@wandelbots/wandelbots-js-react-components 2.29.0 → 2.30.0

package/dist/index.cjs

@@ -1,4 +1,4 @@
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@@ -6,7 +6,7 @@
  *
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 Did you intend to use one of the following approaches?
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+ * LICENSE file in the root directory of this source tree.
+ */var eu;function Ob(){if(eu)return Zs;eu=1;var e=ee;function t(d,h){return d===h&&(d!==0||1/d===1/h)||d!==d&&h!==h}var r=typeof Object.is=="function"?Object.is:t,n=e.useState,a=e.useEffect,o=e.useLayoutEffect,s=e.useDebugValue;function i(d,h){var p=h(),f=n({inst:{value:p,getSnapshot:h}}),m=f[0].inst,b=f[1];return o(function(){m.value=p,m.getSnapshot=h,l(m)&&b({inst:m})},[d,p,h]),a(function(){return l(m)&&b({inst:m}),d(function(){l(m)&&b({inst:m})})},[d]),s(p),p}function l(d){var h=d.getSnapshot;d=d.value;try{var p=h();return!r(d,p)}catch{return!0}}function c(d,h){return h()}var u=typeof window>"u"||typeof window.document>"u"||typeof window.document.createElement>"u"?c:i;return Zs.useSyncExternalStore=e.useSyncExternalStore!==void 0?e.useSyncExternalStore:u,Zs}var ei={};/**
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+ * use-sync-external-store-shim.development.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var tu;function wb(){return tu||(tu=1,process.env.NODE_ENV!=="production"&&function(){function e(p,f){return p===f&&(p!==0||1/p===1/f)||p!==p&&f!==f}function t(p,f){u||a.startTransition===void 0||(u=!0,console.error("You are using an outdated, pre-release alpha of React 18 that does not support useSyncExternalStore. The use-sync-external-store shim will not work correctly. Upgrade to a newer pre-release."));var m=f();if(!d){var b=f();o(m,b)||(console.error("The result of getSnapshot should be cached to avoid an infinite loop"),d=!0)}b=s({inst:{value:m,getSnapshot:f}});var x=b[0].inst,V=b[1];return l(function(){x.value=m,x.getSnapshot=f,r(x)&&V({inst:x})},[p,m,f]),i(function(){return r(x)&&V({inst:x}),p(function(){r(x)&&V({inst:x})})},[p]),c(m),m}function r(p){var f=p.getSnapshot;p=p.value;try{var m=f();return!o(p,m)}catch{return!0}}function n(p,f){return f()}typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart(Error());var a=ee,o=typeof Object.is=="function"?Object.is:e,s=a.useState,i=a.useEffect,l=a.useLayoutEffect,c=a.useDebugValue,u=!1,d=!1,h=typeof window>"u"||typeof window.document>"u"||typeof window.document.createElement>"u"?n:t;ei.useSyncExternalStore=a.useSyncExternalStore!==void 0?a.useSyncExternalStore:h,typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop(Error())}()),ei}var ru;function tp(){return ru||(ru=1,process.env.NODE_ENV==="production"?za.exports=Ob():za.exports=wb()),za.exports}/**
+ * @license React
+ * use-sync-external-store-shim/with-selector.production.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var nu;function Cb(){if(nu)return Xs;nu=1;var e=ee,t=tp();function r(c,u){return c===u&&(c!==0||1/c===1/u)||c!==c&&u!==u}var n=typeof Object.is=="function"?Object.is:r,a=t.useSyncExternalStore,o=e.useRef,s=e.useEffect,i=e.useMemo,l=e.useDebugValue;return Xs.useSyncExternalStoreWithSelector=function(c,u,d,h,p){var f=o(null);if(f.current===null){var m={hasValue:!1,value:null};f.current=m}else m=f.current;f=i(function(){function x(w){if(!V){if(V=!0,O=w,w=h(w),p!==void 0&&m.hasValue){var A=m.value;if(p(A,w))return C=A}return C=w}if(A=C,n(O,w))return A;var E=h(w);return p!==void 0&&p(A,E)?(O=w,A):(O=w,C=E)}var V=!1,O,C,P=d===void 0?null:d;return[function(){return x(u())},P===null?void 0:function(){return x(P())}]},[u,d,h,p]);var b=a(c,f[0],f[1]);return s(function(){m.hasValue=!0,m.value=b},[b]),l(b),b},Xs}var ti={};/**
+ * @license React
+ * use-sync-external-store-shim/with-selector.development.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var au;function Pb(){return au||(au=1,process.env.NODE_ENV!=="production"&&function(){function e(c,u){return c===u&&(c!==0||1/c===1/u)||c!==c&&u!==u}typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart(Error());var t=ee,r=tp(),n=typeof Object.is=="function"?Object.is:e,a=r.useSyncExternalStore,o=t.useRef,s=t.useEffect,i=t.useMemo,l=t.useDebugValue;ti.useSyncExternalStoreWithSelector=function(c,u,d,h,p){var f=o(null);if(f.current===null){var m={hasValue:!1,value:null};f.current=m}else m=f.current;f=i(function(){function x(w){if(!V){if(V=!0,O=w,w=h(w),p!==void 0&&m.hasValue){var A=m.value;if(p(A,w))return C=A}return C=w}if(A=C,n(O,w))return A;var E=h(w);return p!==void 0&&p(A,E)?(O=w,A):(O=w,C=E)}var V=!1,O,C,P=d===void 0?null:d;return[function(){return x(u())},P===null?void 0:function(){return x(P())}]},[u,d,h,p]);var b=a(c,f[0],f[1]);return s(function(){m.hasValue=!0,m.value=b},[b]),l(b),b},typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop(Error())}()),ti}var ou;function Tb(){return ou||(ou=1,process.env.NODE_ENV==="production"?Fa.exports=Cb():Fa.exports=Pb()),Fa.exports}var Ab=Tb();const Rb=Object.is,at=(e,t,r=[],n=Rb)=>{const a=o=>t(o,...r);return Ab.useSyncExternalStoreWithSelector(e.subscribe,e.getSnapshot,e.getSnapshot,a,n)},Vb="DEFAULT_X_AXIS_KEY",_b="DEFAULT_Y_AXIS_KEY",Eb={top:20,bottom:20,left:20,right:20},Ib=45,Mb=25,rp=20,bn=e=>{var t;return(t=e.cartesianAxis)==null?void 0:t.x},vn=e=>{var t;return(t=e.cartesianAxis)==null?void 0:t.y},$b=pe([vn],e=>(e??[]).reduce((t,r)=>{var n;return r.position==="left"?t+(r.width||0)+((n=r.zoom)!=null&&n.slider.enabled?r.zoom.slider.size:0):t},0)),jb=pe([vn],e=>(e??[]).reduce((t,r)=>{var n;return r.position==="right"?t+(r.width||0)+((n=r.zoom)!=null&&n.slider.enabled?r.zoom.slider.size:0):t},0)),kb=pe([bn],e=>(e??[]).reduce((t,r)=>{var n;return r.position==="top"?t+(r.height||0)+((n=r.zoom)!=null&&n.slider.enabled?r.zoom.slider.size:0):t},0)),Ub=pe([bn],e=>(e??[]).reduce((t,r)=>{var n;return r.position==="bottom"?t+(r.height||0)+((n=r.zoom)!=null&&n.slider.enabled?r.zoom.slider.size:0):t},0)),Lb=e=>e.dimensions,np=e=>e.dimensions.width,ap=e=>e.dimensions.height,Db=e=>e.dimensions.margin.top,Bb=e=>e.dimensions.margin.right,Nb=e=>e.dimensions.margin.bottom,Fb=e=>e.dimensions.margin.left,Oa=pe([np,ap,Db,Bb,Nb,Fb,kb,jb,Ub,$b],(e,t,r,n,a,o,s,i,l,c)=>({width:e-o-n-c-i,left:o+c,right:n+i,height:t-r-a-s-l,top:r+s,bottom:a+l})),zb=pe([Lb],e=>({width:e.propsWidth,height:e.propsHeight})),Gb=pe([np,ap],(e,t)=>({width:e,height:t}));function op(e,t){return typeof e=="number"?{top:e,bottom:e,left:e,right:e}:t?Y({},t,e):e}const Hb=10,ls=({params:e,store:t,svgRef:r})=>{const n=e.width!==void 0&&e.height!==void 0,a=B.useRef({displayError:!1,initialCompute:!0,computeRun:0}),[o,s]=B.useState(0),[i,l]=B.useState(0),c=B.useCallback(()=>{const f=r==null?void 0:r.current;if(!f)return{};const b=xb(f).getComputedStyle(f),x=Math.floor(parseFloat(b.height))||0,V=Math.floor(parseFloat(b.width))||0;return t.update(O=>O.dimensions.width===V&&O.dimensions.height===x?O:Y({},O,{dimensions:{margin:{top:e.margin.top,right:e.margin.right,bottom:e.margin.bottom,left:e.margin.left},width:e.width??V,height:e.height??x,propsWidth:e.width,propsHeight:e.height}})),{height:x,width:V}},[t,r,e.height,e.width,e.margin.left,e.margin.right,e.margin.top,e.margin.bottom]);B.useEffect(()=>{t.update(f=>{const m=e.width??f.dimensions.width,b=e.height??f.dimensions.height;return 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`width` defined."),a.current.displayError=!1),a.current.displayError&&e.height===void 0&&i===0&&(console.error("MUI X Charts: ChartContainer does not have `height` prop, and its container has no `height` defined."),a.current.displayError=!1));const u=at(t,Oa),d=B.useCallback(f=>f>=u.left-1&&f<=u.left+u.width,[u.left,u.width]),h=B.useCallback(f=>f>=u.top-1&&f<=u.top+u.height,[u.height,u.top]);return{instance:{isPointInside:B.useCallback((f,m,b)=>b&&"closest"in b&&b.closest("[data-drawing-container]")?!0:d(f)&&h(m),[d,h]),isXInside:d,isYInside:h}}};ls.params={width:!0,height:!0,margin:!0};ls.getDefaultizedParams=({params:e})=>Y({},e,{margin:op(e.margin,Eb)});ls.getInitialState=({width:e,height:t,margin:r})=>({dimensions:{margin:r,width:e??0,height:t??0,propsWidth:e,propsHeight:t}});const Tl=({params:e,store:t})=>(Nt(()=>{t.update(r=>Y({},r,{experimentalFeatures:e.experimentalFeatures}))},[t,e.experimentalFeatures]),{});Tl.params={experimentalFeatures:!0};Tl.getInitialState=({experimentalFeatures:e})=>({experimentalFeatures:e});const qb=e=>e.experimentalFeatures,sp=pe([qb],e=>!!(e!=null&&e.preferStrictDomainInLineCharts));let su=0;const Jb=()=>(su+=1,`mui-chart-${su}`),Al=({params:e,store:t})=>(B.useEffect(()=>{t.update(r=>e.id===void 0||e.id===r.id.providedChartId&&r.id.chartId!==void 0?r:Y({},r,{id:Y({},r.id,{chartId:e.id??Jb()})}))},[t,e.id]),{});Al.params={id:!0};Al.getInitialState=({id:e})=>({id:{chartId:e,providedChartId:e}});const Wb=e=>e.id,Yb=pe([Wb],e=>e.chartId),Kb=["#4254FB","#FFB422","#FA4F58","#0DBEFF","#22BF75","#FA83B4","#FF7511"],Qb=["#495AFB","#FFC758","#F35865","#30C8FF","#44CE8D","#F286B3","#FF8C39"],ip=e=>e==="dark"?Qb:Kb,lp=({series:e,colors:t,seriesConfig:r,dataset:n})=>{const a={};e.forEach((s,i)=>{var u;const 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Y({},e,{series:(t=e.series)!=null&&t.length?e.series:Xb,colors:e.colors??ip,theme:e.theme??"light"})};cs.getInitialState=({series:e=[],colors:t,theme:r,dataset:n},a,o)=>({series:{seriesConfig:o,processedSeries:lp({series:e,colors:typeof t=="function"?t(r):t,seriesConfig:o,dataset:n})}});const cp=e=>e.series,wa=pe([cp],e=>e.processedSeries),us=pe([cp],e=>e.seriesConfig),Zb={abort:!0,animationcancel:!0,animationend:!0,animationiteration:!0,animationstart:!0,auxclick:!0,beforeinput:!0,beforetoggle:!0,blur:!0,cancel:!0,canplay:!0,canplaythrough:!0,change:!0,click:!0,close:!0,compositionend:!0,compositionstart:!0,compositionupdate:!0,contextlost:!0,contextmenu:!0,contextrestored:!0,copy:!0,cuechange:!0,cut:!0,dblclick:!0,drag:!0,dragend:!0,dragenter:!0,dragleave:!0,dragover:!0,dragstart:!0,drop:!0,durationchange:!0,emptied:!0,ended:!0,error:!0,focus:!0,focusin:!0,focusout:!0,formdata:!0,gotpointercapture:!0,input:!0,invalid:!0,keydown:!0,keypress:!0,keyup:!0,load:!0,loadeddata:!0,loadedmetadata:!0,loadstart:!0,lostpointercapture:!0,mousedown:!0,mouseenter:!0,mouseleave:!0,mousemove:!0,mouseout:!0,mouseover:!0,mouseup:!0,paste:!0,pause:!0,play:!0,playing:!0,pointercancel:!0,pointerdown:!0,pointerenter:!0,pointerleave:!0,pointermove:!0,pointerout:!0,pointerover:!0,pointerup:!0,progress:!0,ratechange:!0,reset:!0,resize:!0,scroll:!0,scrollend:!0,securitypolicyviolation:!0,seeked:!0,seeking:!0,select:!0,selectionchange:!0,selectstart:!0,slotchange:!0,stalled:!0,submit:!0,suspend:!0,timeupdate:!0,toggle:!0,touchcancel:!0,touchend:!0,touchmove:!0,touchstart:!0,transitioncancel:!0,transitionend:!0,transitionrun:!0,transitionstart:!0,volumechange:!0,waiting:!0,webkitanimationend:!0,webkitanimationiteration:!0,webkitanimationstart:!0,webkittransitionend:!0,wheel:!0};class up{constructor(t){if(this.name=void 0,this.preventDefault=void 0,this.stopPropagation=void 0,this.preventIf=void 0,this.requiredKeys=void 0,this.keyboardManager=void 0,this.pointerMode=void 0,this.customData={},this.pointerManager=void 0,this.gesturesRegistry=void 0,this.element=void 0,this.state=void 0,this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,!t||!t.name)throw new Error("Gesture must be initialized with a valid name.");if(t.name in Zb)throw new Error(`Gesture can't be created with a native event name. Tried to use "${t.name}". Please use a custom name instead.`);this.name=t.name,this.preventDefault=t.preventDefault??!1,this.stopPropagation=t.stopPropagation??!1,this.preventIf=t.preventIf??[],this.requiredKeys=t.requiredKeys??[],this.pointerMode=t.pointerMode??[]}init(t,r,n,a){this.element=t,this.pointerManager=r,this.gesturesRegistry=n,this.keyboardManager=a;const o=`${this.name}ChangeOptions`;this.element.addEventListener(o,this.handleOptionsChange.bind(this));const s=`${this.name}ChangeState`;this.element.addEventListener(s,this.handleStateChange.bind(this))}handleOptionsChange(t){t&&t.detail&&this.updateOptions(t.detail)}updateOptions(t){this.preventDefault=t.preventDefault??this.preventDefault,this.stopPropagation=t.stopPropagation??this.stopPropagation,this.preventIf=t.preventIf??this.preventIf,this.requiredKeys=t.requiredKeys??this.requiredKeys,this.pointerMode=t.pointerMode??this.pointerMode}handleStateChange(t){t&&t.detail&&this.updateState(t.detail)}updateState(t){Object.assign(this.state,t)}getTargetElement(t){return this.isActive||this.element===t.target||this.element.contains(t.target)?this.element:null}set isActive(t){t?this.gesturesRegistry.registerActiveGesture(this.element,this):this.gesturesRegistry.unregisterActiveGesture(this.element,this)}get isActive(){return this.gesturesRegistry.isGestureActive(this.element,this)??!1}shouldPreventGesture(t){if(!this.keyboardManager.areKeysPressed(this.requiredKeys))return!0;if(this.preventIf.length===0)return!1;const r=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(n=>r[n])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange.bind(this));const r=`${this.name}ChangeState`;this.element.removeEventListener(r,this.handleStateChange.bind(this))}}class ev{constructor(){this.activeGestures=new Map}registerActiveGesture(t,r){this.activeGestures.has(t)||this.activeGestures.set(t,new Set);const n=this.activeGestures.get(t),a={gesture:r,element:t};n.add(a)}unregisterActiveGesture(t,r){const n=this.activeGestures.get(t);n&&(n.forEach(a=>{a.gesture===r&&n.delete(a)}),n.size===0&&this.activeGestures.delete(t))}getActiveGestures(t){const r=this.activeGestures.get(t);return r?Array.from(r).reduce((n,a)=>(n[a.gesture.name]=!0,n),{}):{}}isGestureActive(t,r){const n=this.activeGestures.get(t);return n?Array.from(n).some(a=>a.gesture===r):!1}destroy(){this.activeGestures.clear()}unregisterElement(t){this.activeGestures.delete(t)}}class tv{constructor(){this.pressedKeys=new Set,this.handleKeyDown=t=>{this.pressedKeys.add(t.key)},this.handleKeyUp=t=>{this.pressedKeys.delete(t.key)},this.clearKeys=()=>{this.pressedKeys.clear()},this.initialize()}initialize(){typeof window>"u"||(window.addEventListener("keydown",this.handleKeyDown),window.addEventListener("keyup",this.handleKeyUp),window.addEventListener("blur",this.clearKeys))}areKeysPressed(t){return!t||t.length===0?!0:t.every(r=>r==="ControlOrMeta"?this.pressedKeys.has("Control")||this.pressedKeys.has("Meta"):this.pressedKeys.has(r))}destroy(){typeof window<"u"&&(window.removeEventListener("keydown",this.handleKeyDown),window.removeEventListener("keyup",this.handleKeyUp),window.removeEventListener("blur",this.clearKeys)),this.clearKeys()}}class rv{constructor(t){this.root=void 0,this.touchAction=void 0,this.passive=void 0,this.preventEventInterruption=!0,this.pointers=new Map,this.gestureHandlers=new Set,this.handleInterruptEvents=r=>{if(this.preventEventInterruption&&"pointerType"in r&&r.pointerType==="touch"){r.preventDefault();return}const n=new PointerEvent("forceCancel",{bubbles:!1,cancelable:!1}),a=this.pointers.values().next().value;if(this.pointers.size>0&&a){Object.defineProperties(n,{clientX:{value:a.clientX},clientY:{value:a.clientY},pointerId:{value:a.pointerId},pointerType:{value:a.pointerType}});for(const[o,s]of this.pointers.entries()){const i=Y({},s,{type:"forceCancel"});this.pointers.set(o,i)}}this.notifyHandlers(n),this.pointers.clear()},this.handlePointerEvent=r=>{const{type:n,pointerId:a}=r;if(n==="pointerdown"){if(this.pointers.set(a,this.createPointerData(r)),r.target instanceof Element)try{r.target.setPointerCapture(a)}catch{}}else if(n==="pointermove")this.pointers.set(a,this.createPointerData(r));else if(n==="pointerup"||n==="pointercancel"||n==="forceCancel"){if(r.target instanceof Element)try{r.target.releasePointerCapture(a)}catch{}this.pointers.set(a,this.createPointerData(r)),this.notifyHandlers(r),this.pointers.delete(a);return}this.notifyHandlers(r)},this.root=t.root??document.documentElement,this.touchAction=t.touchAction||"auto",this.passive=t.passive!