return new ec(s,n)})}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}get activeJoggingMode(){return this.cartesianWebsocket?"cartesian":this.jointWebsocket?"joint":"increment"}get activeWebsocket(){return this.cartesianWebsocket||this.jointWebsocket}stop(){return me(this,null,function*(){this.cartesianWebsocket&&this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:{x:0,y:0,z:0},rotation_direction:{x:0,y:0,z:0},position_velocity:0,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId}),this.jointWebsocket&&this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:new Array(this.numJoints).fill(0)})})}dispose(){this.cartesianWebsocket&&this.cartesianWebsocket.dispose(),this.jointWebsocket&&this.jointWebsocket.dispose()}setJoggingMode(t,r){console.log("Setting jogging mode to",t),r&&(Ug(this.cartesianJoggingOpts,r)||this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),this.cartesianJoggingOpts=r),t!=="cartesian"&&this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),t!=="joint"&&this.jointWebsocket&&(this.jointWebsocket.dispose(),this.jointWebsocket=null),t==="cartesian"&&!this.cartesianWebsocket&&(this.cartesianWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-tcp"),this.cartesianWebsocket.addEventListener("message",a=>{const o=Rt(a.data);if(o&&"error"in o)if(this.opts.onError)this.opts.onError(a.data);else throw new Error(a.data)})),t==="joint"&&!this.jointWebsocket&&(this.jointWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-joint"),this.jointWebsocket.addEventListener("message",a=>{const o=Rt(a.data);if(o&&"error"in o)if(this.opts.onError)this.opts.onError(a.data);else throw new Error(a.data)}))}startJointRotation(t){return me(this,arguments,function*({joint:r,direction:a,velocityRadsPerSec:o}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const n=new Array(this.numJoints).fill(0);n[r]=a==="-"?-o:o,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:n})})}startTCPTranslation(t){return me(this,arguments,function*({axis:r,direction:a,velocityMmPerSec:o}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const n={x:0,y:0,z:0},s=Object.assign({},n);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:n,position_velocity:o,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return me(this,arguments,function*({axis:r,direction:a,velocityRadsPerSec:o}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const n={x:0,y:0,z:0},s=Object.assign({},n);s[r]=a==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:n,rotation_direction:s,position_velocity:0,rotation_velocity:o,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return me(this,arguments,function*({currentTcpPose:r,currentJoints:a,coordSystemId:o,velocityInRelevantUnits:n,axis:s,direction:l,motion:i}){var c;const d=[];if(!Xg(r.coordinate_system,o))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${o}`);if(i.type==="translate"){const f=Object.assign({},r.position);f[s]+=i.distanceMm*(l==="-"?-1:1),d.push({settings:{limits_override:{tcp_velocity_limit:n}},line:{position:f,orientation:r.orientation,coordinate_system:o}})}else if(i.type==="rotate"){const f=new mr(r.orientation.x,r.orientation.y,r.orientation.z),g=f.length(),m=f.clone().normalize(),x=i.distanceRads*(l==="-"?-1:1),I=new mr(0,0,0);I[s]=1;const G=Math.cos(.5*x)*Math.cos(.5*g),N=Math.sin(.5*x)*Math.sin(.5*g),D=Math.sin(.5*x)*Math.cos(.5*g),z=Math.cos(.5*x)*Math.sin(.5*g),W=I.dot(m),j=I.clone().cross(m),U=2*Math.acos(G-N*W),k=U/Math.sin(.5*U),y=new mr().addScaledVector(j,N).addScaledVector(I,D).addScaledVector(m,z).multiplyScalar(k);d.push({settings:{limits_override:{tcp_orientation_velocity_limit:n}},line:{position:r.position,orientation:y,coordinate_system:o}})}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 me(this,arguments,function*({joint:r,currentJoints:a,velocityRadsPerSec:o,direction:n,distanceRads:s}){var l;const i=[...a.joints];i[r]+=s*(n==="-"?