@wandelbots/wandelbots-js-react-components 2.31.0-pr.feature-add-program-state-indicatorr.371.39548f7 → 2.31.0-pr.feature-add-program-state-indicatorr.371.416edc3

package/dist/components/ProgramStateIndicator.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"ProgramStateIndicator.d.ts","sourceRoot":"","sources":["../../src/components/ProgramStateIndicator.tsx"],"names":[],"mappings":"AACA,OAAO,KAAK,EACV,qCAAqC,EACrC,mCAAmC,EACpC,MAAM,wBAAwB,CAAA;AAI/B,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAA;AAEpD,MAAM,WAAW,0BAA0B;IACzC,uCAAuC;IACvC,YAAY,EAAE,YAAY,CAAA;IAC1B,uDAAuD;IACvD,WAAW,EAAE,mCAAmC,CAAA;IAChD,yDAAyD;IACzD,aAAa,EAAE,qCAAqC,CAAA;IACpD,gCAAgC;IAChC,SAAS,CAAC,EAAE,MAAM,CAAA;CACnB;AAED;;;;;;;;;GASG;AACH,eAAO,MAAM,qBAAqB,8DAO3B,0BAA0B;;CA+HhC,CAAA"}
+{"version":3,"file":"ProgramStateIndicator.d.ts","sourceRoot":"","sources":["../../src/components/ProgramStateIndicator.tsx"],"names":[],"mappings":"AACA,OAAO,KAAK,EACV,qCAAqC,EACrC,mCAAmC,EACpC,MAAM,wBAAwB,CAAA;AAI/B,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAA;AAEpD,MAAM,WAAW,0BAA0B;IACzC,uCAAuC;IACvC,YAAY,EAAE,YAAY,CAAA;IAC1B,uDAAuD;IACvD,WAAW,EAAE,mCAAmC,CAAA;IAChD,yDAAyD;IACzD,aAAa,EAAE,qCAAqC,CAAA;IACpD,gCAAgC;IAChC,SAAS,CAAC,EAAE,MAAM,CAAA;CACnB;AAED;;;;;;;;;GASG;AACH,eAAO,MAAM,qBAAqB,8DAO3B,0BAA0B;;CA6GhC,CAAA"}

package/dist/index.cjs

@@ -151,5 +151,5 @@ and limitations under the License.
   `,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(),_=(o=ar(x.data))==null?void 0:o.result;if(!_)throw new Error(`Unable to parse initial controller state message ${x.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
   `,_);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),C=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),P=yield t.api.motionGroupInfos.getSafetySetup(r);return new ff(t,l,c,h,u,f,O,C,P,m,_,b)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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=ar(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=ar(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(!r_(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 _=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(_-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=ar(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=ar(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(LV),this.deviceConfig=this.withCellId(qV),this.motionGroup=this.withCellId(aE),this.motionGroupInfos=this.withCellId(sE),this.controller=this.withCellId(BV),this.program=this.withCellId(hE),this.programValues=this.withCellId(mE),this.controllerIOs=this.withCellId(FV),this.motionGroupKinematic=this.withCellId(uE),this.motion=this.withCellId(rE),this.coordinateSystems=this.withCellId(GV),this.application=this.withCellId(Jd),this.applicationGlobal=this.withUnwrappedResponsesOnly(Jd),this.motionGroupJogging=this.withCellId(lE),this.virtualRobot=this.withCellId(CE),this.virtualRobotSetup=this.withCellId(VE),this.virtualRobotMode=this.withCellId(RE),this.virtualRobotBehavior=this.withCellId(TE),this.libraryProgramMetadata=this.withCellId(KV),this.libraryProgram=this.withCellId(WV),this.libraryRecipeMetadata=this.withCellId(eE),this.libraryRecipe=this.withCellId(XV),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 t;const r=(t=e.cellId)!=null?t:"cell";this.config=rn({cellId:r},e),this.accessToken=e.accessToken||Ci.getString("wbjs.access_token")||null,this.config.instanceUrl==="https://mock.example.com"&&(this.mock=new BE);const n=R.create({baseURL:Ei(this.config.instanceUrl,"/api/v1"),headers:{"User-Agent":"Wandelbots-Nova-JS-SDK"}});n.interceptors.request.use(a=>Re(this,null,function*(){return a.headers.Authorization||(this.accessToken?a.headers.Authorization=`Bearer ${this.accessToken}`:this.config.username&&this.config.password&&(a.headers.Authorization=`Basic ${btoa(e.username+":"+e.password)}`)),a})),typeof window<"u"&&n.interceptors.response.use(a=>a,a=>Re(this,null,function*(){var o,s;if($V(a))if(((o=a.response)==null?void 0:o.status)===401)try{if(yield this.renewAuthentication(),a.config)return this.accessToken?a.config.headers.Authorization=`Bearer ${this.accessToken}`:delete a.config.headers.Authorization,n.request(a.config)}catch(i){return Promise.reject(i)}else((s=a.response)==null?void 0:s.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(a)})),this.api=new DE(r,ol(rn({},e),{basePath:Ei(this.config.instanceUrl,"/api/v1"),isJsonMime:a=>a==="application/json",baseOptions:rn(rn({},this.mock?{adapter:a=>this.mock.handleAPIRequest(a)}:{}),e.baseOptions),axiosInstance:n}))}renewAuthentication(){return Re(this,null,function*(){if(!this.authPromise){this.authPromise=a_(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?Ci.setString("wbjs.access_token",this.accessToken):Ci.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL(Ei(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return t.protocol=t.protocol.replace("http","ws"),t.protocol=t.protocol.replace("https","wss"),this.accessToken?t.searchParams.append("token",this.accessToken):this.config.username&&this.config.password&&(t.username=this.config.username,t.password=this.config.password),t.toString()}openReconnectingWebsocket(e){return new e_(this.makeWebsocketURL(e),{mock:this.mock})}connectMotionStream(e){return Re(this,null,function*(){return yield LE.open(this,e)})}connectJogger(e){return Re(this,null,function*(){return yield kE.open(this,e)})}connectMotionGroups(e){return Re(this,null,function*(){const{instances:t}=yield this.api.controller.listControllers();return Promise.all(e.map(r=>jE.connect(this,r,t)))})}connectMotionGroup(e){return Re(this,null,function*(){return(yield this.connectMotionGroups([e]))[0]})}};function zE(e){try{return JSON.stringify(e)}catch{return}}function GE(e,t){throw new Error(t+` ${JSON.stringify(e)}`)}function HE(e){var t,r,n,a;return e instanceof hl&&e.code==="ERR_NETWORK"?"Failed to connect to the server. Please check your internet connection.":e instanceof hl&&e.response?`${(t=e.response)==null?void 0:t.status} ${(r=e.response)==null?void 0:r.statusText} from ${(n=e.response)==null?void 0:n.config.url}: ${JSON.stringify((a=e.response)==null?void 0:a.data)}`:e instanceof Error?e.message:`Unexpected error: ${zE(e)||e}`}const fc=e=>{const t=e.softTimeout||3e3,[r,n]=ee.useState(!1),a=J.useTheme();return ee.useEffect(()=>{const o=setTimeout(()=>{n(!0)},t);return()=>clearTimeout(o)}),S.jsx(J.Stack,{width:"100%",height:"100%",alignItems:"center",justifyContent:"center",sx:{color:a.palette.text.primary},children:e.error?S.jsx(bf,{loadingMessage:e.message,error:e.error}):S.jsxs(S.Fragment,{children:[S.jsx(J.CircularProgress,{sx:{marginBottom:"24px"}}),!!e.message&&S.jsx("div",{children:e.message}),S.jsx(J.Stack,{sx:{visibility:r?"visible":"hidden",marginTop:"1rem",color:a.palette.text.secondary},children:"This is taking longer than expected..."})]})})},bf=e=>{const t=HE(e.error),r=e.error instanceof Error?e.error.stack:null,n=J.useTheme();return S.jsxs(J.Stack,{sx:{maxHeight:"100%",maxWidth:"min(100%, 800px)",padding:2,overflow:"auto",color:n.palette.error.main,"& pre":{whiteSpace:"pre-wrap",wordBreak:"break-word",paddingBottom:"3rem"}},children:[(e.loadingMessage?`Error while ${Sl.lowerFirst(J.capitalize(e.loadingMessage))} - `:"")+t,S.jsx("br",{}),r&&S.jsx("pre",{children:r})]})},qE=({title:e,titleId:t,...r},n)=>B.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:19,height:10,fill:"none",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{fill:"#fff",fillRule:"evenodd",d:"M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0",clipRule:"evenodd"})),JE=ee.forwardRef(qE),WE=({title:e,titleId:t,...r},n)=>B.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:19,height:10,fill:"none",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{fill:"#fff",fillRule:"evenodd",d:"M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0",clipRule:"evenodd"})),YE=ee.forwardRef(WE),KE=({title:e,titleId:t,...r},n)=>B.createElement("svg",{xmlns:"http://www.w3.org/2000/svg",width:10,height:19,fill:"none",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{fill:"#fff",fillRule:"evenodd",d:"M9.522 14.811A.899.899 0 1 0 8.25 13.54L6.19 15.601V3.16L8.25 5.221A.9.9 0 0 0 9.522 3.95L5.926.354a.9.9 0 0 0-1.272 0L1.058 3.95a.9.9 0 1 0 1.271 1.271L4.391 3.16v12.442L2.329 13.54a.899.899 0 1 0-1.271 1.271l3.596 3.597a.9.9 0 0 0 1.272 0z",clipRule:"evenodd"})),QE=ee.forwardRef(KE),XE=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:16,height:16,viewBox:"0 0 16 16",fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M8 16C5.76667 16 3.875 15.225 2.325 13.675C0.775 12.125 0 10.2333 0 8C0 5.76667 0.775 3.875 2.325 2.325C3.875 0.775 5.76667 0 8 0C9.15 0 10.25 0.2375 11.3 0.7125C12.35 1.1875 13.25 1.86667 14 2.75V0H16V7H9V5H13.2C12.6667 4.06667 11.9375 3.33333 11.0125 2.8C10.0875 2.26667 9.08333 2 8 2C6.33333 2 4.91667 2.58333 3.75 3.75C2.58333 4.91667 2 6.33333 2 8C2 9.66667 2.58333 11.0833 3.75 12.25C4.91667 13.4167 6.33333 14 8 14C9.28333 14 10.4417 13.6333 11.475 12.9C11.0583 14.1 12.5083 12.1667 11.475 12.9L12.9 14.325C11.4667 15.4417 9.83333 16 8 16Z",fill:"white"})),ZE=ee.forwardRef(XE);function eI(){this.