==!1,this.preventEventInterruption=t.preventEventInterruption!==!1,this.setupEventListeners()}registerGestureHandler(t){return this.gestureHandlers.add(t),()=>{this.gestureHandlers.delete(t)}}getPointers(){return new Map(this.pointers)}setupEventListeners(){this.touchAction!=="auto"&&(this.root.style.touchAction=this.touchAction),this.root.addEventListener("pointerdown",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointermove",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointerup",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointercancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("forceCancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("blur",this.handleInterruptEvents),this.root.addEventListener("contextmenu",this.handleInterruptEvents)}notifyHandlers(t){this.gestureHandlers.forEach(r=>r(this.pointers,t))}createPointerData(t){return{pointerId:t.pointerId,clientX:t.clientX,clientY:t.clientY,pageX:t.pageX,pageY:t.pageY,target:t.target,timeStamp:t.timeStamp,type:t.type,isPrimary:t.isPrimary,pressure:t.pressure,width:t.width,height:t.height,pointerType:t.pointerType,srcEvent:t}}destroy(){this.root.removeEventListener("pointerdown",this.handlePointerEvent),this.root.removeEventListener("pointermove",this.handlePointerEvent),this.root.removeEventListener("pointerup",this.handlePointerEvent),this.root.removeEventListener("pointercancel",this.handlePointerEvent),this.root.removeEventListener("forceCancel",this.handlePointerEvent),this.root.removeEventListener("blur",this.handleInterruptEvents),this.root.removeEventListener("contextmenu",this.handleInterruptEvents),this.pointers.clear(),this.gestureHandlers.clear()}}class nv{constructor(t){this.gestureTemplates=new Map,this.elementGestureMap=new Map,this.activeGesturesRegistry=new ev,this.pointerManager=void 0,this.keyboardManager=new tv,this.pointerManager=new rv({root:t.root,touchAction:t.touchAction,passive:t.passive}),t.gestures&&t.gestures.length>0&&t.gestures.forEach(r=>{this.addGestureTemplate(r)})}addGestureTemplate(t){this.gestureTemplates.has(t.name)&&console.warn(`Gesture template with name "${t.name}" already exists. It will be overwritten.`),this.gestureTemplates.set(t.name,t)}setGestureOptions(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeOptions`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}setGestureState(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeState`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}registerElement(t,r,n){if(Array.isArray(t))return t.forEach(o=>{const s=n==null?void 0:n[o];this.registerSingleGesture(o,r,s)}),r;const a=n==null?void 0:n[t];return this.registerSingleGesture(t,r,a),r}registerSingleGesture(t,r,n){const a=this.gestureTemplates.get(t);if(!a)return console.error(`Gesture template "${t}" not found.`),!1;this.elementGestureMap.has(r)||this.elementGestureMap.set(r,new Map);const o=this.elementGestureMap.get(r);o.has(t)&&(console.warn(`Element already has gesture "${t}" registered. It will be replaced.`),this.unregisterElement(t,r));const s=a.clone(n);return s.init(r,this.pointerManager,this.activeGesturesRegistry,this.keyboardManager),o.set(t,s),!0}unregisterElement(t,r){const n=this.elementGestureMap.get(r);return!n||!n.has(t)?!1:(n.get(t).destroy(),n.delete(t),this.activeGesturesRegistry.unregisterElement(r),n.size===0&&this.elementGestureMap.delete(r),!0)}unregisterAllGestures(t){const r=this.elementGestureMap.get(t);if(r){for(const[,n]of r)n.destroy(),this.activeGesturesRegistry.unregisterElement(t);this.elementGestureMap.delete(t)}}destroy(){for(const[t]of this.elementGestureMap)this.unregisterAllGestures(t);this.gestureTemplates.clear(),this.elementGestureMap.clear(),this.activeGesturesRegistry.destroy(),this.keyboardManager.destroy()}}class Ca extends up{constructor(t){super(t),this.unregisterHandler=null,this.originalTarget=null,this.optionsType=void 0,this.mutableOptionsType=void 0,this.minPointers=void 0,this.maxPointers=void 0,this.minPointers=t.minPointers??1,this.maxPointers=t.maxPointers??1/0}init(t,r,n,a){super.init(t,r,n,a),this.unregisterHandler=this.pointerManager.registerGestureHandler((o,s)=>this.handlePointerEvent(o,s))}updateOptions(t){super.updateOptions(t),this.minPointers=t.minPointers??this.minPointers,this.maxPointers=t.maxPointers??this.maxPointers}getRelevantPointers(t,r){return t.filter(n=>this.isPointerTypeAllowed(n.pointerType)&&(r===n.target||n.target===this.originalTarget||r===this.originalTarget||r.contains(n.target)))}destroy(){this.unregisterHandler&&(this.unregisterHandler(),this.unregisterHandler=null),super.destroy()}}function av(e,t){const r=t.x-e.x,n=t.y-e.y;return Math.sqrt(r*r+n*n)}function ri(e){if(e.length<2)return 0;let t=0,r=0;for(let n=0;n<e.length;n+=1)for(let a=n+1;a<e.length;a+=1)t+=av({x:e[n].clientX,y:e[n].clientY},{x:e[a].clientX,y:e[a].clientY}),r+=1;return r>0?t/r:0}function Ft(e){if(e.length===0)return{x:0,y:0};const t=e.reduce((r,n)=>(r.x+=n.clientX,r.y+=n.clientY,r),{x:0,y:0});return{x:t.x/e.length,y:t.y/e.length}}function Sn(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Ga=1e-5,Qt=1e-5,iu=.15;function ov(e,t){const r=t.x-e.x,n=t.y-e.y,a={vertical:null,horizontal:null,mainAxis:null},o=sv(t,e),s=Math.abs(r)>Math.abs(n)?"horizontal":"vertical",i=o||s==="horizontal"?Ga:iu,l=o?Ga:s==="horizontal"?iu:Ga;return Math.abs(r)>i&&(a.horizontal=r>0?"right":"left"),Math.abs(n)>l&&(a.vertical=n>0?"down":"up"),a.mainAxis=o?"diagonal":s,a}function sv(e,t){const r=t.x-e.x,n=t.y-e.y,a=Math.atan2(n,r)*180/Math.PI;return a>=-45+Qt&&a<=-22.5+Qt||a>=22.5+Qt&&a<=45+Qt||a>=135+Qt&&a<=157.5+Qt||a>=-157.5+Qt&&a<=-135+Qt}function iv(e,t){if(!e.vertical&&!e.horizontal)return!1;if(t.length===0)return!0;const r=e.vertical===null||t.includes(e.vertical),n=e.horizontal===null||t.includes(e.horizontal);return r&&n}const lv=0,cv=e=>e>lv?1:e<-0?-1:0;class Rl extends Ca{constructor(t){super(t),this.state={lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.handleElementEnterBound=void 0,this.handleElementLeaveBound=void 0,this.handleElementEnterBound=this.handleElementEnter.bind(this),this.handleElementLeaveBound=this.handleElementLeave.bind(this),this.threshold=t.threshold||0}clone(t){return new Rl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,r,n,a){super.init(t,r,n,a),this.element.addEventListener("pointerenter",this.handleElementEnterBound),this.element.addEventListener("pointerleave",this.handleElementLeaveBound)}destroy(){this.element.removeEventListener("pointerenter",this.handleElementEnterBound),this.element.removeEventListener("pointerleave",this.handleElementLeaveBound),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state={lastPosition:null}}handleElementEnter(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen")return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());if(n.length>=this.minPointers&&n.length<=this.maxPointers){this.isActive=!0;const a={x:t.clientX,y:t.clientY};this.state.lastPosition=a,this.emitMoveEvent(this.element,"start",n,t),this.emitMoveEvent(this.element,"ongoing",n,t)}}handleElementLeave(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen"||!this.isActive)return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.emitMoveEvent(this.element,"end",n,t),this.resetState()}handlePointerEvent(t,r){if(r.type!=="pointermove"||r.pointerType!=="mouse"&&r.pointerType!=="pen")return;this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a||n.length<this.minPointers||n.length>this.maxPointers)return;if(this.shouldPreventGesture(a)){if(!this.isActive)return;this.resetState(),this.emitMoveEvent(a,"end",n,r);return}const o={x:r.clientX,y:r.clientY};this.state.lastPosition=o,this.isActive||(this.isActive=!0,this.emitMoveEvent(a,"start",n,r)),this.emitMoveEvent(a,"ongoing",n,r)}emitMoveEvent(t,r,n,a){const o=this.state.lastPosition||Ft(n),s=this.gesturesRegistry.getActiveGestures(t),i={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,activeGestures:s,customData:this.customData},l=Sn(this.name,r),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,detail:i});t.dispatchEvent(c)}}class Vl extends Ca{constructor(t){super(t),this.state={startPointers:new Map,startCentroid:null,lastCentroid:null,movementThresholdReached:!1,totalDeltaX:0,totalDeltaY:0,activeDeltaX:0,activeDeltaY:0,lastDirection:{vertical:null,horizontal:null,mainAxis:null},lastDeltas:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.direction=void 0,this.direction=t.direction||["up","down","left","right"],this.threshold=t.threshold||0}clone(t){return new Vl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,direction:[...this.direction],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.direction=t.direction||this.direction}resetState(){this.isActive=!1,this.state=Y({},this.state,{startPointers:new Map,startCentroid:null,lastCentroid:null,lastDeltas:null,activeDeltaX:0,activeDeltaY:0,movementThresholdReached:!1,lastDirection:{vertical:null,horizontal:null,mainAxis:null}})}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancel(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.cancel(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.cancel(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(o.forEach(s=>{this.state.startPointers.set(s.pointerId,s)}),this.originalTarget=a,this.state.startCentroid=Ft(o),this.state.lastCentroid=Y({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&o.length>=this.minPointers){const s=Ft(o),i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y,c=Math.sqrt(i*i+l*l),u=ov(this.state.lastCentroid??this.state.startCentroid,s),d=this.state.lastCentroid?s.x-this.state.lastCentroid.x:0,h=this.state.lastCentroid?s.y-this.state.lastCentroid.y:0;!this.state.movementThresholdReached&&c>=this.threshold&&iv(u,this.direction)?(this.state.movementThresholdReached=!0,this.isActive=!0,this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"start",o,r,s),this.emitPanEvent(a,"ongoing",o,r,s)):this.state.movementThresholdReached&&this.isActive&&(this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"ongoing",o,r,s)),this.state.lastCentroid=s,this.state.lastDirection=u}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive&&this.state.movementThresholdReached){if(o.filter(s=>s.type!=="pointerup"&&s.type!=="pointercancel").length<this.minPointers){const s=this.state.lastCentroid||this.state.startCentroid;r.type==="pointercancel"&&this.emitPanEvent(a,"cancel",o,r,s),this.emitPanEvent(a,"end",o,r,s),this.resetState()}}else this.resetState();break}}emitPanEvent(t,r,n,a,o){var x,V;if(!this.state.startCentroid)return;const s=((x=this.state.lastDeltas)==null?void 0:x.x)??0,i=((V=this.state.lastDeltas)==null?void 0:V.y)??0,l=this.state.startPointers.values().next().value,c=l?(a.timeStamp-l.timeStamp)/1e3:0,u=c>0?s/c:0,d=c>0?i/c:0,h=Math.sqrt(u*u+d*d),p=this.gesturesRegistry.getActiveGestures(t),f={gestureName:this.name,initialCentroid:this.state.startCentroid,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,deltaX:s,deltaY:i,direction:this.state.lastDirection,velocityX:u,velocityY:d,velocity:h,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,activeDeltaX:this.state.activeDeltaX,activeDeltaY:this.state.activeDeltaY,activeGestures:p,customData:this.customData},m=Sn(this.name,r),b=new CustomEvent(m,{bubbles:!0,cancelable:!0,detail:f});t.dispatchEvent(b),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancel(t,r,n){if(this.isActive){const a=t??this.element;this.emitPanEvent(a,"cancel",r,n,this.state.lastCentroid),this.emitPanEvent(a,"end",r,n,this.state.lastCentroid)}this.resetState()}}class _l extends Ca{constructor(t){super(Y({},t,{minPointers:t.minPointers??2})),this.state={startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,totalScale:1,deltaScale:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.threshold=t.threshold??0}clone(t){return new _l(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state=Y({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&(this.emitPinchEvent(a,"cancel",n,r),this.resetState());return}const o=this.getRelevantPointers(n,a);switch(r.type){case"pointerdown":if(o.length>=2&&!this.isActive){const s=ri(o);this.state.startDistance=s,this.state.lastDistance=s,this.state.lastTime=r.timeStamp,this.originalTarget=a}break;case"pointermove":if(this.state.startDistance&&o.length>=this.minPointers){const s=ri(o),i=Math.abs(s-this.state.lastDistance);if(i!==0&&i>=this.threshold){const l=this.state.startDistance?s/this.state.startDistance:1,c=l/this.state.lastScale;this.state.totalScale*=c;const u=(r.timeStamp-this.state.lastTime)/1e3;if(this.state.lastDistance){const h=(s-this.state.lastDistance)/u;this.state.velocity=Number.isNaN(h)?0:h}this.state.lastDistance=s,this.state.deltaScale=l-this.state.lastScale,this.state.lastScale=l,this.state.lastTime=r.timeStamp,this.isActive?this.emitPinchEvent(a,"ongoing",o,r):(this.isActive=!0,this.emitPinchEvent(a,"start",o,r),this.emitPinchEvent(a,"ongoing",o,r))}}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive){const s=o.filter(i=>i.type!=="pointerup"&&i.type!=="pointercancel");if(s.length<this.minPointers)r.type==="pointercancel"&&this.emitPinchEvent(a,"cancel",o,r),this.emitPinchEvent(a,"end",o,r),this.resetState();else if(s.length>=2){const i=ri(s);this.state.startDistance=i/this.state.lastScale}}break}}emitPinchEvent(t,r,n,a){const o=Ft(n),s=this.state.lastDistance,i=this.state.lastScale,l=this.gesturesRegistry.getActiveGestures(t),c={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,scale:i,deltaScale:this.state.deltaScale,totalScale:this.state.totalScale,distance:s,velocity:this.state.velocity,activeGestures:l,direction:cv(this.state.velocity),customData:this.customData};this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation();const u=Sn(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,detail:c});t.dispatchEvent(d)}}class El extends Ca{constructor(t){super(t),this.state={startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.duration=void 0,this.maxDistance=void 0,this.duration=t.duration??500,this.maxDistance=t.maxDistance??10}clone(t){return new El(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,duration:this.duration,maxDistance:this.maxDistance,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.clearPressTimer(),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.duration=t.duration??this.duration,this.maxDistance=t.maxDistance??this.maxDistance}resetState(){this.clearPressTimer(),this.isActive=!1,this.state=Y({},this.state,{startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1})}clearPressTimer(){this.state.timerId!