-1:1);const c=new Array(a.joints.length).fill(o),d=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:a,commands:[{settings:{limits_override:{joint_velocity_limits:{joints:c}}},joint_ptp:{joints:i}}]}),u=(l=d.plan_successful_response)==null?void 0:l.motion;if(!u){console.error("Failed to plan jogging increment motion",d);return}yield this.nova.api.motion.streamMoveForward(u,100,void 0,void 0,void 0,{timeout:1e3*60})})}},il=1e-4;function MS(e,t){const r=new Ze.Vector3(t.x,t.y,t.z),a=new Ze.Vector3(e.x,e.y,e.z),o=r.length(),n=r.normalize();let s=a.length(),l=a.normalize();l.dot(n)<0&&(s=-s,l=l.multiplyScalar(-1));let i=s-o;return i-=2*Math.PI*Math.floor((i+Math.PI)/(2*Math.PI)),s=o+i,l.multiplyScalar(s)}var jS=class tc{constructor(t,r,a,o,n){this.nova=t,this.controller=r,this.motionGroup=a,this.initialMotionState=o,this.motionStateSocket=n,this.rapidlyChangingMotionState=o,n.addEventListener("message",s=>{var l;const i=(l=Rt(s.data))==null?void 0:l.result;if(!i)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);Yi(this.rapidlyChangingMotionState.state.joint_position.joints,i.state.joint_position.joints,il)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.state=i.state}),Xi(this.rapidlyChangingMotionState.tcp_pose,i.tcp_pose,il)||Ae.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=i.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:i.tcp_pose.position,orientation:MS(i.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:i.tcp_pose.tcp,coordinate_system:i.tcp_pose.coordinate_system}})}),Ae.makeAutoObservable(this)}static open(t,r){return me(this,null,function*(){var a;const{instances:o}=yield t.api.controller.listControllers(),[n,s]=r.split("@"),l=o.find(p=>p.controller===s),i=l==null?void 0:l.physical_motion_groups.find(p=>p.motion_group===r);if(!l||!i)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield c.firstMessage();console.log("got first message",d);const u=(a=Rt(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 ${i.motion_group}. Initial state:
+  `,u),new tc(t,l,i,u,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},$S=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(bS),this.cell=this.withUnwrappedResponsesOnly(j0),this.deviceConfig=this.withCellId(D0),this.motionGroup=this.withCellId(eS),this.motionGroupInfos=this.withCellId(rS),this.controller=this.withCellId(U0),this.program=this.withCellId(iS),this.programValues=this.withCellId(dS),this.controllerIOs=this.withCellId(B0),this.motionGroupKinematic=this.withCellId(sS),this.motion=this.withCellId(X0),this.coordinateSystems=this.withCellId(F0),this.application=this.withCellId(ol),this.applicationGlobal=this.withUnwrappedResponsesOnly(ol),this.motionGroupJogging=this.withCellId(oS),this.virtualRobot=this.withCellId(vS),this.virtualRobotSetup=this.withCellId(PS),this.virtualRobotMode=this.withCellId(wS),this.virtualRobotBehavior=this.withCellId(OS),this.libraryProgramMetadata=this.withCellId(q0),this.libraryProgram=this.withCellId(G0),this.libraryRecipeMetadata=this.withCellId(K0),this.libraryRecipe=this.withCellId(W0),this.storeObject=this.withCellId(yS),this.storeCollisionComponents=this.withCellId(pS),this.storeCollisionScenes=this.withCellId(mS)}withCellId(e){var t,r;const a=new e(hn(dr({},this.opts),{isJsonMime:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(o!=="constructor"&&typeof a[o]=="function"){const n=a[o];a[o]=(...s)=>n.apply(a,[this.cellId,...s]).then(l=>l.data)}return a}withUnwrappedResponsesOnly(e){var t,r;const a=new e(hn(dr({},this.opts),{isJsonMime:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:v.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(a)))if(o!