__data__=[],this.size=0}function vf(e,t){return e===t||e!==e&&t!==t}function ks(e,t){for(var r=e.length;r--;)if(vf(e[r][0],t))return r;return-1}var tI=Array.prototype,rI=tI.splice;function nI(e){var t=this.__data__,r=ks(t,e);if(r<0)return!1;var n=t.length-1;return r==n?t.pop():rI.call(t,r,1),--this.size,!0}function aI(e){var t=this.__data__,r=ks(t,e);return r<0?void 0:t[r][1]}function oI(e){return ks(this.__data__,e)>-1}function sI(e,t){var r=this.__data__,n=ks(r,e);return n<0?(++this.size,r.push([e,t])):r[n][1]=t,this}function Yt(e){var t=-1,r=e==null?0:e.length;for(this.clear();++t<r;){var n=e[t];this.set(n[0],n[1])}}Yt.prototype.clear=eI;Yt.prototype.delete=nI;Yt.prototype.get=aI;Yt.prototype.has=oI;Yt.prototype.set=sI;function iI(){this.__data__=new Yt,this.size=0}function lI(e){var t=this.__data__,r=t.delete(e);return this.size=t.size,r}function cI(e){return this.__data__.get(e)}function uI(e){return this.__data__.has(e)}var dI="[object AsyncFunction]",hI="[object Function]",pI="[object GeneratorFunction]",mI="[object Proxy]";function Sf(e){if(!wr(e))return!1;var t=Mr(e);return t==hI||t==pI||t==dI||t==mI}var Ii=$t["__core-js_shared__"],Xd=function(){var e=/[^.]+$/.exec(Ii&&Ii.keys&&Ii.keys.IE_PROTO||"");return e?"Symbol(src)_1."+e:""}();function fI(e){return!!Xd&&Xd in e}var gI=Function.prototype,yI=gI.toString;function jr(e){if(e!=null){try{return yI.call(e)}catch{}try{return e+""}catch{}}return""}var bI=/[\\^$.*+?()[\]{}|]/g,vI=/^\[object .+?Constructor\]$/,SI=Function.prototype,xI=Object.prototype,OI=SI.toString,wI=xI.hasOwnProperty,CI=RegExp("^"+OI.call(wI).replace(bI,"\\$&").replace(/hasOwnProperty|(function).*?(?=\\\()| for .+?(?=\\\])/g,"$1.*?")+"$");function PI(e){if(!wr(e)||fI(e))return!1;var t=Sf(e)?CI:vI;return t.test(jr(e))}function TI(e,t){return e==null?void 0:e[t]}function kr(e,t){var r=TI(e,t);return PI(r)?r:void 0}var ya=kr($t,"Map"),ba=kr(Object,"create");function AI(){this.__data__=ba?ba(null):{},this.size=0}function RI(e){var t=this.has(e)&&delete this.__data__[e];return this.size-=t?1:0,t}var _I="__lodash_hash_undefined__",VI=Object.prototype,EI=VI.hasOwnProperty;function II(e){var t=this.__data__;if(ba){var r=t[e];return r===_I?void 0:r}return EI.call(t,e)?t[e]:void 0}var MI=Object.prototype,$I=MI.hasOwnProperty;function jI(e){var t=this.__data__;return ba?t[e]!==void 0:$I.call(t,e)}var kI="__lodash_hash_undefined__";function UI(e,t){var r=this.__data__;return this.size+=this.has(e)?0:1,r[e]=ba&&t===void 0?kI:t,this}function Tr(e){var t=-1,r=e==null?0:e.length;for(this.clear();++t<r;){var n=e[t];this.set(n[0],n[1])}}Tr.prototype.clear=AI;Tr.prototype.delete=RI;Tr.prototype.get=II;Tr.prototype.has=jI;Tr.prototype.set=UI;function LI(){this.size=0,this.__data__={hash:new Tr,map:new(ya||Yt),string:new Tr}}function DI(e){var t=typeof e;return t=="string"||t=="number"||t=="symbol"||t=="boolean"?e!=="__proto__":e===null}function Us(e,t){var r=e.__data__;return DI(t)?r[typeof t=="string"?"string":"hash"]:r.map}function BI(e){var t=Us(this,e).delete(e);return this.size-=t?1:0,t}function NI(e){return Us(this,e).get(e)}function FI(e){return Us(this,e).has(e)}function zI(e,t){var r=Us(this,e),n=r.size;return r.set(e,t),this.size+=r.size==n?0:1,this}function Kt(e){var t=-1,r=e==null?0:e.length;for(this.clear();++t<r;){var n=e[t];this.set(n[0],n[1])}}Kt.prototype.clear=LI;Kt.prototype.delete=BI;Kt.prototype.get=NI;Kt.prototype.has=FI;Kt.prototype.set=zI;var GI=200;function HI(e,t){var r=this.__data__;if(r instanceof Yt){var n=r.__data__;if(!ya||n.length<GI-1)return n.push([e,t]),this.size=++r.size,this;r=this.__data__=new Kt(n)}return r.set(e,t),this.size=r.size,this}function Bt(e){var t=this.__data__=new Yt(e);this.size=t.size}Bt.prototype.clear=iI;Bt.prototype.delete=lI;Bt.prototype.get=cI;Bt.prototype.has=uI;Bt.prototype.set=HI;var qI="__lodash_hash_undefined__";function JI(e){return this.__data__.set(e,qI),this}function WI(e){return this.__data__.has(e)}function Jo(e){var t=-1,r=e==null?0:e.length;for(this.__data__=new Kt;++t<r;)this.add(e[t])}Jo.prototype.add=Jo.prototype.push=JI;Jo.prototype.has=WI;function YI(e,t){for(var r=-1,n=e==null?0:e.length;++r<n;)if(t(e[r],r,e))return!0;return!1}function KI(e,t){return e.has(t)}var QI=1,XI=2;function xf(e,t,r,n,a,o){var s=r&QI,i=e.length,l=t.length;if(i!=l&&!(s&&l>i))return!1;var c=o.get(e),u=o.get(t);if(c&&u)return c==t&&u==e;var d=-1,h=!0,p=r&XI?new Jo:void 0;for(o.set(e,t),o.set(t,e);++d<i;){var f=e[d],m=t[d];if(n)var b=s?n(m,f,d,t,e,o):n(f,m,d,e,t,o);if(b!==void 0){if(b)continue;h=!1;break}if(p){if(!YI(t,function(x,_){if(!KI(p,_)&&(f===x||a(f,x,r,n,o)))return p.push(_)})){h=!1;break}}else if(!(f===m||a(f,m,r,n,o))){h=!1;break}}return o.delete(e),o.delete(t),h}var Zd=$t.Uint8Array;function ZI(e){var t=-1,r=Array(e.size);return e.forEach(function(n,a){r[++t]=[a,n]}),r}function e2(e){var t=-1,r=Array(e.size);return e.forEach(function(n){r[++t]=n}),r}var t2=1,r2=2,n2="[object Boolean]",a2="[object Date]",o2="[object Error]",s2="[object Map]",i2="[object Number]",l2="[object RegExp]",c2="[object Set]",u2="[object String]",d2="[object Symbol]",h2="[object ArrayBuffer]",p2="[object DataView]",eh=lr?lr.prototype:void 0,Mi=eh?eh.valueOf:void 0;function m2(e,t,r,n,a,o,s){switch(r){case p2:if(e.byteLength!=t.byteLength||e.byteOffset!=t.byteOffset)return!1;e=e.buffer,t=t.buffer;case h2:return!(e.byteLength!=t.byteLength||!o(new Zd(e),new Zd(t)));case n2:case a2:case i2:return vf(+e,+t);case o2:return e.name==t.name&&e.message==t.message;case l2:case u2:return e==t+"";case s2:var i=ZI;case c2:var l=n&t2;if(i||(i=e2),e.size!=t.size&&!l)return!1;var c=s.get(e);if(c)return c==t;n|=r2,s.set(e,t);var u=xf(i(e),i(t),n,a,o,s);return s.delete(e),u;case d2:if(Mi)return Mi.call(e)==Mi.call(t)}return!1}function f2(e,t){for(var r=-1,n=t.length,a=e.length;++r<n;)e[a+r]=t[r];return e}var Mt=Array.isArray;function g2(e,t,r){var n=t(e);return Mt(e)?n:f2(n,r(e))}function y2(e,t){for(var r=-1,n=e==null?0:e.length,a=0,o=[];++r<n;){var s=e[r];t(s,r,e)&&(o[a++]=s)}return o}function b2(){return[]}var v2=Object.prototype,S2=v2.propertyIsEnumerable,th=Object.getOwnPropertySymbols,x2=th?function(e){return e==null?[]:(e=Object(e),y2(th(e),function(t){return S2.call(e,t)}))}:b2;function O2(e,t){for(var r=-1,n=Array(e);++r<e;)n[r]=t(r);return n}var w2="[object Arguments]";function rh(e){return Cr(e)&&Mr(e)==w2}var Of=Object.prototype,C2=Of.hasOwnProperty,P2=Of.propertyIsEnumerable,wf=rh(function(){return arguments}())?rh:function(e){return Cr(e)&&C2.call(e,"callee")&&!P2.call(e,"callee")};function T2(){return!1}var Cf=typeof exports=="object"&&exports&&!exports.nodeType&&exports,nh=Cf&&typeof module=="object"&&module&&!module.nodeType&&module,A2=nh&&nh.exports===Cf,ah=A2?$t.Buffer:void 0,R2=ah?ah.isBuffer:void 0,ml=R2||T2,_2=9007199254740991,V2=/^(?:0|[1-9]\d*)$/;function Pf(e,t){var r=typeof e;return t=t??_2,!!t&&(r=="number"||r!="symbol"&&V2.test(e))&&e>-1&&e%1==0&&e<t}var E2=9007199254740991;function gc(e){return typeof e=="number"&&e>-1&&e%1==0&&e<=E2}var I2="[object Arguments]",M2="[object Array]",$2="[object Boolean]",j2="[object Date]",k2="[object Error]",U2="[object Function]",L2="[object Map]",D2="[object Number]",B2="[object Object]",N2="[object RegExp]",F2="[object Set]",z2="[object String]",G2="[object WeakMap]",H2="[object ArrayBuffer]",q2="[object DataView]",J2="[object Float32Array]",W2="[object Float64Array]",Y2="[object Int8Array]",K2="[object Int16Array]",Q2="[object Int32Array]",X2="[object Uint8Array]",Z2="[object Uint8ClampedArray]",eM="[object Uint16Array]",tM="[object Uint32Array]",Ae={};Ae[J2]=Ae[W2]=Ae[Y2]=Ae[K2]=Ae[Q2]=Ae[X2]=Ae[Z2]=Ae[eM]=Ae[tM]=!0;Ae[I2]=Ae[M2]=Ae[H2]=Ae[$2]=Ae[q2]=Ae[j2]=Ae[k2]=Ae[U2]=Ae[L2]=Ae[D2]=Ae[B2]=Ae[N2]=Ae[F2]=Ae[z2]=Ae[G2]=!1;function rM(e){return Cr(e)&&gc(e.length)&&!!Ae[Mr(e)]}function nM(e){return function(t){return e(t)}}var Tf=typeof exports=="object"&&exports&&!exports.nodeType&&exports,ra=Tf&&typeof module=="object"&&module&&!module.nodeType&&module,aM=ra&&ra.exports===Tf,$i=aM&&Cm.process,oh=function(){try{var e=ra&&ra.require&&ra.require("util").types;return e||$i&&$i.binding&&$i.binding("util")}catch{}}(),sh=oh&&oh.isTypedArray,Af=sh?nM(sh):rM,oM=Object.prototype,sM=oM.hasOwnProperty;function iM(e,t){var r=Mt(e),n=!r&&wf(e),a=!r&&!n&&ml(e),o=!r&&!n&&!a&&Af(e),s=r||n||a||o,i=s?O2(e.length,String):[],l=i.length;for(var c in e)sM.call(e,c)&&!