==null&&(clearTimeout(this.state.timerId),this.state.timerId=null)}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancelPress(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&this.cancelPress(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelPress(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(this.state.startCentroid=Ft(o),this.state.lastPosition=Y({},this.state.startCentroid),this.state.startTime=r.timeStamp,this.isActive=!0,this.originalTarget=a,this.clearPressTimer(),this.state.timerId=setTimeout(()=>{if(this.isActive&&this.state.startCentroid){this.state.pressThresholdReached=!0;const s=this.state.lastPosition;this.emitPressEvent(a,"start",o,r,s),this.emitPressEvent(a,"ongoing",o,r,s)}},this.duration));break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=Ft(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelPress(a,o,r)}break;case"pointerup":if(this.isActive){if(this.state.pressThresholdReached){const s=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(a,"end",o,r,s)}this.resetState()}break;case"pointercancel":case"forceCancel":this.cancelPress(a,o,r);break}}emitPressEvent(t,r,n,a,o){const s=this.gesturesRegistry.getActiveGestures(t),i=a.timeStamp-this.state.startTime,l={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,x:o.x,y:o.y,duration:i,activeGestures:s,customData:this.customData},c=Sn(this.name,r),u=new CustomEvent(c,{bubbles:!0,cancelable:!0,detail:l});t.dispatchEvent(u),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancelPress(t,r,n){if(this.isActive&&this.state.pressThresholdReached){const a=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(t??this.element,"cancel",r,n,a),this.emitPressEvent(t??this.element,"end",r,n,a)}this.resetState()}}class Il extends Ca{constructor(t){super(t),this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.maxDistance=void 0,this.taps=void 0,this.maxDistance=t.maxDistance??10,this.taps=t.taps??1}clone(t){return new Il(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,maxDistance:this.maxDistance,taps:this.taps,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.maxDistance=t.maxDistance??this.maxDistance,this.taps=t.taps??this.taps}resetState(){this.isActive=!1,this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null}}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;const o=this.getRelevantPointers(n,a);if(this.shouldPreventGesture(a)||o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelTap(a,o,r);return}switch(r.type){case"pointerdown":this.isActive||(this.state.startCentroid=Ft(o),this.state.lastPosition=Y({},this.state.startCentroid),this.isActive=!0,this.originalTarget=a);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=Ft(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelTap(a,o,r)}break;case"pointerup":if(this.isActive){this.state.currentTapCount+=1;const s=this.state.lastPosition||this.state.startCentroid;if(!s){this.cancelTap(a,o,r);return}this.state.currentTapCount>=this.taps?(this.fireTapEvent(a,o,r,s),this.resetState()):(this.state.lastTapTime=r.timeStamp,this.isActive=!1,this.state.startCentroid=null,setTimeout(()=>{this.state&&this.state.currentTapCount>0&&this.state.currentTapCount<this.taps&&(this.state.currentTapCount=0)},300))}break;case"pointercancel":case"forceCancel":this.cancelTap(a,o,r);break}}fireTapEvent(t,r,n,a){const o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"end",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=new CustomEvent(this.name,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(i),this.preventDefault&&n.preventDefault(),this.stopPropagation&&n.stopPropagation()}cancelTap(t,r,n){if(this.state.startCentroid||this.state.lastPosition){const a=this.state.lastPosition||this.state.startCentroid,o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"cancel",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=Sn(this.name,"cancel"),l=new CustomEvent(i,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(l)}this.resetState()}}class Ml extends up{constructor(t){super(t),this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.sensitivity=void 0,this.max=void 0,this.min=void 0,this.initialDelta=void 0,this.invert=void 0,this.handleWheelEventBound=void 0,this.sensitivity=t.sensitivity??1,this.max=t.max??Number.MAX_SAFE_INTEGER,this.min=t.min??Number.MIN_SAFE_INTEGER,this.initialDelta=t.initialDelta??0,this.invert=t.invert??!1,this.state.totalDeltaX=this.initialDelta,this.state.totalDeltaY=this.initialDelta,this.state.totalDeltaZ=this.initialDelta,this.handleWheelEventBound=this.handleWheelEvent.bind(this)}clone(t){return new 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l={method:"DELETE",...s,...a},i={},c={};V(l,e),await P(i,e),r!==void 0&&(c.completionTimeout=r),R(n,c);let d=s&&s.headers?s.headers:{};return l.headers={...i,...d,...a.headers},{url:_(n),options:l}},deployCell:async(t,r,a={})=>{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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U.length<2?j.length<2?`[^${l(j+U)}]`:`(?:(?!${l(j)})[^${l(U)}])`:j.length<2?`(?:(?!${l(U)})[^${l(j)}])`:`(?:(?!${l(U)}|${l(j)})[\\s\\S])`}function D(j){return j.tokens.map(function U(k,y,M){if(k.type==="text")return s(k.value);if(k.type==="group")return`{${k.tokens.map(U).join("")}}`;const q=z(k.name)&&W(M[y+1])?k.name:JSON.stringify(k.name);if(k.type==="param")return`:${q}`;if(k.type==="wildcard")return`*${q}`;throw new TypeError(`Unexpected token: ${k}`)}).join("")}function z(j){const[U,...k]=j;return r.test(U)?k.every(y=>a.test(y)):!1}function W(j){return(j==null?void 0:j.type)!=="text"?!0:!a.test(j.value[0])}return st}var TS=AS();function Yi(e,t,r){if(t.length!==e.length)return!0;for(let a=0;a<t.length;a++)if(Math.abs(t[a]-e[a])>r)return!1;return!0}function Xi(e,t,r){if(e===void 0&&t||e&&t===void 0)return!1;if(e===void 0||t===void 0)return!0;let a=0;return 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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0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async clearApps(r,n,a){var l,c;const o=await t.clearApps(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ApplicationApi.clearApps"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteApp(r,n,a,o){var c,u;const s=await t.deleteApp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ApplicationApi.deleteApp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getApp(r,n,a){var l,c;const o=await t.getApp(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ApplicationApi.getApp"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listApps(r,n){var i,l;const a=await t.listApps(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ApplicationApi.listApps"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async updateApp(r,n,a,o,s){var u,d;const i=await t.updateApp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["ApplicationApi.updateApp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)}}};class Jd extends Ve{addApp(t,r,n,a){return qr(this.configuration).addApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearApps(t,r,n){return qr(this.configuration).clearApps(t,r,n).then(a=>a(this.axios,this.basePath))}deleteApp(t,r,n,a){return qr(this.configuration).deleteApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getApp(t,r,n){return qr(this.configuration).getApp(t,r,n).then(a=>a(this.axios,this.basePath))}listApps(t,r){return qr(this.configuration).listApps(t,r).then(n=>n(this.axios,this.basePath))}updateApp(t,r,n,a,o){return qr(this.configuration).updateApp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const U_=function(e){return{deleteCell:async(t,r,n={})=>{v("deleteCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.completionTimeout=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deployCell:async(t,r,n={})=>{v("deployCell","cell",t);const a="/cells",o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.completionTimeout=r),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(t,i,e),{url:L(o),options:i}},getCell:async(t,r={})=>{v("getCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},getCellStatus:async(t,r={})=>{v("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listCells:async(t={})=>{const r="/cells",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};j(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},updateCell:async(t,r,n,a={})=>{v("updateCell","cell",t),v("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:L(s),options:l}}}},Jr=function(e){const t=U_(e);return{async deleteCell(r,n,a){var l,c;const o=await t.deleteCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CellApi.deleteCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deployCell(r,n,a){var l,c;const o=await t.deployCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CellApi.deployCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getCell(r,n){var i,l;const a=await t.getCell(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["CellApi.getCell"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async getCellStatus(r,n){var i,l;const a=await t.getCellStatus(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["CellApi.getCellStatus"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async listCells(r){var s,i;const n=await t.listCells(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["CellApi.listCells"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>D(n,R,I,e)(l,o||c)},async updateCell(r,n,a,o){var c,u;const s=await t.updateCell(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["CellApi.updateCell"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class L_ extends Ve{deleteCell(t,r,n){return Jr(this.configuration).deleteCell(t,r,n).then(a=>a(this.axios,this.basePath))}deployCell(t,r,n){return Jr(this.configuration).deployCell(t,r,n).then(a=>a(this.axios,this.basePath))}getCell(t,r){return Jr(this.configuration).getCell(t,r).then(n=>n(this.axios,this.basePath))}getCellStatus(t,r){return Jr(this.configuration).getCellStatus(t,r).then(n=>n(this.axios,this.basePath))}listCells(t){return Jr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,n,a){return Jr(this.configuration).updateCell(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const D_=function(e){return{addRobotController:async(t,r,n,a={})=>{v("addRobotController","cell",t),v("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:L(s),options:l}},clearRobotControllers:async(t,r,n={})=>{v("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.completionTimeout=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteRobotController:async(t,r,n,a={})=>{v("deleteRobotController","cell",t),v("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.completionTimeout=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getCurrentRobotControllerState:async(t,r,n={})=>{v("getCurrentRobotControllerState","cell",t),v("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMode:async(t,r,n={})=>{v("getMode","cell",t),v("getMode","controller",r);const a="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRobotController:async(t,r,n={})=>{v("getRobotController","cell",t),v("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getSupportedModes:async(t,r,n={})=>{v("getSupportedModes","cell",t),v("getSupportedModes","controller",r);const a="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotConfiguration:async(t,r,n={})=>{v("getVirtualRobotConfiguration","cell",t),v("getVirtualRobotConfiguration","controller",r);const a="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listControllers:async(t,r={})=>{v("listControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},setDefaultMode:async(t,r,n,a={})=>{v("setDefaultMode","cell",t),v("setDefaultMode","controller",r),v("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.mode=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamFreeDrive:async(t,r,n,a={})=>{v("streamFreeDrive","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.response_rate=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamModeChange:async(t,r,n={})=>{v("streamModeChange","cell",t),v("streamModeChange","controller",r);const a="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},streamRobotControllerState:async(t,r,n,a={})=>{v("streamRobotControllerState","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.response_rate=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},updateRobotController:async(t,r,n,a,o={})=>{v("updateRobotController","cell",t),v("updateRobotController","controller",r),v("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),a!==void 0&&(d.completionTimeout=a),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:L(i),options:c}}}},rt=function(e){const t=D_(e);return{async addRobotController(r,n,a,o){var c,u;const s=await t.addRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async clearRobotControllers(r,n,a){var l,c;const o=await t.clearRobotControllers(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.clearRobotControllers"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteRobotController(r,n,a,o){var c,u;const s=await t.deleteRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getCurrentRobotControllerState(r,n,a){var l,c;const o=await t.getCurrentRobotControllerState(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getMode(r,n,a){var l,c;const o=await t.getMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getRobotController(r,n,a){var l,c;const o=await t.getRobotController(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getRobotController"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getSupportedModes(r,n,a){var l,c;const o=await t.getSupportedModes(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getSupportedModes"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getVirtualRobotConfiguration(r,n,a){var l,c;const o=await t.getVirtualRobotConfiguration(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listControllers(r,n){var i,l;const a=await t.listControllers(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ControllerApi.listControllers"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async setDefaultMode(r,n,a,o){var c,u;const s=await t.setDefaultMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async streamFreeDrive(r,n,a,o){var c,u;const s=await t.streamFreeDrive(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async streamModeChange(r,n,a){var l,c;const o=await t.streamModeChange(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.streamModeChange"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async streamRobotControllerState(r,n,a,o){var c,u;const s=await t.streamRobotControllerState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.streamRobotControllerState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async updateRobotController(r,n,a,o,s){var u,d;const i=await t.updateRobotController(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)}}};class B_ extends Ve{addRobotController(t,r,n,a){return rt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return rt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return rt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return rt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return rt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return rt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return rt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return rt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return rt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return rt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return rt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return rt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return rt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return rt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const N_=function(e){return{listIODescriptions:async(t,r,n,a={})=>{v("listIODescriptions","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n&&(u.ios=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listIOValues:async(t,r,n,a={})=>{v("listIOValues","cell",t),v("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n&&(u.ios=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setOutputValues:async(t,r,n,a={})=>{v("setOutputValues","cell",t),v("setOutputValues","controller",r),v("setOutputValues","iOValue",n);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},streamIOValues:async(t,r,n,a={})=>{v("streamIOValues","cell",t),v("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n&&(u.ios=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},waitForIOEvent:async(t,r,n,a,o,s,i,l={})=>{v("waitForIOEvent","cell",t),v("waitForIOEvent","controller",r),v("waitForIOEvent","io",n),v("waitForIOEvent","comparisonType",a);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),u=new URL(c,$);let d;e&&(d=e.baseOptions);const h={method:"GET",...d,...l},p={},f={};j(h,e),await k(p,e),n!