=="constructor"&&typeof a[o]=="function"){const n=a[o];a[o]=(...s)=>n.apply(a,s).then(l=>l.data)}return a}},US=class{constructor(){this.connections=[]}handleAPIRequest(e){return me(this,null,function*(){var t,r,a;const o=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return{instances:[{controller:"mock-ur5e",model_name:"UniversalRobots::Controller",host:"mock-ur5e",allow_software_install_on_controller:!0,physical_motion_groups:[{motion_group:"0@mock-ur5e",name_from_controller:"UR5e",active:!1,model_from_controller:"UniversalRobots_UR5e"}],has_error:!1,error_details:""}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{kind:"VirtualController",manufacturer:"universalrobots",position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/specification",handle(){return{dh_parameters:[{alpha:1.5707963267948966,theta:0,a:0,d:162.25,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-425,d:0,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-392.2,d:0,reverse_rotation_direction:!1},{alpha:1.5707963267948966,theta:0,a:0,d:133.3,reverse_rotation_direction:!1},{alpha:-1.5707963267948966,theta:0,a:0,d:99.7,reverse_rotation_direction:!1},{alpha:0,theta:0,a:0,d:99.6,reverse_rotation_direction:!1}],mechanical_joint_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/safety-setup",handle(){return{safety_settings:[{safety_state:"SAFETY_NORMAL",settings:{joint_position_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-2.96705961227417,upper_limit:2.96705961227417,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-1.7453292608261108,upper_limit:2.7925267219543457,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-3.3161256313323975,upper_limit:.40142571926116943,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-3.4906585216522217,upper_limit:3.4906585216522217,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-2.4434609413146973,upper_limit:2.4434609413146973,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-4.71238899230957,upper_limit:4.71238899230957,unlimited:!1}],joint_velocity_limits:[{joint:"JOINTNAME_AXIS_1",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_2",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_3",limit:3.4906585216522217},{joint:"JOINTNAME_AXIS_4",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_5",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_6",limit:6.981317043304443}],joint_acceleration_limits:[],joint_torque_limits:[],tcp_velocity_limit:1800}}],safety_zones:[{id:1,priority:0,geometry:{compound:{child_geometries:[{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820},{x:-800,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:-1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:-800,y:1330,z:-1820},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500},{x:1650,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:1650,y:-1330,z:1500},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Cell workzone"},motion_group_uid:1},{id:2,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-1850},{x:865,y:1330,z:-1850},{x:865,y:-720,z:-1850},{x:1650,y:-720,z:-1850},{x:1650,y:1330,z:-920},{x:865,y:1330,z:-920},{x:865,y:-720,z:-920},{x:1650,y:-720,z:-920}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Transport"},motion_group_uid:1},{id:3,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-600},{x:865,y:1330,z:-600},{x:865,y:430,z:-600},{x:1650,y:430,z:-600},{x:1650,y:1330,z:-1250},{x:865,y:1330,z:-1250},{x:865,y:430,z:-1250},{x:1650,y:430,z:-1250}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Tunel"},motion_group_uid:1},{id:4,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:-760,z:-440},{x:900,y:-760,z:-440},{x:900,y:-1330,z:-440},{x:1650,y:-1330,z:-440},{x:1650,y:-760,z:-1800},{x:900,y:-760,z:-1800},{x:900,y:-1330,z:-1800},{x:1650,y:-1330,z:-1800}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Fanuc controller"},motion_group_uid:1},{id:6,priority:0,geometry:{convex_hull:{vertices:[{x:-200,y:-200,z:-1900},{x:200,y:-200,z:-1900},{x:200,y:200,z:-1900},{x:-200,y:200,z:-1900},{x:-200,y:-200,z:-350},{x:200,y:-200,z:-350},{x:200,y:200,z:-350},{x:-200,y:200,z:-350}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Robot