(s&&(c=="length"||a&&(c=="offset"||c=="parent")||o&&(c=="buffer"||c=="byteLength"||c=="byteOffset")||Pf(c,l)))&&i.push(c);return i}var lM=Object.prototype;function cM(e){var t=e&&e.constructor,r=typeof t=="function"&&t.prototype||lM;return e===r}function uM(e,t){return function(r){return e(t(r))}}var dM=uM(Object.keys,Object),hM=Object.prototype,pM=hM.hasOwnProperty;function mM(e){if(!cM(e))return dM(e);var t=[];for(var r in Object(e))pM.call(e,r)&&r!="constructor"&&t.push(r);return t}function Rf(e){return e!=null&&gc(e.length)&&!Sf(e)}function yc(e){return Rf(e)?iM(e):mM(e)}function ih(e){return g2(e,yc,x2)}var fM=1,gM=Object.prototype,yM=gM.hasOwnProperty;function bM(e,t,r,n,a,o){var s=r&fM,i=ih(e),l=i.length,c=ih(t),u=c.length;if(l!=u&&!s)return!1;for(var d=l;d--;){var h=i[d];if(!(s?h in t:yM.call(t,h)))return!1}var p=o.get(e),f=o.get(t);if(p&&f)return p==t&&f==e;var m=!0;o.set(e,t),o.set(t,e);for(var b=s;++d<l;){h=i[d];var x=e[h],_=t[h];if(n)var O=s?n(_,x,h,t,e,o):n(x,_,h,e,t,o);if(!(O===void 0?x===_||a(x,_,r,n,o):O)){m=!1;break}b||(b=h=="constructor")}if(m&&!b){var C=e.constructor,P=t.constructor;C!=P&&"constructor"in e&&"constructor"in t&&!(typeof C=="function"&&C instanceof C&&typeof P=="function"&&P instanceof P)&&(m=!1)}return o.delete(e),o.delete(t),m}var fl=kr($t,"DataView"),gl=kr($t,"Promise"),yl=kr($t,"Set"),bl=kr($t,"WeakMap"),lh="[object Map]",vM="[object Object]",ch="[object Promise]",uh="[object Set]",dh="[object WeakMap]",hh="[object DataView]",SM=jr(fl),xM=jr(ya),OM=jr(gl),wM=jr(yl),CM=jr(bl),rr=Mr;(fl&&rr(new fl(new ArrayBuffer(1)))!=hh||ya&&rr(new ya)!=lh||gl&&rr(gl.resolve())!=ch||yl&&rr(new yl)!=uh||bl&&rr(new bl)!=dh)&&(rr=function(e){var t=Mr(e),r=t==vM?e.constructor:void 0,n=r?jr(r):"";if(n)switch(n){case SM:return hh;case xM:return lh;case OM:return ch;case wM:return uh;case CM:return dh}return t});var PM=1,ph="[object Arguments]",mh="[object Array]",ao="[object Object]",TM=Object.prototype,fh=TM.hasOwnProperty;function AM(e,t,r,n,a,o){var s=Mt(e),i=Mt(t),l=s?mh:rr(e),c=i?mh:rr(t);l=l==ph?ao:l,c=c==ph?ao:c;var u=l==ao,d=c==ao,h=l==c;if(h&&ml(e)){if(!ml(t))return!1;s=!0,u=!1}if(h&&!u)return o||(o=new Bt),s||Af(e)?xf(e,t,r,n,a,o):m2(e,t,l,r,n,a,o);if(!(r&PM)){var p=u&&fh.call(e,"__wrapped__"),f=d&&fh.call(t,"__wrapped__");if(p||f){var m=p?e.value():e,b=f?t.value():t;return o||(o=new Bt),a(m,b,r,n,o)}}return h?(o||(o=new Bt),bM(e,t,r,n,a,o)):!1}function Ls(e,t,r,n,a){return e===t?!0:e==null||t==null||!Cr(e)&&!Cr(t)?e!==e&&t!==t:AM(e,t,r,n,Ls,a)}function RM(e,t){return Ls(e,t)}const _f=({store:e})=>{const{t}=Ee.useTranslation(),[r,n]=ee.useState(e.jogger.motionStream.rapidlyChangingMotionState.state.joint_limit_reached.limit_reached),a=ee.useRef(r);xn(()=>{const s=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_limit_reached.limit_reached;RM(a.current,s)||(a.current=s,n(s))});const o=[];for(const[s,i]of r.entries())i&&o.push(s);return S.jsx(J.Typography,{color:"error",sx:{margin:"0.5rem 1rem",textAlign:"center",minHeight:"1.5rem",visibility:o.length?"visible":"hidden"},children:t("Jogging.JointLimitsReached.lb",{jointNumbers:o.map(s=>s+1).join(", ")})})},_M=J.styled(J.FormControl)(({theme:e})=>({"&.MuiFormControl-root":{".MuiSelect-select":{paddingTop:"20px",paddingLeft:"12px"},label:{pointerEvents:"none",fontSize:"16px"},".MuiInputLabel-root":{"&.Mui-focused":{color:e.palette.text.primary}}}}));function oo({labelValue:e,...t}){return S.jsxs(_M,{fullWidth:!0,variant:"filled",children:[S.jsx(J.InputLabel,{id:t.labelId,children:e}),S.jsx(J.Select,{...t})]})}var gh=function(){try{var e=kr(Object,"defineProperty");return e({},"",{}),e}catch{}}();function VM(e,t,r){t=="__proto__"&&gh?gh(e,t,{configurable:!0,enumerable:!0,value:r,writable:!0}):e[t]=r}function EM(e,t,r,n){for(var a=-1,o=e==null?0:e.length;++a<o;){var s=e[a];t(n,s,r(s),e)}return n}function IM(e){return function(t,r,n){for(var a=-1,o=Object(t),s=n(t),i=s.length;i--;){var l=s[++a];if(r(o[l],l,o)===!1)break}return t}}var MM=IM();function $M(e,t){return e&&MM(e,t,yc)}function jM(e,t){return function(r,n){if(r==null)return r;if(!Rf(r))return e(r,n);for(var a=r.length,o=-1,s=Object(r);++o<a&&n(s[o],o,s)!==!1;);return r}}var kM=jM($M);function UM(e,t,r,n){return kM(e,function(a,o,s){t(n,a,r(a),s)}),n}var LM=1,DM=2;function BM(e,t,r,n){var a=r.length,o=a;if(e==null)return!o;for(e=Object(e);a--;){var s=r[a];if(s[2]?s[1]!==e[s[0]]:!(s[0]in e))return!1}for(;++a<o;){s=r[a];var i=s[0],l=e[i],c=s[1];if(s[2]){if(l===void 0&&!(i in e))return!1}else{var u=new Bt,d;if(!(d===void 0?Ls(c,l,LM|DM,n,u):d))return!1}}return!0}function Vf(e){return e===e&&!wr(e)}function NM(e){for(var t=yc(e),r=t.length;r--;){var n=t[r],a=e[n];t[r]=[n,a,Vf(a)]}return t}function Ef(e,t){return function(r){return r==null?!1:r[e]===t&&(t!==void 0||e in Object(r))}}function FM(e){var t=NM(e);return t.length==1&&t[0][2]?Ef(t[0][0],t[0][1]):function(r){return r===e||BM(r,e,t)}}var zM=/\.|\[(?:[^[\]]*|(["'])(?:(?!\1)[^\\]|\\.)*?\1)\]/,GM=/^\w*$/;function bc(e,t){if(Mt(e))return!1;var r=typeof e;return r=="number"||r=="symbol"||r=="boolean"||e==null||Ts(e)?!0:GM.test(e)||!zM.test(e)||t!=null&&e in Object(t)}var HM="Expected a function";function vc(e,t){if(typeof e!="function"||t!=null&&typeof t!="function")throw new TypeError(HM);var r=function(){var n=arguments,a=t?t.apply(this,n):n[0],o=r.cache;if(o.has(a))return o.get(a);var s=e.apply(this,n);return r.cache=o.set(a,s)||o,s};return r.cache=new(vc.Cache||Kt),r}vc.Cache=Kt;var qM=500;function JM(e){var t=vc(e,function(n){return r.size===qM&&r.clear(),n}),r=t.cache;return t}var WM=/[^.[\]]+|\[(?:(-?\d+(?:\.\d+)?)|(["'])((?:(?!\2)[^\\]|\\.)*?)\2)\]|(?=(?:\.|\[\])(?:\.|\[\]|$))/g,YM=/\\(\\)?/g,KM=JM(function(e){var t=[];return e.charCodeAt(0)===46&&t.push(""),e.replace(WM,function(r,n,a,o){t.push(a?o.replace(YM,"$1"):n||r)}),t});function QM(e,t){for(var r=-1,n=e==null?0:e.length,a=Array(n);++r<n;)a[r]=t(e[r],r,e);return a}var yh=lr?lr.prototype:void 0,bh=yh?yh.toString:void 0;function If(e){if(typeof e=="string")return e;if(Mt(e))return QM(e,If)+"";if(Ts(e))return bh?bh.call(e):"";var t=e+"";return t=="0"&&1/e==-1/0?"-0":t}function Mf(e){return e==null?"":If(e)}function $f(e,t){return Mt(e)?e:bc(e,t)?[e]:KM(Mf(e))}function Ds(e){if(typeof e=="string"||Ts(e))return e;var t=e+"";return t=="0"&&1/e==-1/0?"-0":t}function jf(e,t){t=$f(t,e);for(var r=0,n=t.length;e!=null&&r<n;)e=e[Ds(t[r++])];return r&&r==n?e:void 0}function XM(e,t,r){var n=e==null?void 0:jf(e,t);return n===void 0?r:n}function ZM(e,t){return e!=null&&t in Object(e)}function e5(e,t,r){t=$f(t,e);for(var n=-1,a=t.length,o=!1;++n<a;){var s=Ds(t[n]);if(!(o=e!=null&&r(e,s)))break;e=e[s]}return o||++n!=a?o:(a=e==null?0:e.length,!!a&&gc(a)&&Pf(s,a)&&(Mt(e)||wf(e)))}function t5(e,t){return e!=null&&e5(e,t,ZM)}var r5=1,n5=2;function a5(e,t){return bc(e)&&Vf(t)?Ef(Ds(e),t):function(r){var n=XM(r,e);return n===void 0&&n===t?t5(r,e):Ls(t,n,r5|n5)}}function o5(e){return e}function s5(e){return function(t){return t==null?void 0:t[e]}}function i5(e){return function(t){return jf(t,e)}}function l5(e){return bc(e)?s5(Ds(e)):i5(e)}function c5(e){return typeof e=="function"?e:e==null?o5:typeof e=="object"?Mt(e)?a5(e[0],e[1]):FM(e):l5(e)}function u5(e,t){return function(r,n){var a=Mt(r)?EM:UM,o={};return a(r,e,c5(n),o)}}var so=u5(function(e,t,r){VM(e,r,t)}),d5=0;function h5(e){var t=++d5;return Mf(e)+t}const vl=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],p5=[{id:"continuous"},...vl],m5=["coordsys","tool"];class Bs{constructor(t,r,n,a){var o,s;this.jogger=t,this.motionGroupSpec=r,this.coordSystems=n,this.tcps=a,this.selectedTabId="cartesian",this.activationState="inactive",this.activationError=null,this.activationCounter=0,this.locks=new Set,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!0,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[];for(const i of n)if(i.coordinate_system===""){i.coordinate_system="world";break}this.selectedCoordSystemId=((o=n[0])==null?void 0:o.coordinate_system)||"world",this.selectedTcpId=((s=a[0])==null?void 0:s.id)||"",Be.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(Be.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:a},{tcps:o}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new Bs(t,n,a||[],o||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return Sl.countBy(this.coordSystems,t=>t.name)}async deactivate(){const t=this.jogger.activeWebsocket;this.jogger.setJoggingMode("increment"),t&&await t.closed()}async activate(){if(this.currentTab.id==="cartesian"){const t={tcpId:this.selectedTcpId,coordSystemId:this.activeCoordSystemId};this.activeDiscreteIncrement?this.jogger.setJoggingMode("increment",t):this.jogger.setJoggingMode("cartesian",t)}else this.jogger.setJoggingMode("joint");return this.jogger}loadFromLocalStorage(){const t=br.