==void 0&&(f.io=n),a!==void 0&&(f.comparison_type=a),o!==void 0&&(f.boolean_value=o),s!==void 0&&(f.integer_value=s),i!==void 0&&(f.floating_value=i),U(u,f);let m=d&&d.headers?d.headers:{};return h.headers={...p,...m,...l.headers},{url:L(u),options:h}}}},zn=function(e){const t=N_(e);return{async listIODescriptions(r,n,a,o){var c,u;const s=await t.listIODescriptions(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.listIODescriptions"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async listIOValues(r,n,a,o){var c,u;const s=await t.listIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async setOutputValues(r,n,a,o){var c,u;const s=await t.setOutputValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async streamIOValues(r,n,a,o){var c,u;const s=await t.streamIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async waitForIOEvent(r,n,a,o,s,i,l,c){var p,f;const u=await t.waitForIOEvent(r,n,a,o,s,i,l,c),d=(e==null?void 0:e.serverIndex)??0,h=(f=(p=M["ControllerIOsApi.waitForIOEvent"])==null?void 0:p[d])==null?void 0:f.url;return(m,b)=>D(u,R,I,e)(m,h||b)}}};class F_ extends Ve{listIODescriptions(t,r,n,a){return zn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return zn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return zn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return zn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return zn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const z_=function(e){return{addCoordinateSystem:async(t,r,n={})=>{v("addCoordinateSystem","cell",t),v("addCoordinateSystem","addRequest",r);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},deleteCoordinateSystem:async(t,r,n={})=>{v("deleteCoordinateSystem","cell",t),v("deleteCoordinateSystem","coordinateSystem",r);const a="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getCoordinateSystem:async(t,r,n,a={})=>{v("getCoordinateSystem","cell",t),v("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.rotation_type=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listCoordinateSystems:async(t,r,n={})=>{v("listCoordinateSystems","cell",t);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.rotation_type=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},transformInCoordinateSystem:async(t,r,n,a={})=>{v("transformInCoordinateSystem","cell",t),v("transformInCoordinateSystem","coordinateSystem",r),v("transformInCoordinateSystem","pose",n);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},Gn=function(e){const t=z_(e);return{async addCoordinateSystem(r,n,a){var l,c;const o=await t.addCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteCoordinateSystem(r,n,a){var l,c;const o=await t.deleteCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getCoordinateSystem(r,n,a,o){var c,u;const s=await t.getCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async listCoordinateSystems(r,n,a){var l,c;const o=await t.listCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async transformInCoordinateSystem(r,n,a,o){var c,u;const s=await t.transformInCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class G_ extends Ve{addCoordinateSystem(t,r,n){return Gn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Gn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Gn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Gn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Gn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const H_=function(e){return{clearDevices:async(t,r={})=>{v("clearDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},createDevice:async(t,r,n={})=>{v("createDevice","cell",t),v("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},deleteDevice:async(t,r,n={})=>{v("deleteDevice","cell",t),v("deleteDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getDevice:async(t,r,n={})=>{v("getDevice","cell",t),v("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listDevices:async(t,r={})=>{v("listDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},Hn=function(e){const t=H_(e);return{async clearDevices(r,n){var i,l;const a=await t.clearDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["DeviceConfigurationApi.clearDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async createDevice(r,n,a){var l,c;const o=await t.createDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["DeviceConfigurationApi.createDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteDevice(r,n,a){var l,c;const o=await t.deleteDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getDevice(r,n,a){var l,c;const o=await t.getDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["DeviceConfigurationApi.getDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listDevices(r,n){var i,l;const a=await t.listDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["DeviceConfigurationApi.listDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)}}};class q_ extends Ve{clearDevices(t,r){return Hn(this.configuration).clearDevices(t,r).then(n=>n(this.axios,this.basePath))}createDevice(t,r,n){return Hn(this.configuration).createDevice(t,r,n).then(a=>a(this.axios,this.basePath))}deleteDevice(t,r,n){return Hn(this.configuration).deleteDevice(t,r,n).then(a=>a(this.axios,this.basePath))}getDevice(t,r,n){return Hn(this.configuration).getDevice(t,r,n).then(a=>a(this.axios,this.basePath))}listDevices(t,r){return Hn(this.configuration).listDevices(t,r).then(n=>n(this.axios,this.basePath))}}const J_=function(e){return{createProgram:async(t,r,n,a={})=>{v("createProgram","cell",t),v("createProgram","body",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.name=n),c["Content-Type"]="text/plain",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:L(s),options:l}},deleteProgram:async(t,r,n={})=>{v("deleteProgram","cell",t),v("deleteProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteProgramList:async(t,r,n={})=>{v("deleteProgramList","cell",t),v("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),r&&(c.program_ids=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getProgram:async(t,r,n={})=>{v("getProgram","cell",t),v("getProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateProgram:async(t,r,n,a={})=>{v("updateProgram","cell",t),v("updateProgram","program",r),v("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="text/plain",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},qn=function(e){const t=J_(e);return{async createProgram(r,n,a,o){var c,u;const s=await t.createProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramApi.createProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async deleteProgram(r,n,a){var l,c;const o=await t.deleteProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramApi.deleteProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteProgramList(r,n,a){var l,c;const o=await t.deleteProgramList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramApi.deleteProgramList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getProgram(r,n,a){var l,c;const o=await t.getProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramApi.getProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async updateProgram(r,n,a,o){var c,u;const s=await t.updateProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramApi.updateProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class W_ extends Ve{createProgram(t,r,n,a){return qn(this.configuration).createProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}deleteProgram(t,r,n){return qn(this.configuration).deleteProgram(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramList(t,r,n){return qn(this.configuration).deleteProgramList(t,r,n).then(a=>a(this.axios,this.basePath))}getProgram(t,r,n){return qn(this.configuration).getProgram(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgram(t,r,n,a){return qn(this.configuration).updateProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const Y_=function(e){return{getProgramMetadata:async(t,r,n={})=>{v("getProgramMetadata","cell",t),v("getProgramMetadata","program",r);const a="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramMetadata:async(t,r,n={})=>{v("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.show_hidden=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateProgramMetadata:async(t,r,n,a={})=>{v("updateProgramMetadata","cell",t),v("updateProgramMetadata","program",r),v("updateProgramMetadata","updateProgramMetadataRequest",n);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{v("uploadProgramMetadataImage","cell",t),v("uploadProgramMetadataImage","program",r),v("uploadProgramMetadataImage","file",n);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);j(l,e),await k(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",U(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},Xa=function(e){const t=Y_(e);return{async getProgramMetadata(r,n,a){var l,c;const o=await t.getProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listProgramMetadata(r,n,a){var l,c;const o=await t.listProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async updateProgramMetadata(r,n,a,o){var c,u;const s=await t.updateProgramMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async uploadProgramMetadataImage(r,n,a,o){var c,u;const s=await t.uploadProgramMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class K_ extends Ve{getProgramMetadata(t,r,n){return Xa(this.configuration).getProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramMetadata(t,r,n){return Xa(this.configuration).listProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgramMetadata(t,r,n,a){return Xa(this.configuration).updateProgramMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,n,a){return Xa(this.configuration).uploadProgramMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const Q_=function(e){return{createRecipe:async(t,r,n,a,o={})=>{v("createRecipe","cell",t),v("createRecipe","programId",r),v("createRecipe","body",n);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};j(c,e),await k(u,e),r!==void 0&&(d.program_id=r),a!==void 0&&(d.name=a),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:L(i),options:c}},deleteRecipe:async(t,r,n={})=>{v("deleteRecipe","cell",t),v("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteRecipeList:async(t,r,n={})=>{v("deleteRecipeList","cell",t),v("deleteRecipeList","recipeIds",r);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),r&&(c.recipe_ids=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRecipe:async(t,r,n={})=>{v("getRecipe","cell",t),v("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateRecipe:async(t,r,n,a={})=>{v("updateRecipe","cell",t),v("updateRecipe","recipe",r),v("updateRecipe","body",n);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},Jn=function(e){const t=Q_(e);return{async createRecipe(r,n,a,o,s){var u,d;const i=await t.createRecipe(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["LibraryRecipeApi.createRecipe"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async deleteRecipe(r,n,a){var l,c;const o=await t.deleteRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteRecipeList(r,n,a){var l,c;const o=await t.deleteRecipeList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getRecipe(r,n,a){var l,c;const o=await t.getRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeApi.getRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async updateRecipe(r,n,a,o){var c,u;const s=await t.updateRecipe(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryRecipeApi.updateRecipe"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class X_ extends Ve{createRecipe(t,r,n,a,o){return Jn(this.configuration).createRecipe(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,n){return Jn(this.configuration).deleteRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRecipeList(t,r,n){return Jn(this.configuration).deleteRecipeList(t,r,n).then(a=>a(this.axios,this.basePath))}getRecipe(t,r,n){return Jn(this.configuration).getRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}updateRecipe(t,r,n,a){return Jn(this.configuration).updateRecipe(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const Z_=function(e){return{getRecipeMetadata:async(t,r,n={})=>{v("getRecipeMetadata","cell",t),v("getRecipeMetadata","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listRecipeMetadata:async(t,r={})=>{v("listRecipeMetadata","cell",t);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},updateRecipeMetadata:async(t,r,n,a={})=>{v("updateRecipeMetadata","cell",t),v("updateRecipeMetadata","recipe",r),v("updateRecipeMetadata","updateRecipeMetadataRequest",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},uploadRecipeMetadataImage:async(t,r,n,a={})=>{v("uploadRecipeMetadataImage","cell",t),v("uploadRecipeMetadataImage","recipe",r),v("uploadRecipeMetadataImage","file",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);j(l,e),await k(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",U(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},Za=function(e){const t=Z_(e);return{async getRecipeMetadata(r,n,a){var l,c;const o=await t.getRecipeMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listRecipeMetadata(r,n){var i,l;const a=await t.listRecipeMetadata(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async updateRecipeMetadata(r,n,a,o){var c,u;const s=await t.updateRecipeMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async uploadRecipeMetadataImage(r,n,a,o){var c,u;const s=await t.uploadRecipeMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class eE extends Ve{getRecipeMetadata(t,r,n){return Za(this.configuration).getRecipeMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listRecipeMetadata(t,r){return Za(this.configuration).listRecipeMetadata(t,r).then(n=>n(this.axios,this.basePath))}updateRecipeMetadata(t,r,n,a){return Za(this.configuration).updateRecipeMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,n,a){return Za(this.configuration).uploadRecipeMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const tE=function(e){return{deleteAllMotions:async(t,r={})=>{v("deleteAllMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},deleteMotion:async(t,r,n={})=>{v("deleteMotion","cell",t),v("deleteMotion","motion",r);const a="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},executeTrajectory:async(t,r,n={})=>{v("executeTrajectory","cell",t),v("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},getMotionTrajectory:async(t,r,n,a,o={})=>{v("getMotionTrajectory","cell",t),v("getMotionTrajectory","motion",r),v("getMotionTrajectory","sampleTime",n);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};j(c,e),await k(u,e),n!