base"},motion_group_uid:1}],robot_model_geometries:[{link_index:1,geometry:{sphere:{radius:270},init_pose:{position:{x:-70,y:-70,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link1_sphere"}},{link_index:2,geometry:{capsule:{radius:160,cylinder_height:800},init_pose:{position:{x:-450,y:40,z:170},orientation:{x:0,y:-.7071067811865475,z:0,w:.7071067811865476}},id:"link2_capsule"}},{link_index:3,geometry:{sphere:{radius:270},init_pose:{position:{x:-110,y:10,z:-100},orientation:{x:0,y:0,z:0,w:1}},id:"link3_sphere"}},{link_index:4,geometry:{capsule:{radius:110,cylinder_height:600},init_pose:{position:{x:0,y:300,z:40},orientation:{x:-.7071067811865475,y:0,z:0,w:.7071067811865476}},id:"link4_capsule"}},{link_index:5,geometry:{sphere:{radius:75},init_pose:{position:{x:0,y:0,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link5_sphere"}}],tool_geometries:[]}}},{method:"GET",path:"/cells/:cellId/coordinate-systems",handle(){return{coordinatesystems:[{coordinate_system:"",name:"world",reference_uid:"",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0],type:"ROTATION_VECTOR"}}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/tcps",handle(){return{tcps:[{id:"Flange",readable_name:"Default-Flange",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0,0],type:"ROTATION_VECTOR"}},{id:"complex-tcp-position",readable_name:"Complex TCP Position",position:{x:-200,y:300,z:150},rotation:{angles:[-.12139440409113832,-.06356210998212003,-.2023240068185639,0],type:"ROTATION_VECTOR"}}]}}}],n=((t=e.method)==null?void 0:t.toUpperCase())||"GET",s="/cells"+((a=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:a.split("?")[0]);for(const l of o){const i=TS.match(l.path)(s||"");if(n===l.method&&i){const c=l.handle();return{status:200,statusText:"Success",data:JSON.stringify(c),headers:{},config:e,request:{responseURL:e.url}}}}throw new vn(`No mock handler matched this request: ${n} ${s}`,"404",e)})}handleWebsocketConnection(e){this.connections.push(e),setTimeout(()=>{e.dispatchEvent(new Event("open")),console.log("Websocket connection opened from",e.url),e.url.includes("/state-stream")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify(kS)})),e.url.includes("/move-joint")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:48:26.096266444Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3492152690887451,-1.5659207105636597,1.6653711795806885,-1.0991662740707397,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:""},tcp_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"671259"}],sequence_number:"671259"},movement_state:"MOVEMENT_STATE_MOVING"}})})),e.url.includes("/move-tcp")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:43:12.188335774Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3352527618408203,-1.5659207105636597,1.6653711795806885,-1.110615611076355,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:""},tcp_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"627897"}],sequence_number:"627897"},movement_state:"MOVEMENT_STATE_MOVING"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}},kS={result:{state:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",joint_position:{joints:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:""},tcp_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"1"},tcp_pose:{position:{x:302.90748476115556,y:-152.87065869452337,z:424.0454619321661},orientation:{x:2.3403056115045353,y:-1.1706836379431356,z:.9772511964246311},coordinate_system:"",tcp:"Flange"}}},BS=class{constructor(e){this.authPromise=null,this.accessToken=null;var 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Promise.reject(l)}else((s=o.response)==null?void 0:s.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(o)})),this.api=new $S(r,hn(dr({},e),{basePath:Yo(this.config.instanceUrl,"/api/v1"),isJsonMime:o=>o==="application/json",baseOptions:dr(dr({},this.mock?{adapter:o=>this.mock.handleAPIRequest(o)}:{}),e.baseOptions),axiosInstance:a}))}renewAuthentication(){return me(this,null,function*(){if(!this.authPromise){this.authPromise=eb(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?Go.setString("wbjs.access_token",this.accessToken):Go.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL(Yo(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return 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