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){return[{id:"cartesian",label:"cartesian"},{id:"joint",label:"joint"}]}get incrementOptions(){return p5}get discreteIncrementOptions(){return vl}get incrementOptionsById(){return so(this.incrementOptions,t=>t.id)}get tabsById(){return so(this.tabs,t=>t.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return so(this.coordSystems,t=>t.coordinate_system)}get selectedCoordSystem(){return this.coordSystemsById[this.selectedCoordSystemId]}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return so(this.tcps,t=>t.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:vl.find(t=>t.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}get velocityInDisplayUnits(){return this.currentMotionType==="translate"?this.translationVelocityMmPerSec:this.rotationVelocityDegPerSec}get minVelocityInDisplayUnits(){return this.currentMotionType==="translate"?this.minTranslationVelocityMmPerSec:this.minRotationVelocityDegPerSec}get maxVelocityInDisplayUnits(){return this.currentMotionType==="translate"?this.maxTranslationVelocityMmPerSec:this.maxRotationVelocityDegPerSec}get currentMotionType(){return this.selectedTabId==="cartesian"&&this.selectedCartesianMotionType==="translate"?"translate":"rotate"}onTabChange(t,r){const n=this.tabs[r]||this.tabs[0];this.selectedTabId=n.id}setSelectedCoordSystemId(t){this.selectedCoordSystemId=t}setSelectedTcpId(t){this.selectedTcpId=t}setSelectedOrientation(t){this.selectedOrientation=t}setSelectedIncrementId(t){this.selectedIncrementId=t}setCurrentIncrementJog(t){this.incrementJogInProgress=t}setVelocityFromSlider(t){this.currentMotionType==="translate"?this.translationVelocityMmPerSec=t:this.rotationVelocityDegPerSec=t}setSelectedCartesianMotionType(t){this.selectedCartesianMotionType=t}lock(t){this.locks.add(t)}unlock(t){this.locks.delete(t)}async withMotionLock(t){const r=h5();this.lock(r);try{return await t()}finally{this.unlock(r)}}}const f5=Me.observer(({store:e})=>{var a;const{t}=Ee.useTranslation(),r=[];function n(o){switch(o){case"coordsys":return t("Jogging.Orientation.coordsys");case"tool":return t("Jogging.Orientation.tool");default:return o}}return e.showCoordSystemSelect&&r.push(S.jsx(oo,{labelId:"jogging-coord-select",labelValue:t("Jogging.CoordinateSystem.hlb"),value:e.selectedCoordSystemId,size:"small",variant:"filled",displayEmpty:!0,onChange:o=>e.setSelectedCoordSystemId(o.target.value),disabled:e.isLocked,children:e.coordSystems.map(o=>S.jsx(J.MenuItem,{value:o.coordinate_system,children:o.name&&e.coordSystemCountByName[o.name]>1?`${o.name} / ${o.coordinate_system}`:o.name||o.coordinate_system},o.coordinate_system))},"coord")),e.showTcpSelect&&r.push(S.jsx(oo,{labelId:"jogging-tcp-select",labelValue:"TCP",value:e.selectedTcpId,size:"small",variant:"filled",onChange:o=>e.setSelectedTcpId(o.target.value),disabled:e.isLocked,children:e.tcps.map(o=>S.jsx(J.MenuItem,{value:o.id,children:o.id},o.id))},"tcp")),e.showOrientationSelect&&r.push(S.jsx(oo,{labelValue:t("Jogging.Cartesian.Orientation.lb"),id:"orientation-select",labelId:"orientation-select",value:e.selectedOrientation,onChange:o=>e.setSelectedOrientation(o.target.value),disabled:e.isLocked,children:m5.map(o=>S.jsx(J.MenuItem,{value:o,children:n(o)},o))},"orientation")),e.showIncrementSelect&&r.push(S.jsxs(oo,{labelValue:t("Jogging.Increment.hlb"),labelId:"jogging-increment-select",size:"small",variant:"filled",value:((a=e.activeDiscreteIncrement)==null?void 0:a.id)||"continuous",onChange:o=>e.setSelectedIncrementId(o.target.value),disabled:e.isLocked,children:[S.jsx(J.MenuItem,{value:"continuous",children:t("Jogging.Increment.Continuous.dd")},"continuous"),e.selectedOrientation==="tool"?null:e.discreteIncrementOptions.map(o=>S.jsx(J.MenuItem,{value:o.id,children:e.currentMotionType==="translate"?`${o.mm}mm`:`${o.degrees}°`},o.id))]},"increment")),S.jsx(J.Box,{component:"div",sx:{display:"grid",gap:"16px",gridTemplateColumns:"1fr 1fr",gridAutoRows:"min-content","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:r.map((o,s)=>S.jsx(J.Box,{sx:{gridColumn:r.length%2===1&&s===r.length-1?"span 2":"auto"},children:o},s))})}),g5=J.styled(J.ToggleButtonGroup)(({theme:e})=>{var t;return{"&.MuiToggleButtonGroup-root":{background:(t=e.palette.backgroundPaperElevation)==null?void 0:t[8],borderRadius:"8px",padding:"4px",gap:"4px",button:{border:"none",borderRadius:"4px",flex:"1 1 0px",minWidth:0,"&.MuiToggleButtonGroup-firstButton":{borderRadius:"8px 4px 4px 8px"},"&.MuiToggleButtonGroup-lastButton":{borderRadius:"4px 8px 8px 4px"}}}}});function vh(e,t){return process.env.NODE_ENV==="production"?()=>null:function(...n){return e(...n)||t(...n)}}function y5(e){return typeof e=="string"}function b5(e,t,r){return e===void 0||y5(e)?t:{...t,ownerState:{...t.ownerState,...r}}}function So(e,t=[]){if(e===void 0)return{};const r={};return Object.keys(e).filter(n=>n.match(/^on[A-Z]/)&&typeof e[n]=="function"&&!t.includes(n)).forEach(n=>{r[n]=e[n]}),r}function Sh(e){if(e===void 0)return{};const t={};return Object.keys(e).filter(r=>!(r.match(/^on[A-Z]/)&&typeof e[r]=="function")).forEach(r=>{t[r]=e[r]}),t}function v5(e){const{getSlotProps:t,additionalProps:r,externalSlotProps:n,externalForwardedProps:a,className:o}=e;if(!t){const p=Et(r==null?void 0:r.className,o,a==null?void 0:a.className,n==null?void 0:n.className),f={...r==null?void 0:r.style,...a==null?void 0:a.style,...n==null?void 0:n.style},m={...r,...a,...n};return p.length>0&&(m.className=p),Object.keys(f).length>0&&(m.style=f),{props:m,internalRef:void 0}}const s=So({...a,...n}),i=Sh(n),l=Sh(a),c=t(s),u=Et(c==null?void 0:c.className,r==null?void 0:r.className,o,a==null?void 0:a.className,n==null?void 0:n.className),d={...c==null?void 0:c.style,...r==null?void 0:r.style,...a==null?void 0:a.style,...n==null?void 0:n.style},h={...c,...r,...l,...i};return u.length>0&&(h.className=u),Object.keys(d).length>0&&(h.style=d),{props:h,internalRef:c.ref}}function S5(e,t,r){return typeof e=="function"?e(t,r):e}function tr(e){var d;const{elementType:t,externalSlotProps:r,ownerState:n,skipResolvingSlotProps:a=!1,...o}=e,s=a?{}:S5(r,n),{props:i,internalRef:l}=v5({...o,externalSlotProps:s}),c=wm(l,s==null?void 0:s.ref,(d=e.additionalProps)==null?void 0:d.ref);return b5(t,{...i,ref:c},n)}function xh(e){try{return e.matches(":focus-visible")}catch{process.env.NODE_ENV!=="production"&&!/jsdom/.test(window.navigator.userAgent)&&console.warn(["MUI: The `:focus-visible` pseudo class is not supported in this browser.","Some components rely on this feature to work properly."].join(`
-`))}return!1}const x5={border:0,clip:"rect(0 0 0 0)",height:"1px",margin:"-1px",overflow:"hidden",padding:0,position:"absolute",whiteSpace:"nowrap",width:"1px"};function O5(e,t,r=(n,a)=>n===a){return e.length===t.length&&e.every((n,a)=>r(n,t[a]))}const w5=2;function Xr(e,t,r,n,a){return r===1?Math.min(e+t,a):Math.max(e-t,n)}function kf(e,t){return e-t}function Oh(e,t){const{index:r}=e.reduce((n,a,o)=>{const s=Math.abs(t-a);return n===null||s<n.distance||s===n.distance?{distance:s,index:o}:n},null)??{};return r}function io(e,t){if(t.current!==void 0&&e.changedTouches){const r=e;for(let n=0;n<r.changedTouches.length;n+=1){const a=r.changedTouches[n];if(a.identifier===t.current)return{x:a.clientX,y:a.clientY}}return!1}return{x:e.clientX,y:e.clientY}}function Wo(e,t,r){return(e-t)*100/(r-t)}function C5(e,t,r){return(r-t)*e+t}function P5(e){if(Math.abs(e)<1){const r=e.toExponential().split("e-"),n=r[0].split(".")[1];return(n?n.length:0)+parseInt(r[1],10)}const t=e.toString().split(".")[1];return t?t.length:0}function T5(e,t,r){const n=Math.round((e-r)/t)*t+r;return Number(n.toFixed(P5(t)))}function wh({values:e,newValue:t,index:r}){const n=e.slice();return n[r]=t,n.sort(kf)}function lo({sliderRef:e,activeIndex:t,setActive:r}){var a,o,s;const n=go(e.current);(!((a=e.current)!=null&&a.contains(n.activeElement))||Number((o=n==null?void 0:n.activeElement)==null?void 0:o.getAttribute("data-index"))!==t)&&((s=e.current)==null||s.querySelector(`[type="range"][data-index="${t}"]`).focus()),r&&r(t)}function co(e,t){return typeof e=="number"&&typeof t=="number"?e===t:typeof e=="object"&&typeof t=="object"?O5(e,t):!1}const A5={horizontal:{offset:e=>({left:`${e}%`}),leap:e=>({width:`${e}%`})},"horizontal-reverse":{offset:e=>({right:`${e}%`}),leap:e=>({width:`${e}%`})},vertical:{offset:e=>({bottom:`${e}%`}),leap:e=>({height:`${e}%`})}},R5=e=>e;let uo;function Ch(){return uo===void 0&&(typeof CSS<"u"&&typeof CSS.supports=="function"?uo=CSS.supports("touch-action","none"):uo=!0),uo}function _5(e){const{"aria-labelledby":t,defaultValue:r,disabled:n=!1,disableSwap:a=!1,isRtl:o=!1,marks:s=!1,max:i=100,min:l=0,name:c,onChange:u,onChangeCommitted:d,orientation:h="horizontal",rootRef:p,scale:f=R5,step:m=1,shiftStep:b=10,tabIndex:x,value:_}=e,O=B.useRef(void 0),[C,P]=B.useState(-1),[w,A]=B.useState(-1),[E,F]=B.useState(!1),y=B.useRef(0),T=B.useRef(null),[z,V]=Ww({controlled:_,default:r??l,name:"Slider"}),N=u&&((K,ne,se)=>{const fe=K.nativeEvent||K,Oe=new fe.constructor(fe.type,fe);Object.defineProperty(Oe,"target",{writable:!0,value:{value:ne,name:c}}),T.current=ne,u(Oe,ne,se)}),te=Array.isArray(z);let Z=te?z.slice().sort(kf):[z];Z=Z.map(K=>K==null?l:Zr(K,l,i));const ae=s===!0&&m!