==void 0&&(d.sample_time=n),a!==void 0&&(d.responses_coordinate_system=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getMotionTrajectorySample:async(t,r,n,a,o={})=>{v("getMotionTrajectorySample","cell",t),v("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};j(c,e),await k(u,e),n!==void 0&&(d.location_on_trajectory=n),a!==void 0&&(d.response_coordinate_system=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getPlannedMotion:async(t,r,n,a={})=>{v("getPlannedMotion","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.sample_time=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{v("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listMotions:async(t,r={})=>{v("listMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},loadPlannedMotion:async(t,r,n={})=>{v("loadPlannedMotion","cell",t),v("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},planCollisionFreePTP:async(t,r,n={})=>{v("planCollisionFreePTP","cell",t);const a="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},planMotion:async(t,r,n={})=>{v("planMotion","cell",t),v("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},planTrajectory:async(t,r,n={})=>{v("planTrajectory","cell",t);const a="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},stopExecution:async(t,r,n={})=>{v("stopExecution","cell",t),v("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},streamMove:async(t,r,n={})=>{v("streamMove","cell",t),v("streamMove","streamMoveRequest",r);const a="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{v("streamMoveBackward","cell",t),v("streamMoveBackward","motion",r),v("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};j(d,e),await k(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),U(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}},streamMoveForward:async(t,r,n,a,o,s,i={})=>{v("streamMoveForward","cell",t),v("streamMoveForward","motion",r),v("streamMoveForward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};j(d,e),await k(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),U(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}},streamMoveToTrajectoryViaJointPTP:async(t,r,n,a,o,s,i,l,c,u,d={})=>{v("streamMoveToTrajectoryViaJointPTP","cell",t),v("streamMoveToTrajectoryViaJointPTP","motion",r),v("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,$);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},b={},x={};j(m,e),await k(b,e),n!==void 0&&(x.location_on_trajectory=n),a&&(x["limit_override.joint_velocity_limits.joints"]=a),o&&(x["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(x["limit_override.tcp_velocity_limit"]=s),i!==void 0&&(x["limit_override.tcp_acceleration_limit"]=i),l!==void 0&&(x["limit_override.tcp_orientation_velocity_limit"]=l),c!==void 0&&(x["limit_override.tcp_orientation_acceleration_limit"]=c),u!==void 0&&(x.responses_coordinate_system=u),U(p,x);let V=f&&f.headers?f.headers:{};return m.headers={...b,...V,...d.headers},{url:L(p),options:m}}}},Ye=function(e){const t=tE(e);return{async deleteAllMotions(r,n){var i,l;const a=await t.deleteAllMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionApi.deleteAllMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async deleteMotion(r,n,a){var l,c;const o=await t.deleteMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.deleteMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async executeTrajectory(r,n,a){var l,c;const o=await t.executeTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.executeTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getMotionTrajectory(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectory(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["MotionApi.getMotionTrajectory"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async getMotionTrajectorySample(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectorySample(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["MotionApi.getMotionTrajectorySample"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async getPlannedMotion(r,n,a,o){var c,u;const s=await t.getPlannedMotion(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionApi.getPlannedMotion"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getPlanningMotionGroupModels(r,n){var i,l;const a=await t.getPlanningMotionGroupModels(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async listMotions(r,n){var i,l;const a=await t.listMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionApi.listMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async loadPlannedMotion(r,n,a){var l,c;const o=await t.loadPlannedMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.loadPlannedMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async planCollisionFreePTP(r,n,a){var l,c;const o=await t.planCollisionFreePTP(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.planCollisionFreePTP"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async planMotion(r,n,a){var l,c;const o=await t.planMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.planMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async planTrajectory(r,n,a){var l,c;const o=await t.planTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.planTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async stopExecution(r,n,a){var l,c;const o=await t.stopExecution(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.stopExecution"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async streamMove(r,n,a){var l,c;const o=await t.streamMove(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.streamMove"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async streamMoveBackward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveBackward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=M["MotionApi.streamMoveBackward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>D(c,R,I,e)(f,d||m)},async streamMoveForward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveForward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=M["MotionApi.streamMoveForward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>D(c,R,I,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var b,x;const p=await t.streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h),f=(e==null?void 0:e.serverIndex)??0,m=(x=(b=M["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:b[f])==null?void 0:x.url;return(V,O)=>D(p,R,I,e)(V,m||O)}}};class rE extends Ve{deleteAllMotions(t,r){return Ye(this.configuration).deleteAllMotions(t,r).then(n=>n(this.axios,this.basePath))}deleteMotion(t,r,n){return Ye(this.configuration).deleteMotion(t,r,n).then(a=>a(this.axios,this.basePath))}executeTrajectory(t,r,n){return Ye(this.configuration).executeTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionTrajectory(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectory(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectorySample(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,n,a){return Ye(this.configuration).getPlannedMotion(t,r,n,a).then(o=>o(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ye(this.configuration).getPlanningMotionGroupModels(t,r).then(n=>n(this.axios,this.basePath))}listMotions(t,r){return Ye(this.configuration).listMotions(t,r).then(n=>n(this.axios,this.basePath))}loadPlannedMotion(t,r,n){return Ye(this.configuration).loadPlannedMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planCollisionFreePTP(t,r,n){return Ye(this.configuration).planCollisionFreePTP(t,r,n).then(a=>a(this.axios,this.basePath))}planMotion(t,r,n){return Ye(this.configuration).planMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planTrajectory(t,r,n){return Ye(this.configuration).planTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}stopExecution(t,r,n){return Ye(this.configuration).stopExecution(t,r,n).then(a=>a(this.axios,this.basePath))}streamMove(t,r,n){return Ye(this.configuration).streamMove(t,r,n).then(a=>a(this.axios,this.basePath))}streamMoveBackward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveBackward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveForward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveForward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d){return Ye(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d).then(h=>h(this.axios,this.basePath))}}const nE=function(e){return{activateAllMotionGroups:async(t,r,n={})=>{v("activateAllMotionGroups","cell",t),v("activateAllMotionGroups","controller",r);const a="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.controller=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},activateMotionGroup:async(t,r,n={})=>{v("activateMotionGroup","cell",t),v("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.motion_group=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deactivateMotionGroup:async(t,r,n={})=>{v("deactivateMotionGroup","cell",t),v("deactivateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listMotionGroups:async(t,r={})=>{v("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},eo=function(e){const t=nE(e);return{async activateAllMotionGroups(r,n,a){var l,c;const o=await t.activateAllMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async activateMotionGroup(r,n,a){var l,c;const o=await t.activateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupApi.activateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deactivateMotionGroup(r,n,a){var l,c;const o=await t.deactivateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listMotionGroups(r,n){var i,l;const a=await t.listMotionGroups(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionGroupApi.listMotionGroups"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)}}};class aE extends Ve{activateAllMotionGroups(t,r,n){return eo(this.configuration).activateAllMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}activateMotionGroup(t,r,n){return eo(this.configuration).activateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}deactivateMotionGroup(t,r,n){return eo(this.configuration).deactivateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}listMotionGroups(t,r){return eo(this.configuration).listMotionGroups(t,r).then(n=>n(this.axios,this.basePath))}}const oE=function(e){return{getActivePayload:async(t,r,n={})=>{v("getActivePayload","cell",t),v("getActivePayload","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getActiveTcp:async(t,r,n,a={})=>{v("getActiveTcp","cell",t),v("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.rotation_type=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getCurrentMotionGroupState:async(t,r,n,a,o={})=>{v("getCurrentMotionGroupState","cell",t),v("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};j(c,e),await k(u,e),n!==void 0&&(d.tcp=n),a!==void 0&&(d.response_coordinate_system=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getInfoCapabilities:async(t,r,n={})=>{v("getInfoCapabilities","cell",t),v("getInfoCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMotionGroupSpecification:async(t,r,n={})=>{v("getMotionGroupSpecification","cell",t),v("getMotionGroupSpecification","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMounting:async(t,r,n={})=>{v("getMounting","cell",t),v("getMounting","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getOptimizerConfiguration:async(t,r,n,a={})=>{v("getOptimizerConfiguration","cell",t),v("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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.tcp=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getSafetySetup:async(t,r,n={})=>{v("getSafetySetup","cell",t),v("getSafetySetup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listPayloads:async(t,r,n={})=>{v("listPayloads","cell",t),v("listPayloads","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listTcps:async(t,r,n,a={})=>{v("listTcps","cell",t),v("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.rotation_type=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamMotionGroupState:async(t,r,n,a,o,s={})=>{v("streamMotionGroupState","cell",t),v("streamMotionGroupState","motionGroup",r);const i="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(i,$);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...s},d={},h={};j(u,e),await k(d,e),n!==void 0&&(h.response_rate=n),a!==void 0&&(h.response_coordinate_system=a),o!==void 0&&(h.tcp=o),U(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...s.headers},{url:L(l),options:u}}}},bt=function(e){const t=oE(e);return{async getActivePayload(r,n,a){var l,c;const o=await t.getActivePayload(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getActiveTcp(r,n,a,o){var c,u;const s=await t.getActiveTcp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getCurrentMotionGroupState(r,n,a,o,s){var u,d;const i=await t.getCurrentMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async getInfoCapabilities(r,n,a){var l,c;const o=await t.getInfoCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getMotionGroupSpecification(r,n,a){var l,c;const o=await t.getMotionGroupSpecification(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getMounting(r,n,a){var l,c;const o=await t.getMounting(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getMounting"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getOptimizerConfiguration(r,n,a,o){var c,u;const s=await t.getOptimizerConfiguration(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getSafetySetup(r,n,a){var l,c;const o=await t.getSafetySetup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listPayloads(r,n,a){var l,c;const o=await t.listPayloads(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.listPayloads"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listTcps(r,n,a,o){var c,u;const s=await t.listTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupInfosApi.listTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async streamMotionGroupState(r,n,a,o,s,i){var d,h;const l=await t.streamMotionGroupState(r,n,a,o,s,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=M["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>D(l,R,I,e)(p,u||f)}}};class sE extends Ve{getActivePayload(t,r,n){return bt(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return bt(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return bt(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return bt(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return bt(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return bt(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return bt(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return bt(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return bt(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return bt(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return bt(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const iE=function(e){return{directionJogging:async(t,r,n={})=>{v("directionJogging","cell",t),v("directionJogging","directionJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},getJoggingCapabilities:async(t,r,n={})=>{v("getJoggingCapabilities","cell",t),v("getJoggingCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},jointJogging:async(t,r,n={})=>{v("jointJogging","cell",t),v("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},stopJogging:async(t,r,n={})=>{v("stopJogging","cell",t),v("stopJogging","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},to=function(e){const t=iE(e);return{async directionJogging(r,n,a){var l,c;const o=await t.directionJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getJoggingCapabilities(r,n,a){var l,c;const o=await t.getJoggingCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async jointJogging(r,n,a){var l,c;const o=await t.jointJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async stopJogging(r,n,a){var l,c;const o=await t.stopJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)}}};class lE extends Ve{directionJogging(t,r,n){return to(this.configuration).directionJogging(t,r,n).then(a=>a(this.axios,this.basePath))}getJoggingCapabilities(t,r,n){return to(this.configuration).getJoggingCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}jointJogging(t,r,n){return to(this.configuration).jointJogging(t,r,n).then(a=>a(this.axios,this.basePath))}stopJogging(t,r,n){return to(this.configuration).stopJogging(t,r,n).then(a=>a(this.axios,this.basePath))}}const cE=function(e){return{calculateAllInverseKinematic:async(t,r,n,a={})=>{v("calculateAllInverseKinematic","cell",t),v("calculateAllInverseKinematic","motionGroup",r),v("calculateAllInverseKinematic","allJointPositionsRequest",n);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,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},calculateForwardKinematic:async(t,r,n,a={})=>{v("calculateForwardKinematic","cell",t),v("calculateForwardKinematic","motionGroup",r),v("calculateForwardKinematic","tcpPoseRequest",n);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,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{v("calculateInverseKinematic","cell",t),v("calculateInverseKinematic","motionGroup",r),v("calculateInverseKinematic","jointPositionRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},getKinematicCapabilities:async(t,r,n={})=>{v("getKinematicCapabilities","cell",t),v("getKinematicCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},ro=function(e){const t=cE(e);return{async calculateAllInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateAllInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async calculateForwardKinematic(r,n,a,o){var c,u;const s=await t.calculateForwardKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async calculateInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getKinematicCapabilities(r,n,a){var l,c;const o=await t.getKinematicCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)}}};class uE extends Ve{calculateAllInverseKinematic(t,r,n,a){return ro(this.configuration).calculateAllInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,n,a){return ro(this.configuration).calculateForwardKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,n,a){return ro(this.configuration).calculateInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,n){return ro(this.configuration).getKinematicCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}}const dE=function(e){return{createProgramRunner:async(t,r,n={})=>{v("createProgramRunner","cell",t),v("createProgramRunner","request",r);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="text/plain",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},executeProgram:async(t,r,n={})=>{v("executeProgram","cell",t),v("executeProgram","codeWithArguments",r);const a="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},getProgramRunner:async(t,r,n={})=>{v("getProgramRunner","cell",t),v("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramRunners:async(t,r={})=>{v("listProgramRunners","cell",t);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},migrateProgram:async(t,r,n={})=>{v("migrateProgram","cell",t),v("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="text/plain",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},planProgram:async(t,r,n,a={})=>{v("planProgram","cell",t),v("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.identifier=n),c["Content-Type"]="text/plain",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:L(s),options:l}},stopAllProgramRunner:async(t,r={})=>{v("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},stopProgramRunner:async(t,r,n={})=>{v("stopProgramRunner","cell",t),v("stopProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},Xt=function(e){const t=dE(e);return{async createProgramRunner(r,n,a){var l,c;const o=await t.createProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.createProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async executeProgram(r,n,a){var l,c;const o=await t.executeProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.executeProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getProgramRunner(r,n,a){var l,c;const o=await t.getProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.getProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listProgramRunners(r,n){var i,l;const a=await t.listProgramRunners(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramApi.listProgramRunners"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async migrateProgram(r,n,a){var l,c;const o=await t.migrateProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.migrateProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async planProgram(r,n,a,o){var c,u;const s=await t.planProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ProgramApi.planProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async stopAllProgramRunner(r,n){var i,l;const a=await t.stopAllProgramRunner(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramApi.stopAllProgramRunner"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async stopProgramRunner(r,n,a){var l,c;const o=await t.stopProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.stopProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)}}};class hE extends Ve{createProgramRunner(t,r,n){return Xt(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return Xt(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return Xt(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return Xt(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return Xt(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return Xt(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return Xt(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return Xt(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const pE=function(e){return{clearProgramsValues:async(t,r={})=>{v("clearProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},createProgramsValue:async(t,r,n={})=>{v("createProgramsValue","cell",t),v("createProgramsValue","requestBody",r);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},deleteProgramValue:async(t,r,n={})=>{v("deleteProgramValue","cell",t),v("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getProgramValue:async(t,r,n={})=>{v("getProgramValue","cell",t),v("getProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramsValues:async(t,r={})=>{v("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},updateProgramValue:async(t,r,n,a={})=>{v("updateProgramValue","cell",t),v("updateProgramValue","key",r),v("updateProgramValue","value",n);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},Wr=function(e){const t=pE(e);return{async clearProgramsValues(r,n){var i,l;const a=await t.clearProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async createProgramsValue(r,n,a){var l,c;const o=await t.createProgramsValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramValuesApi.createProgramsValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteProgramValue(r,n,a){var l,c;const o=await t.deleteProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getProgramValue(r,n,a){var l,c;const o=await t.getProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramValuesApi.getProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listProgramsValues(r,n){var i,l;const a=await t.listProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramValuesApi.listProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async updateProgramValue(r,n,a,o){var c,u;const s=await t.updateProgramValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ProgramValuesApi.updateProgramValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class mE extends Ve{clearProgramsValues(t,r){return Wr(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return Wr(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return Wr(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return Wr(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return Wr(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return Wr(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const fE=function(e){return{deleteStoredCollider:async(t,r,n={})=>{v("deleteStoredCollider","cell",t),v("deleteStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{v("deleteStoredCollisionLinkChain","cell",t),v("deleteStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{v("deleteStoredCollisionTool","cell",t),v("deleteStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getDefaultLinkChain:async(t,r,n={})=>{v("getDefaultLinkChain","cell",t),v("getDefaultLinkChain","motionGroupModel",r);const a="/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(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollider:async(t,r,n={})=>{v("getStoredCollider","cell",t),v("getStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{v("getStoredCollisionLinkChain","cell",t),v("getStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionTool:async(t,r,n={})=>{v("getStoredCollisionTool","cell",t),v("getStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listCollisionLinkChains:async(t,r={})=>{v("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listStoredColliders:async(t,r={})=>{v("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listStoredCollisionTools:async(t,r={})=>{v("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollider:async(t,r,n,a={})=>{v("storeCollider","cell",t),v("storeCollider","collider",r),v("storeCollider","collider2",n);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},storeCollisionLinkChain:async(t,r,n,a={})=>{v("storeCollisionLinkChain","cell",t),v("storeCollisionLinkChain","linkChain",r),v("storeCollisionLinkChain","collider",n);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,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{v("storeCollisionTool","cell",t),v("storeCollisionTool","tool",r),v("storeCollisionTool","requestBody",n);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},lt=function(e){const t=fE(e);return{async deleteStoredCollider(r,n,a){var l,c;const o=await t.deleteStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.deleteStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteStoredCollisionTool(r,n,a){var l,c;const o=await t.deleteStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getDefaultLinkChain(r,n,a){var l,c;const o=await t.getDefaultLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getStoredCollider(r,n,a){var l,c;const o=await t.getStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.getStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getStoredCollisionTool(r,n,a){var l,c;const o=await t.getStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listCollisionLinkChains(r,n){var i,l;const a=await t.listCollisionLinkChains(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async listStoredColliders(r,n){var i,l;const a=await t.listStoredColliders(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async listStoredCollisionTools(r,n){var i,l;const a=await t.listStoredCollisionTools(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async storeCollider(r,n,a,o){var c,u;const s=await t.storeCollider(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async storeCollisionLinkChain(r,n,a,o){var c,u;const s=await t.storeCollisionLinkChain(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async storeCollisionTool(r,n,a,o){var c,u;const s=await t.storeCollisionTool(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class gE extends Ve{deleteStoredCollider(t,r,n){return lt(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return lt(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return lt(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return lt(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return lt(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return lt(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return lt(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return lt(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return lt(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return lt(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return lt(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return lt(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return lt(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const yE=function(e){return{deleteStoredCollisionScene:async(t,r,n={})=>{v("deleteStoredCollisionScene","cell",t),v("deleteStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionScene:async(t,r,n={})=>{v("getStoredCollisionScene","cell",t),v("getStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listStoredCollisionScenes:async(t,r={})=>{v("listStoredCollisionScenes","cell",t);const n="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollisionScene:async(t,r,n,a={})=>{v("storeCollisionScene","cell",t),v("storeCollisionScene","scene",r),v("storeCollisionScene","collisionSceneAssembly",n);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},no=function(e){const t=yE(e);return{async deleteStoredCollisionScene(r,n,a){var l,c;const o=await t.deleteStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getStoredCollisionScene(r,n,a){var l,c;const o=await t.getStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listStoredCollisionScenes(r,n){var i,l;const a=await t.listStoredCollisionScenes(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async storeCollisionScene(r,n,a,o){var c,u;const s=await t.storeCollisionScene(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class bE extends Ve{deleteStoredCollisionScene(t,r,n){return no(this.configuration).deleteStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionScene(t,r,n){return no(this.configuration).getStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return no(this.configuration).listStoredCollisionScenes(t,r).then(n=>n(this.axios,this.basePath))}storeCollisionScene(t,r,n,a){return no(this.configuration).storeCollisionScene(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const vE=function(e){return{clearAllObjects:async(t,r={})=>{v("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},deleteObject:async(t,r,n={})=>{v("deleteObject","cell",t),v("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getObject:async(t,r,n={})=>{v("getObject","cell",t),v("getObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getObjectMetadata:async(t,r,n={})=>{v("getObjectMetadata","cell",t),v("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listAllObjectKeys:async(t,r={})=>{v("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeObject:async(t,r,n,a,o={})=>{v("storeObject","cell",t),v("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={},h=new(e&&e.formDataCtor||FormData);j(c,e),await k(u,e),a!