==null?[...Array(Math.floor((i-l)/m)+1)].map((K,ne)=>({value:l+m*ne})):s||[],re=ae.map(K=>K.value),[le,q]=B.useState(-1),X=B.useRef(null),he=wm(p,X),Pe=K=>ne=>{var fe;const se=Number(ne.currentTarget.getAttribute("data-index"));xh(ne.target)&&q(se),A(se),(fe=K==null?void 0:K.onFocus)==null||fe.call(K,ne)},ze=K=>ne=>{var se;xh(ne.target)||q(-1),A(-1),(se=K==null?void 0:K.onBlur)==null||se.call(K,ne)},xe=(K,ne)=>{const se=Number(K.currentTarget.getAttribute("data-index")),fe=Z[se],Oe=re.indexOf(fe);let ie=ne;if(ae&&m==null){const He=re[re.length-1];ie>=He?ie=He:ie<=re[0]?ie=re[0]:ie=ie<fe?re[Oe-1]:re[Oe+1]}if(ie=Zr(ie,l,i),te){a&&(ie=Zr(ie,Z[se-1]||-1/0,Z[se+1]||1/0));const He=ie;ie=wh({values:Z,newValue:ie,index:se});let Xe=se;a||(Xe=ie.indexOf(He)),lo({sliderRef:X,activeIndex:Xe})}V(ie),q(se),N&&!co(ie,z)&&N(K,ie,se),d&&d(K,T.current??ie)},it=K=>ne=>{var se;if(["ArrowUp","ArrowDown","ArrowLeft","ArrowRight","PageUp","PageDown","Home","End"].includes(ne.key)){ne.preventDefault();const fe=Number(ne.currentTarget.getAttribute("data-index")),Oe=Z[fe];let ie=null;if(m!=null){const He=ne.shiftKey?b:m;switch(ne.key){case"ArrowUp":ie=Xr(Oe,He,1,l,i);break;case"ArrowRight":ie=Xr(Oe,He,o?-1:1,l,i);break;case"ArrowDown":ie=Xr(Oe,He,-1,l,i);break;case"ArrowLeft":ie=Xr(Oe,He,o?1:-1,l,i);break;case"PageUp":ie=Xr(Oe,b,1,l,i);break;case"PageDown":ie=Xr(Oe,b,-1,l,i);break;case"Home":ie=l;break;case"End":ie=i;break}}else if(ae){const He=re[re.length-1],Xe=re.indexOf(Oe),De=[o?"ArrowRight":"ArrowLeft","ArrowDown","PageDown","Home"],ht=[o?"ArrowLeft":"ArrowRight","ArrowUp","PageUp","End"];De.includes(ne.key)?Xe===0?ie=re[0]:ie=re[Xe-1]:ht.includes(ne.key)&&(Xe===re.length-1?ie=He:ie=re[Xe+1])}ie!=null&&xe(ne,ie)}(se=K==null?void 0:K.onKeyDown)==null||se.call(K,ne)};zh(()=>{var K;n&&X.current.contains(document.activeElement)&&((K=document.activeElement)==null||K.blur())},[n]),n&&C!==-1&&P(-1),n&&le!==-1&&q(-1);const tt=K=>ne=>{var se;(se=K.onChange)==null||se.call(K,ne),xe(ne,ne.target.valueAsNumber)},ye=B.useRef(void 0);let Q=h;o&&h==="horizontal"&&(Q+="-reverse");const oe=({finger:K,move:ne=!1})=>{const{current:se}=X,{width:fe,height:Oe,bottom:ie,left:He}=se.getBoundingClientRect();let Xe;Q.startsWith("vertical")?Xe=(ie-K.y)/Oe:Xe=(K.x-He)/fe,Q.includes("-reverse")&&(Xe=1-Xe);let De;if(De=C5(Xe,l,i),m)De=T5(De,m,l);else{const _n=Oh(re,De);De=re[_n]}De=Zr(De,l,i);let ht=0;if(te){ne?ht=ye.current:ht=Oh(Z,De),a&&(De=Zr(De,Z[ht-1]||-1/0,Z[ht+1]||1/0));const _n=De;De=wh({values:Z,newValue:De,index:ht}),a&&ne||(ht=De.indexOf(_n),ye.current=ht)}return{newValue:De,activeIndex:ht}},ce=bi(K=>{const ne=io(K,O);if(!ne)return;if(y.current+=1,K.type==="mousemove"&&K.buttons===0){W(K);return}const{newValue:se,activeIndex:fe}=oe({finger:ne,move:!0});lo({sliderRef:X,activeIndex:fe,setActive:P}),V(se),!E&&y.current>w5&&F(!0),N&&!co(se,z)&&N(K,se,fe)}),W=bi(K=>{const ne=io(K,O);if(F(!1),!ne)return;const{newValue:se}=oe({finger:ne,move:!0});P(-1),K.type==="touchend"&&A(-1),d&&d(K,T.current??se),O.current=void 0,me()}),be=bi(K=>{if(n)return;Ch()||K.preventDefault();const ne=K.changedTouches[0];ne!=null&&(O.current=ne.identifier);const se=io(K,O);if(se!==!1){const{newValue:Oe,activeIndex:ie}=oe({finger:se});lo({sliderRef:X,activeIndex:ie,setActive:P}),V(Oe),N&&!co(Oe,z)&&N(K,Oe,ie)}y.current=0;const fe=go(X.current);fe.addEventListener("touchmove",ce,{passive:!0}),fe.addEventListener("touchend",W,{passive:!0})}),me=B.useCallback(()=>{const K=go(X.current);K.removeEventListener("mousemove",ce),K.removeEventListener("mouseup",W),K.removeEventListener("touchmove",ce),K.removeEventListener("touchend",W)},[W,ce]);B.useEffect(()=>{const{current:K}=X;return K.addEventListener("touchstart",be,{passive:Ch()}),()=>{K.removeEventListener("touchstart",be),me()}},[me,be]),B.useEffect(()=>{n&&me()},[n,me]);const Je=K=>ne=>{var Oe;if((Oe=K.onMouseDown)==null||Oe.call(K,ne),n||ne.defaultPrevented||ne.button!==0)return;ne.preventDefault();const se=io(ne,O);if(se!==!1){const{newValue:ie,activeIndex:He}=oe({finger:se});lo({sliderRef:X,activeIndex:He,setActive:P}),V(ie),N&&!co(ie,z)&&N(ne,ie,He)}y.current=0;const fe=go(X.current);fe.addEventListener("mousemove",ce,{passive:!0}),fe.addEventListener("mouseup",W)},Ge=Wo(te?Z[0]:l,l,i),Ie=Wo(Z[Z.length-1],l,i)-Ge,Qt=(K={})=>{const ne=So(K),se={onMouseDown:Je(ne||{})},fe={...ne,...se};return{...K,ref:he,...fe}},Ea=K=>ne=>{var fe;(fe=K.onMouseOver)==null||fe.call(K,ne);const se=Number(ne.currentTarget.getAttribute("data-index"));A(se)},Ia=K=>ne=>{var se;(se=K.onMouseLeave)==null||se.call(K,ne),A(-1)},Ma=(K={})=>{const ne=So(K),se={onMouseOver:Ea(ne||{}),onMouseLeave:Ia(ne||{})};return{...K,...ne,...se}},$a=K=>({pointerEvents:C!==-1&&C!==K?"none":void 0});let Ur;return h==="vertical"&&(Ur=o?"vertical-rl":"vertical-lr"),{active:C,axis:Q,axisProps:A5,dragging:E,focusedThumbIndex:le,getHiddenInputProps:(K={})=>{const ne=So(K),se={onChange:tt(ne||{}),onFocus:Pe(ne||{}),onBlur:ze(ne||{}),onKeyDown:it(ne||{})},fe={...ne,...se};return{tabIndex:x,"aria-labelledby":t,"aria-orientation":h,"aria-valuemax":f(i),"aria-valuemin":f(l),name:c,type:"range",min:e.min,max:e.max,step:e.step===null&&e.marks?"any":e.step??void 0,disabled:n,...K,...fe,style:{...x5,direction:o?"rtl":"ltr",width:"100%",height:"100%",writingMode:Ur}}},getRootProps:Qt,getThumbProps:Ma,marks:ae,open:w,range:te,rootRef:he,trackLeap:Ie,trackOffset:Ge,values:Z,getThumbStyle:$a}}function xo(e){return typeof e=="string"}const V5=e=>!e||!xo(e);function E5(e){return typeof e.main=="string"}function I5(e,t=[]){if(!E5(e))return!1;for(const r of t)if(!e.hasOwnProperty(r)||typeof e[r]!="string")return!1;return!0}function Sc(e=[]){return([,t])=>t&&I5(t,e)}function M5(e){return xa("MuiSlider",e)}const gt=kh("MuiSlider",["root","active","colorPrimary","colorSecondary","colorError","colorInfo","colorSuccess","colorWarning","disabled","dragging","focusVisible","mark","markActive","marked","markLabel","markLabelActive","rail","sizeSmall","thumb","thumbColorPrimary","thumbColorSecondary","thumbColorError","thumbColorSuccess","thumbColorInfo","thumbColorWarning","track","trackInverted","trackFalse","thumbSizeSmall","valueLabel","valueLabelOpen","valueLabelCircle","valueLabelLabel","vertical"]),$5=e=>{const{open:t}=e;return{offset:Et(t&&gt.valueLabelOpen),circle:gt.valueLabelCircle,label:gt.valueLabelLabel}};function Uf(e){const{children:t,className:r,value:n}=e,a=$5(e);return t?B.cloneElement(t,{className:t.props.className},S.jsxs(B.Fragment,{children:[t.props.children,S.jsx("span",{className:Et(a.offset,r),"aria-hidden":!0,children:S.jsx("span",{className:a.circle,children:S.jsx("span",{className:a.label,children:n})})})]})):null}process.env.NODE_ENV!=="production"&&(Uf.propTypes={children:g.element.isRequired,className:g.string,value:g.node});function Ph(e){return e}const j5=dt("span",{name:"MuiSlider",slot:"Root",overridesResolver:(e,t)=>{const{ownerState:r}=e;return[t.root,t[`color${Ze(r.color)}`],r.size!=="medium"&&t[`size${Ze(r.size)}`],r.marked&&t.marked,r.orientation==="vertical"&&t.vertical,r.track==="inverted"&&t.trackInverted,r.track===!1&&t.trackFalse]}})(Ir(({theme:e})=>({borderRadius:12,boxSizing:"content-box",display:"inline-block",position:"relative",cursor:"pointer",touchAction:"none",WebkitTapHighlightColor:"transparent","@media print":{colorAdjust:"exact"},[`&.${gt.disabled}`]:{pointerEvents:"none",cursor:"default",color:(e.vars||e).palette.grey[400]},[`&.${gt.dragging}`]:{[`& .${gt.thumb}, & .