==void 0&&h.append("AnyValue",new Blob([JSON.stringify(a)],{type:"application/json"})),u["Content-Type"]="multipart/form-data",n!=null&&(u["X-Metadata"]=typeof n=="string"?n:JSON.stringify(n)),U(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...o.headers},c.data=h,{url:L(i),options:c}}}},Yr=function(e){const t=vE(e);return{async clearAllObjects(r,n){var i,l;const a=await t.clearAllObjects(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreObjectApi.clearAllObjects"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async deleteObject(r,n,a){var l,c;const o=await t.deleteObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreObjectApi.deleteObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getObject(r,n,a){var l,c;const o=await t.getObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreObjectApi.getObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getObjectMetadata(r,n,a){var l,c;const o=await t.getObjectMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreObjectApi.getObjectMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listAllObjectKeys(r,n){var i,l;const a=await t.listAllObjectKeys(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async storeObject(r,n,a,o,s){var u,d;const i=await t.storeObject(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)}}};class SE extends Ve{clearAllObjects(t,r){return Yr(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return Yr(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return Yr(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return Yr(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return Yr(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return Yr(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const xE=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{v("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),t!==void 0&&(l.channel=t),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};j(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};j(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};j(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},updateNovaVersion:async(t,r={})=>{v("updateNovaVersion","updateNovaVersionRequest",t);const n="/system/update",a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};j(s,e),await k(i,e),i["Content-Type"]="application/json",U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=ue(t,s,e),{url:L(a),options:s}}}},Wn=function(e){const t=xE(e);return{async checkNovaVersionUpdate(r,n){var i,l;const a=await t.checkNovaVersionUpdate(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async getDiagnosePackage(r){var s,i;const n=await t.getDiagnosePackage(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["SystemApi.getDiagnosePackage"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>D(n,R,I,e)(l,o||c)},async getSystemStatus(r){var s,i;const n=await t.getSystemStatus(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["SystemApi.getSystemStatus"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>D(n,R,I,e)(l,o||c)},async getSystemVersion(r){var s,i;const n=await t.getSystemVersion(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["SystemApi.getSystemVersion"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>D(n,R,I,e)(l,o||c)},async updateNovaVersion(r,n){var i,l;const a=await t.updateNovaVersion(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["SystemApi.updateNovaVersion"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)}}};class OE extends Ve{checkNovaVersionUpdate(t,r){return Wn(this.configuration).checkNovaVersionUpdate(t,r).then(n=>n(this.axios,this.basePath))}getDiagnosePackage(t){return Wn(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Wn(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Wn(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Wn(this.configuration).updateNovaVersion(t,r).then(n=>n(this.axios,this.basePath))}}const wE=function(e){return{getMotionGroupState:async(t,r,n,a={})=>{v("getMotionGroupState","cell",t),v("getMotionGroupState","controller",r),v("getMotionGroupState","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getMotionGroups:async(t,r,n={})=>{v("getMotionGroups","cell",t),v("getMotionGroups","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotIOValue:async(t,r,n,a={})=>{v("getVirtualRobotIOValue","cell",t),v("getVirtualRobotIOValue","controller",r),v("getVirtualRobotIOValue","io",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listIOs:async(t,r,n={})=>{v("listIOs","cell",t),v("listIOs","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setMotionGroupState:async(t,r,n,a,o={})=>{v("setMotionGroupState","cell",t),v("setMotionGroupState","controller",r),v("setMotionGroupState","id",n),v("setMotionGroupState","motionGroupJoints",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:L(i),options:c}},setVirtualRobotIOValue:async(t,r,n,a,o,s,i={})=>{v("setVirtualRobotIOValue","cell",t),v("setVirtualRobotIOValue","controller",r),v("setVirtualRobotIOValue","io",n);const l="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"PUT",...u,...i},h={},p={};j(d,e),await k(h,e),a!==void 0&&(p.bool=a),o!==void 0&&(p.integer=o),s!==void 0&&(p.double=s),U(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}}}},Kr=function(e){const t=wE(e);return{async getMotionGroupState(r,n,a,o){var c,u;const s=await t.getMotionGroupState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getMotionGroups(r,n,a){var l,c;const o=await t.getMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotApi.getMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getVirtualRobotIOValue(r,n,a,o){var c,u;const s=await t.getVirtualRobotIOValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async listIOs(r,n,a){var l,c;const o=await t.listIOs(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotApi.listIOs"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async setMotionGroupState(r,n,a,o,s){var u,d;const i=await t.setMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async setVirtualRobotIOValue(r,n,a,o,s,i,l){var h,p;const c=await t.setVirtualRobotIOValue(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=M["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>D(c,R,I,e)(f,d||m)}}};class CE extends Ve{getMotionGroupState(t,r,n,a){return Kr(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return Kr(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return Kr(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return Kr(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return Kr(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return Kr(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const PE=function(e){return{externalJointsStream:async(t,r,n,a={})=>{v("externalJointsStream","cell",t),v("externalJointsStream","controller",r),v("externalJointsStream","externalJointStreamDatapoint",n);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,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},getMotionGroupBehavior:async(t,r,n,a={})=>{v("getMotionGroupBehavior","cell",t),v("getMotionGroupBehavior","controller",r),v("getMotionGroupBehavior","id",n);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(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setMotionGroupBehavior:async(t,r,n,a,o={})=>{v("setMotionGroupBehavior","cell",t),v("setMotionGroupBehavior","controller",r),v("setMotionGroupBehavior","id",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),a!==void 0&&(d.behavior=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}}}},Vi=function(e){const t=PE(e);return{async externalJointsStream(r,n,a,o){var c,u;const s=await t.externalJointsStream(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getMotionGroupBehavior(r,n,a,o){var c,u;const s=await t.getMotionGroupBehavior(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async setMotionGroupBehavior(r,n,a,o,s){var u,d;const i=await t.setMotionGroupBehavior(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)}}};class TE extends Ve{externalJointsStream(t,r,n,a){return Vi(this.configuration).externalJointsStream(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,n,a){return Vi(this.configuration).getMotionGroupBehavior(t,r,n,a).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,n,a,o){return Vi(this.configuration).setMotionGroupBehavior(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const AE=function(e){return{getCycleTime:async(t,r,n={})=>{v("getCycleTime","cell",t),v("getCycleTime","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getEStop:async(t,r,n={})=>{v("getEStop","cell",t),v("getEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getOperationMode:async(t,r,n={})=>{v("getOperationMode","cell",t),v("getOperationMode","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},pushEStop:async(t,r,n={})=>{v("pushEStop","cell",t),v("pushEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},releaseEStop:async(t,r,n={})=>{v("releaseEStop","cell",t),v("releaseEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setOperationMode:async(t,r,n,a={})=>{v("setOperationMode","cell",t),v("setOperationMode","controller",r),v("setOperationMode","mode",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.mode=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}}}},Qr=function(e){const t=AE(e);return{async getCycleTime(r,n,a){var l,c;const o=await t.getCycleTime(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getEStop(r,n,a){var l,c;const o=await t.getEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.getEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getOperationMode(r,n,a){var l,c;const o=await t.getOperationMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async pushEStop(r,n,a){var l,c;const o=await t.pushEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.pushEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async releaseEStop(r,n,a){var l,c;const o=await t.releaseEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async setOperationMode(r,n,a,o){var c,u;const s=await t.setOperationMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class RE extends Ve{getCycleTime(t,r,n){return Qr(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return Qr(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return Qr(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return Qr(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return Qr(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return Qr(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const VE=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{v("addVirtualRobotCoordinateSystem","cell",t),v("addVirtualRobotCoordinateSystem","controller",r),v("addVirtualRobotCoordinateSystem","coordinateSystem",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},addVirtualRobotTcp:async(t,r,n,a,o={})=>{v("addVirtualRobotTcp","cell",t),v("addVirtualRobotTcp","controller",r),v("addVirtualRobotTcp","id",n),v("addVirtualRobotTcp","robotTcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:L(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{v("deleteVirtualRobotCoordinateSystem","cell",t),v("deleteVirtualRobotCoordinateSystem","controller",r),v("deleteVirtualRobotCoordinateSystem","coordinateSystem",n);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(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};j(c,e),await k(u,e),a!==void 0&&(d.delete_dependent=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},deleteVirtualRobotTcp:async(t,r,n,a,o={})=>{v("deleteVirtualRobotTcp","cell",t),v("deleteVirtualRobotTcp","controller",r),v("deleteVirtualRobotTcp","id",n),v("deleteVirtualRobotTcp","tcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(a))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};j(c,e),await k(u,e),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{v("getVirtualRobotMounting","cell",t),v("getVirtualRobotMounting","controller",r),v("getVirtualRobotMounting","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listVirtualRobotCoordinateSystems:async(t,r,n={})=>{v("listVirtualRobotCoordinateSystems","cell",t),v("listVirtualRobotCoordinateSystems","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{v("listVirtualRobotTcps","cell",t),v("listVirtualRobotTcps","controller",r),v("listVirtualRobotTcps","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setVirtualRobotMounting:async(t,r,n,a,o={})=>{v("setVirtualRobotMounting","cell",t),v("setVirtualRobotMounting","controller",r),v("setVirtualRobotMounting","id",n),v("setVirtualRobotMounting","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:L(i),options:c}}}},Zt=function(e){const t=VE(e);return{async addVirtualRobotCoordinateSystem(r,n,a,o){var c,u;const s=await t.addVirtualRobotCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async addVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.addVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async deleteVirtualRobotCoordinateSystem(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotCoordinateSystem(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async deleteVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async getVirtualRobotMounting(r,n,a,o){var c,u;const s=await t.getVirtualRobotMounting(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async listVirtualRobotCoordinateSystems(r,n,a){var l,c;const o=await t.listVirtualRobotCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listVirtualRobotTcps(r,n,a,o){var c,u;const s=await t.listVirtualRobotTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async setVirtualRobotMounting(r,n,a,o,s){var u,d;const i=await t.setVirtualRobotMounting(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)}}};class _E extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return Zt(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return Zt(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return Zt(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return Zt(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return Zt(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return Zt(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return Zt(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return Zt(this.configuration).setVirtualRobotMounting(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}function Ut(e,t,r){return Math.max(t,Math.min(r,e))}class EE{constructor(t=0,r=0,n=0,a=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=n,this._w=a}static slerpFlat(t,r,n,a,o,s,i){let l=n[a+0],c=n[a+1],u=n[a+2],d=n[a+3];const h=o[s+0],p=o[s+1],f=o[s+2],m=o[s+3];if(i===0){t[r+0]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d;return}if(i===1){t[r+0]=h,t[r+1]=p,t[r+2]=f,t[r+3]=m;return}if(d!==m||l!==h||c!==p||u!==f){let b=1-i;const x=l*h+c*p+u*f+d*m,V=x>=0?1:-1,O=1-x*x;if(O>Number.EPSILON){const P=Math.sqrt(O),w=Math.atan2(P,x*V);b=Math.sin(b*w)/P,i=Math.sin(i*w)/P}const C=i*V;if(l=l*b+h*C,c=c*b+p*C,u=u*b+f*C,d=d*b+m*C,b===1-i){const P=1/Math.sqrt(l*l+c*c+u*u+d*d);l*=P,c*=P,u*=P,d*=P}}t[r]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d}static multiplyQuaternionsFlat(t,r,n,a,o,s){const i=n[a],l=n[a+1],c=n[a+2],u=n[a+3],d=o[s],h=o[s+1],p=o[s+2],f=o[s+3];return t[r]=i*f+u*d+l*p-c*h,t[r+1]=l*f+u*h+c*d-i*p,t[r+2]=c*f+u*p+i*h-l*d,t[r+3]=u*f-i*d-l*h-c*p,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,n,a){return this._x=t,this._y=r,this._z=n,this._w=a,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 n=t._x,a=t._y,o=t._z,s=t._order,i=Math.cos,l=Math.sin,c=i(n/2),u=i(a/2),d=i(o/2),h=l(n/2),p=l(a/2),f=l(o/2);switch(s){case"XYZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"YXZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"ZXY":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"ZYX":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"YZX":this._x=h*u*d+c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d-h*p*f;break;case"XZY":this._x=h*u*d-c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d+h*p*f;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const n=r/2,a=Math.sin(n);return this._x=t.x*a,this._y=t.y*a,this._z=t.z*a,this._w=Math.cos(n),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,n=r[0],a=r[4],o=r[8],s=r[1],i=r[5],l=r[9],c=r[2],u=r[6],d=r[10],h=n+i+d;if(h>0){const p=.5/Math.sqrt(h+1);this._w=.25/p,this._x=(u-l)*p,this._y=(o-c)*p,this._z=(s-a)*p}else if(n>i&&n>d){const p=2*Math.sqrt(1+n-i-d);this._w=(u-l)/p,this._x=.25*p,this._y=(a+s)/p,this._z=(o+c)/p}else if(i>d){const p=2*Math.sqrt(1+i-n-d);this._w=(o-c)/p,this._x=(a+s)/p,this._y=.25*p,this._z=(l+u)/p}else{const p=2*Math.sqrt(1+d-n-i);this._w=(s-a)/p,this._x=(o+c)/p,this._y=(l+u)/p,this._z=.25*p}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let n=t.dot(r)+1;return n<Number.EPSILON?(n=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=n):(this._x=0,this._y=-t.z,this._z=t.y,this._w=n)):(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=n),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(Ut(this.dot(t),-1,1)))}rotateTowards(t,r){const n=this.angleTo(t);if(n===0)return this;const a=Math.min(1,r/n);return this.slerp(t,a),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 n=t._x,a=t._y,o=t._z,s=t._w,i=r._x,l=r._y,c=r._z,u=r._w;return this._x=n*u+s*i+a*c-o*l,this._y=a*u+s*l+o*i-n*c,this._z=o*u+s*c+n*l-a*i,this._w=s*u-n*i-a*l-o*c,this._onChangeCallback(),this}slerp(t,r){if(r===0)return this;if(r===1)return this.copy(t);const n=this._x,a=this._y,o=this._z,s=this._w;let i=s*t._w+n*t._x+a*t._y+o*t._z;if(i<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,i=-i):this.copy(t),i>=1)return this._w=s,this._x=n,this._y=a,this._z=o,this;const l=1-i*i;if(l<=Number.EPSILON){const p=1-r;return this._w=p*s+r*this._w,this._x=p*n+r*this._x,this._y=p*a+r*this._y,this._z=p*o+r*this._z,this.normalize(),this}const c=Math.sqrt(l),u=Math.atan2(c,i),d=Math.sin((1-r)*u)/c,h=Math.sin(r*u)/c;return this._w=s*d+this._w*h,this._x=n*d+this._x*h,this._y=a*d+this._y*h,this._z=o*d+this._z*h,this._onChangeCallback(),this}slerpQuaternions(t,r,n){return this.copy(t).slerp(r,n)}random(){const t=2*Math.PI*Math.random(),r=2*Math.PI*Math.random(),n=Math.random(),a=Math.sqrt(1-n),o=Math.sqrt(n);return this.set(a*Math.sin(t),a*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 ln{constructor(t=0,r=0,n=0){ln.prototype.isVector3=!0,this.x=t,this.y=r,this.z=n}set(t,r,n){return n===void 0&&(n=this.z),this.x=t,this.y=r,this.z=n,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,r){switch(t){case 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this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,n=this.y,a=this.z,o=t.elements;return this.x=o[0]*r+o[4]*n+o[8]*a,this.y=o[1]*r+o[5]*n+o[9]*a,this.z=o[2]*r+o[6]*n+o[10]*a,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=Ut(this.x,t.x,r.x),this.y=Ut(this.y,t.y,r.y),this.z=Ut(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=Ut(this.x,t,r),this.y=Ut(this.y,t,r),this.z=Ut(this.z,t,r),this}clampLength(t,r){const n=this.length();return this.divideScalar(n||1).multiplyScalar(Ut(n,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,n){return this.x=t.x+(r.x-t.x)*n,this.y=t.y+(r.y-t.y)*n,this.z=t.z+(r.z-t.z)*n,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,r){const 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n+=Math.abs(e.orientation.x-t.orientation.x),n+=Math.abs(e.orientation.y-t.orientation.y),n+=Math.abs(e.orientation.z-t.orientation.z),n+=Math.abs(e.position.x-t.position.x),n+=Math.abs(e.position.y-t.position.y),n+=Math.abs(e.position.z-t.position.z),n>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var Kd=1e-4,jE=class ff{constructor(t,r,n,a,o,s,i,l,c,u,d,h){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.isVirtual=s,this.tcps=i,this.motionGroupSpecification=l,this.safetySetup=c,this.mounting=u,this.initialControllerState=d,this.controllerStateSocket=h,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=a,this.controllerState=d,h.addEventListener("message",p=>{var f;const m=(f=nr(p.data))==null?void 0:f.result;m&&Be.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=nr(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);pf(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,Kd)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),mf(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,Kd)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),Be.makeAutoObservable(this)}static connect(t,r,n){return Re(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(w=>w.controller===i),c=l==null?void 0:l.physical_motion_groups.find(w=>w.motion_group===r);if(!l||!c)throw new Error(`Controller ${i} or motion group ${r} not found`);const u=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield u.firstMessage(),h=(a=nr(d.data))==null?void 0:a.result;if(!h)throw new Error(`Unable to parse initial motion state message ${d.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
+  `,h);const f=(yield t.api.controller.getRobotController(l.controller)).configuration.kind==="VirtualController",m=yield Re(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(w){return console.error(`Error fetching mounting for ${c.motion_group}`,w),null}}),b=t.openReconnectingWebsocket(`/controllers/${l.controller}/state-stream?response_rate=1000`),x=yield b.firstMessage(),V=(o=nr(x.data))==null?void 0:o.result;if(!V)throw new Error(`Unable to parse initial controller state message ${x.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
+  `,V);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),C=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),P=yield t.api.motionGroupInfos.getSafetySetup(r);return new ff(t,l,c,h,u,f,O,C,P,m,V,b)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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,n,a,o,s;const i=new ke.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((a=(n=this.mounting)==null?void 0:n.pose.orientation)==null?void 0:a.y)||0,((s=(o=this.mounting)==null?void 0:o.pose.orientation)==null?void 0:s.z)||0),l=i.length(),c=i.normalize();return new ke.Quaternion().setFromAxisAngle(c,l)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return Re(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Be.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Be.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Be.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Re(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Be.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Be.runInAction(()=>{this.activationState="active"})}catch(t){throw Be.runInAction(()=>{this.activationState="inactive"}),t}})}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingCartesianSocket&&this.connectedJoggingCartesianSocket.close(),this.connectedJoggingJointsSocket&&this.connectedJoggingJointsSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}},kE=class gf{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return Re(this,arguments,function*(n,a,o={}){const s=yield n.connectMotionStream(a);return new gf(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 Re(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&&(BR(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",n=>{const a=nr(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)})),t==="joint"&&!this.jointWebsocket&&(this.jointWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-joint"),this.jointWebsocket.addEventListener("message",n=>{const a=nr(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)}))}startJointRotation(t){return Re(this,arguments,function*({joint:r,direction:n,velocityRadsPerSec:a}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const o=new Array(this.numJoints).fill(0);o[r]=n==="-"?-a:a,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:o})})}startTCPTranslation(t){return Re(this,arguments,function*({axis:r,direction:n,velocityMmPerSec:a}){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]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:o,position_velocity:a,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return Re(this,arguments,function*({axis:r,direction:n,velocityRadsPerSec:a}){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]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:o,rotation_direction:s,position_velocity:0,rotation_velocity:a,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return Re(this,arguments,function*({currentTcpPose:r,currentJoints:n,coordSystemId:a,velocityInRelevantUnits:o,axis:s,direction:i,motion:l}){var c;const u=[];if(!rV(r.coordinate_system,a))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${a}`);if(l.type==="translate"){const p=Object.assign({},r.position);p[s]+=l.distanceMm*(i==="-"?-1:1),u.push({settings:{limits_override:{tcp_velocity_limit:o}},line:{position:p,orientation:r.orientation,coordinate_system:a}})}else if(l.type==="rotate"){const p=new ln(r.orientation.x,r.orientation.y,r.orientation.z),f=p.length(),m=p.clone().normalize(),b=l.distanceRads*(i==="-"?-1:1),x=new ln(0,0,0);x[s]=1;const V=Math.cos(.5*b)*Math.cos(.5*f),O=Math.sin(.5*b)*Math.sin(.5*f),C=Math.sin(.5*b)*Math.cos(.5*f),P=Math.cos(.5*b)*Math.sin(.5*f),w=x.dot(m),A=x.clone().cross(m),E=2*Math.acos(V-O*w),F=E/Math.sin(.5*E),y=new ln().addScaledVector(A,O).addScaledVector(x,C).addScaledVector(m,P).multiplyScalar(F);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:y,coordinate_system:a}})}const d=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,tcp:this.cartesianJoggingOpts.tcpId,commands:u}),h=(c=d.plan_successful_response)==null?void 0:c.motion;if(!h)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(d)}`);yield this.nova.api.motion.streamMoveForward(h,100,void 0,void 0,void 0,{timeout:1e3*60})})}runIncrementalJointRotation(t){return Re(this,arguments,function*({joint:r,currentJoints:n,velocityRadsPerSec:a,direction:o,distanceRads:s}){var i;const l=[...n.joints];l[r]+=s*(o==="-"?-1:1);const c=new Array(n.joints.length).fill(a),u=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,commands:[{settings:{limits_override:{joint_velocity_limits:{joints:c}}},joint_ptp:{joints:l}}]}),d=(i=u.plan_successful_response)==null?void 0:i.motion;if(!d){console.error("Failed to plan jogging increment motion",u);return}yield this.nova.api.motion.streamMoveForward(d,100,void 0,void 0,void 0,{timeout:1e3*60})})}},Qd=1e-4;function UE(e,t){const r=new vt.Vector3(t.x,t.y,t.z),n=new vt.Vector3(e.x,e.y,e.z),a=r.length(),o=r.normalize();let s=n.length(),i=n.normalize();i.dot(o)<0&&(s=-s,i=i.multiplyScalar(-1));let l=s-a;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),s=a+l,i.multiplyScalar(s)}var LE=class yf{constructor(t,r,n,a,o){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.rapidlyChangingMotionState=a,o.addEventListener("message",s=>{var i;const l=(i=nr(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);pf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,Qd)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),mf(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,Qd)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:UE(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),Be.makeAutoObservable(this)}static open(t,r){return Re(this,null,function*(){var n;const{instances:a}=yield t.api.controller.listControllers(),[o,s]=r.split("@"),i=a.find(h=>h.controller===s),l=i==null?void 0:i.physical_motion_groups.find(h=>h.motion_group===r);if(!i||!l)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),u=yield c.firstMessage();console.log("got first message",u);const d=(n=nr(u.data))==null?void 0:n.result;if(!d)throw new Error(`Unable to parse initial motion state message ${u.data}`);return console.log(`Connected motion state websocket to motion group ${l.motion_group}. Initial state:
+  `,d),new yf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},DE=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(OE),this.cell=this.withUnwrappedResponsesOnly(L_),this.deviceConfig=this.withCellId(q_),this.motionGroup=this.withCellId(aE),this.motionGroupInfos=this.withCellId(sE),this.controller=this.withCellId(B_),this.program=this.withCellId(hE),this.programValues=this.withCellId(mE),this.controllerIOs=this.withCellId(F_),this.motionGroupKinematic=this.withCellId(uE),this.motion=this.withCellId(rE),this.coordinateSystems=this.withCellId(G_),this.application=this.withCellId(Jd),this.applicationGlobal=this.withUnwrappedResponsesOnly(Jd),this.motionGroupJogging=this.withCellId(lE),this.virtualRobot=this.withCellId(CE),this.virtualRobotSetup=this.withCellId(_E),this.virtualRobotMode=this.withCellId(RE),this.virtualRobotBehavior=this.withCellId(TE),this.libraryProgramMetadata=this.withCellId(K_),this.libraryProgram=this.withCellId(W_),this.libraryRecipeMetadata=this.withCellId(eE),this.libraryRecipe=this.withCellId(X_),this.storeObject=this.withCellId(SE),this.storeCollisionComponents=this.withCellId(gE),this.storeCollisionScenes=this.withCellId(bE)}withCellId(e){var t,r;const n=new e(ol(rn({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:R.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,[this.cellId,...s]).then(i=>i.data)}return n}withUnwrappedResponsesOnly(e){var t,r;const n=new e(ol(rn({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:R.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,s).then(i=>i.data)}return n}},BE=class{constructor(){this.connections=[]}handleAPIRequest(e){return Re(this,null,function*(){var t,r,n;const a=[{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"+((n=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:n.split("?")[0]);for(const i of a){const l=$E.match(i.path)(s||"");if(o===i.method&&l){const c=i.handle();return{status:200,statusText:"Success",data:JSON.stringify(c),headers:{},config:e,request:{responseURL:e.url}}}}throw new hl(`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(NE)})),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)}},NE={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"}}},FE=class{constructor(e){this.authPromise=null,this.accessToken=null;var 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Promise.reject(i)}else((s=a.response)==null?void 0:s.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(a)})),this.api=new DE(r,ol(rn({},e),{basePath:Ei(this.config.instanceUrl,"/api/v1"),isJsonMime:a=>a==="application/json",baseOptions:rn(rn({},this.mock?{adapter:a=>this.mock.handleAPIRequest(a)}:{}),e.baseOptions),axiosInstance:n}))}renewAuthentication(){return Re(this,null,function*(){if(!this.authPromise){this.authPromise=aV(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?Ci.setString("wbjs.access_token",this.accessToken):Ci.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL(Ei(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return 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