${gt.track}`]:{transition:"none"}},variants:[...Object.entries(e.palette).filter(Sc()).map(([t])=>({props:{color:t},style:{color:(e.vars||e).palette[t].main}})),{props:{orientation:"horizontal"},style:{height:4,width:"100%",padding:"13px 0","@media (pointer: coarse)":{padding:"20px 0"}}},{props:{orientation:"horizontal",size:"small"},style:{height:2}},{props:{orientation:"horizontal",marked:!0},style:{marginBottom:20}},{props:{orientation:"vertical"},style:{height:"100%",width:4,padding:"0 13px","@media (pointer: coarse)":{padding:"0 20px"}}},{props:{orientation:"vertical",size:"small"},style:{width:2}},{props:{orientation:"vertical",marked:!0},style:{marginRight:44}}]}))),k5=dt("span",{name:"MuiSlider",slot:"Rail"})({display:"block",position:"absolute",borderRadius:"inherit",backgroundColor:"currentColor",opacity:.38,variants:[{props:{orientation:"horizontal"},style:{width:"100%",height:"inherit",top:"50%",transform:"translateY(-50%)"}},{props:{orientation:"vertical"},style:{height:"100%",width:"inherit",left:"50%",transform:"translateX(-50%)"}},{props:{track:"inverted"},style:{opacity:1}}]}),U5=dt("span",{name:"MuiSlider",slot:"Track"})(Ir(({theme:e})=>({display:"block",position:"absolute",borderRadius:"inherit",border:"1px solid currentColor",backgroundColor:"currentColor",transition:e.transitions.create(["left","width","bottom","height"],{duration:e.transitions.duration.shortest}),variants:[{props:{size:"small"},style:{border:"none"}},{props:{orientation:"horizontal"},style:{height:"inherit",top:"50%",transform:"translateY(-50%)"}},{props:{orientation:"vertical"},style:{width:"inherit",left:"50%",transform:"translateX(-50%)"}},{props:{track:!1},style:{display:"none"}},...Object.entries(e.palette).filter(Sc()).map(([t])=>({props:{color:t,track:"inverted"},style:{...e.vars?{backgroundColor:e.vars.palette.Slider[`${t}Track`],borderColor:e.vars.palette.Slider[`${t}Track`]}:{backgroundColor:aa(e.palette[t].main,.62),borderColor:aa(e.palette[t].main,.62),...e.applyStyles("dark",{backgroundColor:na(e.palette[t].main,.5)}),...e.applyStyles("dark",{borderColor:na(e.palette[t].main,.5)})}}}))]}))),L5=dt("span",{name:"MuiSlider",slot:"Thumb",overridesResolver:(e,t)=>{const{ownerState:r}=e;return[t.thumb,t[`thumbColor${Ze(r.color)}`],r.size!=="medium"&&t[`thumbSize${Ze(r.size)}`]]}})(Ir(({theme:e})=>({position:"absolute",width:20,height:20,boxSizing:"border-box",borderRadius:"50%",outline:0,backgroundColor:"currentColor",display:"flex",alignItems:"center",justifyContent:"center",transition:e.transitions.create(["box-shadow","left","bottom"],{duration:e.transitions.duration.shortest}),"&::before":{position:"absolute",content:'""',borderRadius:"inherit",width:"100%",height:"100%",boxShadow:(e.vars||e).shadows[2]},"&::after":{position:"absolute",content:'""',borderRadius:"50%",width:42,height:42,top:"50%",left:"50%",transform:"translate(-50%, -50%)"},[`&.${gt.disabled}`]:{"&:hover":{boxShadow:"none"}},variants:[{props:{size:"small"},style:{width:12,height:12,"&::before":{boxShadow:"none"}}},{props:{orientation:"horizontal"},style:{top:"50%",transform:"translate(-50%, -50%)"}},{props:{orientation:"vertical"},style:{left:"50%",transform:"translate(-50%, 50%)"}},...Object.entries(e.palette).filter(Sc()).map(([t])=>({props:{color:t},style:{[`&:hover, &.${gt.focusVisible}`]:{...e.vars?{boxShadow:`0px 0px 0px 8px rgba(${e.vars.palette[t].mainChannel} / 0.16)`}:{boxShadow:`0px 0px 0px 8px ${Ui(e.palette[t].main,.16)}`},"@media (hover: none)":{boxShadow:"none"}},[`&.${gt.active}`]:{...e.vars?{boxShadow:`0px 0px 0px 14px rgba(${e.vars.palette[t].mainChannel} / 0.16)`}:{boxShadow:`0px 0px 0px 14px ${Ui(e.palette[t].main,.16)}`}}}}))]}))),Lf=dt(Uf,{name:"MuiSlider",slot:"ValueLabel"})(Ir(({theme:e})=>({zIndex:1,whiteSpace:"nowrap",...e.typography.body2,fontWeight:500,transition:e.transitions.create(["transform"],{duration:e.transitions.duration.shortest}),position:"absolute",backgroundColor:(e.vars||e).palette.grey[600],borderRadius:2,color:(e.vars||e).palette.common.white,display:"flex",alignItems:"center",justifyContent:"center",padding:"0.25rem 0.75rem",variants:[{props:{orientation:"horizontal"},style:{transform:"translateY(-100%) scale(0)",top:"-10px",transformOrigin:"bottom center","&::before":{position:"absolute",content:'""',width:8,height:8,transform:"translate(-50%, 50%) rotate(45deg)",backgroundColor:"inherit",bottom:0,left:"50%"},[`&.${gt.valueLabelOpen}`]:{transform:"translateY(-100%) scale(1)"}}},{props:{orientation:"vertical"},style:{transform:"translateY(-50%) scale(0)",right:"30px",top:"50%",transformOrigin:"right center","&::before":{position:"absolute",content:'""',width:8,height:8,transform:"translate(-50%, -50%) rotate(45deg)",backgroundColor:"inherit",right:-8,top:"50%"},[`&.${gt.valueLabelOpen}`]:{transform:"translateY(-50%) scale(1)"}}},{props:{size:"small"},style:{fontSize:e.typography.pxToRem(12),padding:"0.25rem 0.5rem"}},{props:{orientation:"vertical",size:"small"},style:{right:"20px"}}]})));process.env.NODE_ENV!=="production"&&(Lf.propTypes={children:g.element.isRequired,index:g.number.isRequired,open:g.bool.isRequired,value:g.node});const D5=dt("span",{name:"MuiSlider",slot:"Mark",shouldForwardProp:e=>Pl(e)&&e!=="markActive",overridesResolver:(e,t)=>{const{markActive:r}=e;return[t.mark,r&&t.markActive]}})(Ir(({theme:e})=>({position:"absolute",width:2,height:2,borderRadius:1,backgroundColor:"currentColor",variants:[{props:{orientation:"horizontal"},style:{top:"50%",transform:"translate(-1px, -50%)"}},{props:{orientation:"vertical"},style:{left:"50%",transform:"translate(-50%, 1px)"}},{props:{markActive:!0},style:{backgroundColor:(e.vars||e).palette.background.paper,opacity:.8}}]}))),B5=dt("span",{name:"MuiSlider",slot:"MarkLabel",shouldForwardProp:e=>Pl(e)&&e!=="markLabelActive"})(Ir(({theme:e})=>({...e.typography.body2,color:(e.vars||e).palette.text.secondary,position:"absolute",whiteSpace:"nowrap",variants:[{props:{orientation:"horizontal"},style:{top:30,transform:"translateX(-50%)","@media (pointer: coarse)":{top:40}}},{props:{orientation:"vertical"},style:{left:36,transform:"translateY(50%)","@media (pointer: coarse)":{left:44}}},{props:{markLabelActive:!0},style:{color:(e.vars||e).palette.text.primary}}]}))),N5=e=>{const{disabled:t,dragging:r,marked:n,orientation:a,track:o,classes:s,color:i,size:l}=e,c={root:["root",t&&"disabled",r&&"dragging",n&&"marked",a==="vertical"&&"vertical",o==="inverted"&&"trackInverted",o===!1&&"trackFalse",i&&`color${Ze(i)}`,l&&`size${Ze(l)}`],rail:["rail"],track:["track"],mark:["mark"],markActive:["markActive"],markLabel:["markLabel"],markLabelActive:["markLabelActive"],valueLabel:["valueLabel"],thumb:["thumb",t&&"disabled",l&&`thumbSize${Ze(l)}`,i&&`thumbColor${Ze(i)}`],active:["active"],disabled:["disabled"],focusVisible:["focusVisible"]};return wl(c,M5,s)},F5=({children:e})=>e,Df=B.forwardRef(function(t,r){const n=dc({props:t,name:"MuiSlider"}),a=Xy(),{"aria-label":o,"aria-valuetext":s,"aria-labelledby":i,component:l="span",components:c={},componentsProps:u={},color:d="primary",classes:h,className:p,disableSwap:f=!1,disabled:m=!1,getAriaLabel:b,getAriaValueText:x,marks:_=!1,max:O=100,min:C=0,name:P,onChange:w,onChangeCommitted:A,orientation:E="horizontal",shiftStep:F=10,size:y="medium",step:T=1,scale:z=Ph,slotProps:V,slots:N,tabIndex:te,track:Z="normal",value:ae,valueLabelDisplay:re="off",valueLabelFormat:le=Ph,...q}=n,X={...n,isRtl:a,max:O,min:C,classes:h,disabled:m,disableSwap:f,orientation:E,marks:_,color:d,size:y,step:T,shiftStep:F,scale:z,track:Z,valueLabelDisplay:re,valueLabelFormat:le},{axisProps:he,getRootProps:Pe,getHiddenInputProps:ze,getThumbProps:xe,open:it,active:tt,axis:ye,focusedThumbIndex:Q,range:oe,dragging:ce,marks:W,values:be,trackOffset:me,trackLeap:Je,getThumbStyle:Ge}=_5({...X,rootRef:r});X.marked=W.length>0&&W.some(Le=>Le.label),X.dragging=ce,X.focusedThumbIndex=Q;const Ie=N5(X),Qt=(N==null?void 0:N.root)??c.Root??j5,Ea=(N==null?void 0:N.rail)??c.Rail??k5,Ia=(N==null?void 0:N.track)??c.Track??U5,Ma=(N==null?void 0:N.thumb)??c.Thumb??L5,$a=(N==null?void 0:N.valueLabel)??c.ValueLabel??Lf,Ur=(N==null?void 0:N.mark)??c.Mark??D5,ja=(N==null?void 0:N.markLabel)??c.MarkLabel??B5,K=(N==null?void 0:N.input)??c.Input??"input",ne=(V==null?void 0:V.root)??u.root,se=(V==null?void 0:V.rail)??u.rail,fe=(V==null?void 0:V.track)??u.track,Oe=(V==null?void 0:V.thumb)??u.thumb,ie=(V==null?void 0:V.valueLabel)??u.valueLabel,He=(V==null?void 0:V.mark)??u.mark,Xe=(V==null?void 0:V.markLabel)??u.markLabel,De=(V==null?void 0:V.input)??u.input,ht=tr({elementType:Qt,getSlotProps:Pe,externalSlotProps:ne,externalForwardedProps:q,additionalProps:{...V5(Qt)&&{as:l}},ownerState:{...X,...ne==null?void 0:ne.ownerState},className:[Ie.root,p]}),_n=tr({elementType:Ea,externalSlotProps:se,ownerState:X,className:Ie.rail}),Wf=tr({elementType:Ia,externalSlotProps:fe,additionalProps:{style:{...he[ye].offset(me),...he[ye].leap(Je)}},ownerState:{...X,...fe==null?void 0:fe.ownerState},className:Ie.track}),Ns=tr({elementType:Ma,getSlotProps:xe,externalSlotProps:Oe,ownerState:{...X,...Oe==null?void 0:Oe.ownerState},className:Ie.thumb}),Yf=tr({elementType:$a,externalSlotProps:ie,ownerState:{...X,...ie==null?void 0:ie.ownerState},className:Ie.valueLabel}),Fs=tr({elementType:Ur,externalSlotProps:He,ownerState:X,className:Ie.mark}),zs=tr({elementType:ja,externalSlotProps:Xe,ownerState:X,className:Ie.markLabel}),Kf=tr({elementType:K,getSlotProps:ze,externalSlotProps:De,ownerState:X});return S.jsxs(Qt,{...ht,children:[S.jsx(Ea,{..._n}),S.jsx(Ia,{...Wf}),W.filter(Le=>Le.value>=C&&Le.value<=O).map((Le,We)=>{const Gs=Wo(Le.value,C,O),ka=he[ye].offset(Gs);let jt;return Z===!1?jt=be.includes(Le.value):jt=Z==="normal"&&(oe?Le.value>=be[0]&&Le.value<=be[be.length-1]:Le.value<=be[0])||Z==="inverted"&&(oe?Le.value<=be[0]||Le.value>=be[be.length-1]:Le.value>=be[0]),S.jsxs(B.Fragment,{children:[S.jsx(Ur,{"data-index":We,...Fs,...!xo(Ur)&&{markActive:jt},style:{...ka,...Fs.style},className:Et(Fs.className,jt&&Ie.markActive)}),Le.label!=null?S.jsx(ja,{"aria-hidden":!0,"data-index":We,...zs,...!xo(ja)&&{markLabelActive:jt},style:{...ka,...zs.style},className:Et(Ie.markLabel,zs.className,jt&&Ie.markLabelActive),children:Le.label}):null]},We)}),be.map((Le,We)=>{const Gs=Wo(Le,C,O),ka=he[ye].offset(Gs),jt=re==="off"?F5:$a;return S.jsx(jt,{...!xo(jt)&&{valueLabelFormat:le,valueLabelDisplay:re,value:typeof le=="function"?le(z(Le),We):le,index:We,open:it===We||tt===We||re==="on",disabled:m},...Yf,children:S.jsx(Ma,{"data-index":We,...Ns,className:Et(Ie.thumb,Ns.className,tt===We&&Ie.active,Q===We&&Ie.focusVisible),style:{...ka,...Ge(We),...Ns.style},children:S.jsx(K,{"data-index":We,"aria-label":b?b(We):o,"aria-valuenow":z(Le),"aria-labelledby":i,"aria-valuetext":x?x(z(Le),We):s,value:be[We],...Kf})})},We)})]})});process.env.NODE_ENV!=="production"&&(Df.propTypes={"aria-label":vh(g.string,e=>Array.isArray(e.value||e.defaultValue)&&e["aria-label"]!=null?new Error("MUI: You need to use the `getAriaLabel` prop instead of `aria-label` when using a range slider."):null),"aria-labelledby":g.string,"aria-valuetext":vh(g.string,e=>Array.isArray(e.value||e.defaultValue)&&e["aria-valuetext"]!=null?new Error("MUI: You need to use the `getAriaValueText` prop instead of `aria-valuetext` when using a range slider."):null),children:g.node,classes:g.object,className:g.string,color:g.oneOfType([g.oneOf(["primary","secondary","error","info","success","warning"]),g.string]),components:g.shape({Input:g.elementType,Mark:g.elementType,MarkLabel:g.elementType,Rail:g.elementType,Root:g.elementType,Thumb:g.elementType,Track:g.elementType,ValueLabel:g.elementType}),componentsProps:g.shape({input:g.oneOfType([g.func,g.object]),mark:g.oneOfType([g.func,g.object]),markLabel:g.oneOfType([g.func,g.object]),rail:g.oneOfType([g.func,g.object]),root:g.oneOfType([g.func,g.object]),thumb:g.oneOfType([g.func,g.object]),track:g.oneOfType([g.func,g.object]),valueLabel:g.oneOfType([g.func,g.shape({children:g.element,className:g.string,open:g.bool,style:g.object,value:g.node,valueLabelDisplay:g.oneOf(["auto","off","on"])})])}),defaultValue:g.oneOfType([g.arrayOf(g.number),g.number]),disabled:g.bool,disableSwap:g.bool,getAriaLabel:g.func,getAriaValueText:g.func,marks:g.oneOfType([g.arrayOf(g.shape({label:g.node,value:g.number.isRequired})),g.bool]),max:g.number,min:g.number,name:g.string,onChange:g.func,onChangeCommitted:g.func,orientation:g.oneOf(["horizontal","vertical"]),scale:g.func,shiftStep:g.number,size:g.oneOfType([g.oneOf(["small","medium"]),g.string]),slotProps:g.shape({input:g.oneOfType([g.func,g.object]),mark:g.oneOfType([g.func,g.object]),markLabel:g.oneOfType([g.func,g.object]),rail:g.oneOfType([g.func,g.object]),root:g.oneOfType([g.func,g.object]),thumb:g.oneOfType([g.func,g.object]),track:g.oneOfType([g.func,g.object]),valueLabel:g.oneOfType([g.func,g.shape({children:g.element,className:g.string,open:g.bool,style:g.object,value:g.node,valueLabelDisplay:g.oneOf(["auto","off","on"])})])}),slots:g.shape({input:g.elementType,mark:g.elementType,markLabel:g.elementType,rail:g.elementType,root:g.elementType,thumb:g.elementType,track:g.elementType,valueLabel:g.elementType}),step:g.number,sx:g.oneOfType([g.arrayOf(g.oneOfType([g.func,g.object,g.bool])),g.func,g.object]),tabIndex:g.number,track:g.oneOf(["inverted","normal",!1]),value:g.oneOfType([g.arrayOf(g.number),g.number]),valueLabelDisplay:g.oneOf(["auto","off","on"]),valueLabelFormat:g.oneOfType([g.func,g.string])});var z5="[object Number]";function G5(e){return typeof e=="number"||Cr(e)&&Mr(e)==z5}const Bf=Me.observer(e=>{var o,s,i;const t=J.useTheme(),{store:r}=e,{t:n}=Ee.useTranslation();function a(l,c){c===e.velocity||!G5(c)||e.onVelocityChange(c)}return S.jsxs(J.Stack,{direction:"row",gap:2,alignItems:"center",children:[r.showVelocityLegend&&S.jsx(J.Typography,{sx:{color:(i=(s=(o=t.componentsExt)==null?void 0:o.JoggingPanel)==null?void 0:s.VelocitySlider)==null?void 0:i.sliderLegendColor,fontSize:"14px"},children:n("Jogging.Velocity.bt")}),S.jsx(Df,{value:e.velocity,color:"secondary",onChange:a,min:e.min,max:e.max,"aria-labelledby":"input-slider",disabled:e.disabled,sx:{"& .MuiSlider-valueLabelOpen":{zIndex:100,backgroundColor:"transparent",top:"0px"}}}),r.showVelocitySliderLabel&&(e.renderValue?e.renderValue(e.velocity):S.jsx(xc,{value:e.velocity.toString()}))]})});function xc({value:e,sx:t}){var n;const r=J.useTheme();return S.jsx(J.Stack,{direction:"row",justifyContent:"center",alignItems:"center",gap:"5px",sx:{padding:"6px 12px",background:(n=r.palette.backgroundPaperElevation)==null?void 0:n[8],borderRadius:"10px",minWidth:"111px",...t},children:S.jsx(J.Typography,{component:"span",sx:{textAlign:"right",fontSize:"14px",opacity:.8,color:r.palette.text.primary,whiteSpace:"nowrap"},children:e})})}const Nf=Me.observer(({store:e})=>{const{t}=Ee.useTranslation(),r=Me.useLocalObservable(()=>({get valueLabelFormat(){return e.currentMotionType==="translate"?n=>`v = ${t("Jogging.Cartesian.Translation.velocityMmPerSec.lb",{amount:n})}`:n=>`ω = ${t("Jogging.Cartesian.Rotation.velocityDegPerSec.lb",{amount:n})}`}}));return S.jsx(Bf,{store:e,velocity:e.velocityInDisplayUnits,min:e.minVelocityInDisplayUnits,max:e.maxVelocityInDisplayUnits,onVelocityChange:e.setVelocityFromSlider,disabled:e.isLocked,renderValue:n=>S.jsx(xc,{value:r.valueLabelFormat(n),sx:{minWidth:"111px",span:{transform:"translateY(-1.5px)"}}})})}),H5=Me.observer(({store:e,children:t})=>{const{t:r}=Ee.useTranslation(),n=J.useTheme();function a(h,p){(p==="translate"||p==="rotate")&&e.setSelectedCartesianMotionType(p)}Om(()=>[e.selectedCoordSystemId,e.selectedTcpId],()=>{e.jogger.motionStream.motionStateSocket.changeUrl(e.jogger.nova.makeWebsocketURL(`/motion-groups/${e.jogger.motionGroupId}/state-stream?tcp=${e.selectedTcpId}&response_coordinate_system=${e.selectedCoordSystemId}`))},{fireImmediately:!0});async function o(h,p){const f=await e.activate(),m=f.motionStream.rapidlyChangingMotionState.tcp_pose,b=f.motionStream.rapidlyChangingMotionState.state.joint_position;m&&await e.withMotionLock(async()=>{try{e.setCurrentIncrementJog({axis:h.axis,direction:h.direction}),await e.jogger.runIncrementalCartesianMotion({currentTcpPose:m,currentJoints:b,coordSystemId:e.activeCoordSystemId,velocityInRelevantUnits:e.selectedCartesianMotionType==="translate"?e.translationVelocityMmPerSec:e.rotationVelocityRadsPerSec,axis:h.axis,direction:h.direction,motion:e.selectedCartesianMotionType==="translate"?{type:"translate",distanceMm:p.mm}:{type:"rotate",distanceRads:br.degreesToRadians(p.degrees)}})}finally{e.setCurrentIncrementJog(null),await e.deactivate()}})}async function s(h){if(!e.isLocked){if(await e.activate(),e.activeDiscreteIncrement)return o(h,e.activeDiscreteIncrement);h.motionType==="translate"?await e.jogger.startTCPTranslation({axis:h.axis,direction:h.direction,velocityMmPerSec:e.translationVelocityMmPerSec}):await e.jogger.startTCPRotation({axis:h.axis,direction:h.direction,velocityRadsPerSec:e.rotationVelocityRadsPerSec})}}async function i(){e.isLocked||e.activeDiscreteIncrement||await e.deactivate()}function l(h,p,f){var b,x,_;const m=(_=(x=(b=f.componentsExt)==null?void 0:b.JoggingPanel)==null?void 0:x.JoggingCartesian)==null?void 0:_.Axis;if(m)return p==="translate"?m[h]:m.CustomRotation??m[h]}const c=[{id:"x",icon:S.jsx(JE,{}),colors:l("X",e.selectedCartesianMotionType,n)},{id:"y",icon:S.jsx(YE,{}),colors:l("Y",e.selectedCartesianMotionType,n)},{id:"z",icon:S.jsx(QE,{}),colors:l("Z",e.selectedCartesianMotionType,n)}];function u(h){return r("General.mm.variable",{amount:h.toFixed(1)})}function d(h){return r("General.degree.variable",{amount:br.radiansToDegrees(h).toFixed(1)})}return S.jsxs(J.Stack,{flexGrow:1,gap:2,sx:{padding:"18px 24px"},children:[S.jsxs(J.Stack,{gap:2,children:[S.jsx(f5,{store:e}),S.jsx(Nf,{store:e}),S.jsx(J.Divider,{})]}),S.jsx(J.Stack,{marginLeft:"auto",marginRight:"auto",gap:"24px",justifyContent:"center",sx:{flexGrow:"1"},children:S.jsxs(J.Stack,{alignItems:"center",justifyContent:"center",gap:"24px",sx:{flexGrow:1},children:[S.jsxs(g5,{value:e.selectedCartesianMotionType,onChange:a,exclusive:!0,"aria-label":r("Jogging.Cartesian.MotionType.lb"),sx:{justifyContent:"center"},children:[S.jsx(J.ToggleButton,{value:"translate",children:r("Jogging.Cartesian.Translation.bt")}),S.jsx(J.ToggleButton,{value:"rotate",children:r("Jogging.Cartesian.Rotation.bt")})]}),e.selectedCartesianMotionType==="translate"&&c.map(h=>{var p,f;return S.jsx(Xi,{colors:h.colors,disabled:e.isLocked,activeJoggingDirection:((p=e.incrementJogInProgress)==null?void 0:p.axis)===h.id?e.incrementJogInProgress.direction:void 0,label:S.jsxs(S.Fragment,{children:[h.icon,S.jsx(J.Typography,{sx:{fontSize:"24px",color:((f=h.colors)==null?void 0:f.labelColor)??n.palette.text.primary},children:h.id.toUpperCase()})]}),getDisplayedValue:()=>{var m;return u(((m=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:m.position[h.id])||0)},startJogging:m=>s({axis:h.id,motionType:"translate",direction:m}),stopJogging:i},h.id)}),e.selectedCartesianMotionType==="rotate"&&c.map(h=>{var p,f;return S.jsx(Xi,{colors:h.colors,disabled:e.isLocked,activeJoggingDirection:((p=e.incrementJogInProgress)==null?void 0:p.axis)===h.id?e.incrementJogInProgress.direction:void 0,label:S.jsxs(S.Fragment,{children:[S.jsx(ZE,{}),S.jsx(J.Typography,{sx:{fontSize:"24px",color:((f=h.colors)==null?void 0:f.labelColor)??n.palette.text.primary},children:h.id.toUpperCase()})]}),getDisplayedValue:()=>{var m,b;return d(((b=(m=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:m.orientation)==null?void 0:b[h.id])||0)},startJogging:m=>s({axis:h.id,motionType:"rotate",direction:m}),stopJogging:i},h.id)})]})}),S.jsx(_f,{store:e}),t&&S.jsx(J.Divider,{}),t]})}),q5=Me.observer(({store:e,children:t})=>{const r=J.useTheme();async function n(o){await e.activate(),await e.jogger.startJointRotation({joint:o.joint,direction:o.direction,velocityRadsPerSec:e.rotationVelocityRadsPerSec})}async function a(){await e.jogger.stop(),await e.deactivate()}return S.jsxs(J.Stack,{flexGrow:1,gap:2,sx:{padding:"18px 24px"},children:[S.jsx(Nf,{store:e}),S.jsx(J.Divider,{}),S.jsx(J.Stack,{justifyContent:"center",alignItems:"stretch",sx:{flexGrow:"1"},id:"JointControls",children:S.jsx(J.Stack,{alignItems:"center",gap:"24px",children:e.jogger.motionStream.joints.map(o=>{var c;const s=(c=e.motionGroupSpec.mechanical_joint_limits)==null?void 0:c[o.index],i=(s==null?void 0:s.lower_limit)!==void 0?br.radiansToDegrees(s.lower_limit):void 0,l=(s==null?void 0:s.upper_limit)!==void 0?br.radiansToDegrees(s.upper_limit):void 0;return S.jsxs(J.Stack,{direction:"row",alignItems:"center",justifyContent:"center",spacing:1.5,width:"100%",children:[e.showJointsLegend&&S.jsx(J.Typography,{color:e.isLocked?r.palette.text.disabled:r.palette.text.secondary,children:`G${o.index+1}`}),S.jsx(Tm,{disabled:e.isLocked,lowerLimitDegs:i,upperLimitDegs:l,getValueDegs:()=>{const u=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_position.joints[o.index];return u!==void 0?br.radiansToDegrees(u):void 0},startJogging:u=>n({joint:o.index,direction:u}),stopJogging:a})]},`joint-${o.index}`)})})}),S.jsx(_f,{store:e}),t&&S.jsx(J.Divider,{}),t]})}),J5=Jt(Me.observer(e=>{const t=Sl.isString(e.nova)?new FE({instanceUrl:e.nova}):e.nova,r=Me.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){Be.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{let a=e.store;if(!a){const o=await t.connectJogger(e.motionGroupId);a=await Bs.loadFor(o)}Be.runInAction(()=>{r.joggingStore=a}),e.onSetup&&e.onSetup(a)}catch(a){r.loadingError=a}}return ee.useEffect(()=>(n(),e.store?()=>null:()=>{var a;(a=r.joggingStore)==null||a.dispose()}),[e.store,e.nova,e.motionGroupId]),ee.useEffect(()=>{const a=r.joggingStore;a&&(e.locked?a.lock("external"):a.unlock("external"))},[r.joggingStore,e.locked]),S.jsx(J.Stack,{sx:{maxWidth:"460px",minWidth:"320px",position:"relative",...e.sx},children:r.joggingStore?S.jsx(W5,{store:r.joggingStore,children:e.children}):S.jsx(fc,{message:"Loading jogging",error:r.loadingError})})})),W5=Me.observer(({store:e,children:t})=>{const{t:r}=Ee.useTranslation();function n(){if(e.currentTab.id==="cartesian")return S.jsx(S.Fragment,{children:S.jsx(H5,{store:e,children:t})});if(e.currentTab.id==="joint")return S.jsx(S.Fragment,{children:S.jsx(q5,{store:e,children:t})})}return S.jsxs(J.Stack,{flexGrow:1,sx:{overflow:"hidden"},children:[S.jsx(J.Tabs,{value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(a=>{const o=a.label==="cartesian"?r("Jogging.Cartesian.bt"):r("Jogging.Joints.bt"),s=a.label==="cartesian"?S.jsx(xC,{fontSize:"small",sx:{mr:1}}):S.jsx(OC,{fontSize:"small",sx:{mr:1}});return S.jsx(J.Tab,{label:e.showTabIcons?S.jsxs(J.Stack,{direction:"row",alignItems:"center",children:[s,o]}):o,id:`jogging-tab-${a.id}`,"aria-controls":`jogging-tab-${a.id}`},a.id)})}),S.jsx(J.Stack,{flexGrow:1,position:"relative",sx:{overflowY:"auto",overflowX:"hidden"},children:n()})]})}),Ff=ee.forwardRef(({label:e,value:t},r)=>{var i;const n=J.useTheme(),[a,o]=ee.useState(!1);async function s(){if(!r||!("current"in r))return console.warn("No copy target found"),!1;try{return await navigator.clipboard.writeText(t),console.log("Copied!"),o(!0),!0}catch(l){console.error(l);const c=window.getSelection(),u=document.createRange();u.selectNodeContents(r.current),c.removeAllRanges(),c.addRange(u)}return!1}return ee.useEffect(()=>{if(!a)return;const l=setTimeout(()=>o(!1),3e3);return()=>{l&&clearTimeout(l)}},[a]),S.jsx(J.Tooltip,{open:a,title:"Copied!",children:S.jsx(J.Stack,{justifyContent:"center",sx:{height:"100%",boxSizing:"border-box",padding:"6px 12px",background:(i=n.palette.backgroundPaperElevation)==null?void 0:i[8],borderRadius:"10px",minWidth:"0",cursor:"pointer"},onClick:()=>s(),children:S.jsx(J.Typography,{ref:r,align:"center",sx:{pointerEvents:"none",fontSize:"12px",color:n.palette.text.primary,whiteSpace:"nowrap",minWidth:0,textOverflow:"ellipsis",width:"100%",overflow:"hidden"},children:t})})})}),Y5=Me.observer(({motionStream:e})=>{const t=ee.useRef(null);function r(){const n=e.rapidlyChangingMotionState.tcp_pose;return n?br.poseToWandelscriptString(n):""}return xn(()=>{if(!t.current)return;const n=r();t.current.textContent!==n&&(t.current.textContent=n)}),S.jsx(J.Stack,{alignItems:"left",spacing:2,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},children:S.jsx(Ff,{value:r(),ref:t})})}),K5=Me.observer(({motionStream:e})=>{const t=ee.useRef(null);function r(){const{joints:n}=e.rapidlyChangingMotionState.state.joint_position;return`[${n.map(a=>parseFloat(a.toFixed(4))).join(", ")}]`}return xn(()=>{if(!t.current)return;const n=r();t.current.textContent!==n&&(t.current.textContent=n)}),S.jsx(J.Stack,{alignItems:"left",spacing:2,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},children:S.jsx(Ff,{value:r(),ref:t})})});function Q5(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function X5({baseUrl:e=Q5(),...t}){return S.jsxs(J.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[S.jsx(J.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),S.jsxs(J.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[S.jsx(J.Typography,{color:"#fff",children:"Found no devices to connect to."}),S.jsx(J.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),S.jsx(J.DialogActions,{children:S.jsxs(J.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[S.jsx(J.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),S.jsx(J.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const Z5=Jt(Me.observer(({state:e,onRun:t,onPause:r,onStop:n,onReset:a,requiresManualReset:o=!1,variant:s="with_pause",className:i})=>{const l=J.useTheme(),{t:c}=Ee.useTranslation(),u=()=>{const p={run:{enabled:e==="idle"||e==="paused",label:c(e==="paused"?"ProgramControl.Resume.bt":"ProgramControl.Start.bt"),color:l.palette.success.main,onClick:t},pause:{enabled:e==="running",label:c("ProgramControl.Pause.bt"),color:"#FFFFFF33",onClick:r||(()=>{})},stop:{enabled:e==="running"||e==="paused",label:c("ProgramControl.Stop.bt"),color:l.palette.error.main,onClick:n}};return s==="without_pause"?[p.run,p.stop]:[p.run,p.pause,p.stop]},d=p=>{const f={sx:{fontSize:"55px"}};if(s==="without_pause")return p===0?S.jsx(En.PlayArrow,{...f}):S.jsx(En.Stop,{...f});switch(p){case 0:return S.jsx(En.PlayArrow,{...f});case 1:return S.jsx(En.Pause,{...f});case 2:return S.jsx(En.Stop,{...f});default:return null}},h=u();return S.jsx(J.Box,{className:i,sx:{display:"flex",flexDirection:"column",alignItems:"center",gap:2},children:S.jsx(J.Box,{sx:{display:"flex",gap:"40px",flexWrap:"wrap",justifyContent:"center",alignItems:"center"},children:h.map((p,f)=>S.jsxs(J.Box,{sx:{display:"flex",flexDirection:"column",alignItems:"center",gap:1},children:[S.jsx(J.Button,{variant:"contained",disabled:!p.enabled||e==="stopping"&&!o,onClick:p.onClick,sx:{width:"110px",height:"110px",borderRadius:"110px",backgroundColor:p.color,opacity:p.enabled&&!(e==="stopping"&&!o)?1:.3,"&:hover":{backgroundColor:p.color,opacity:p.enabled&&!(e==="stopping"&&!o)?.8:.3},"&:disabled":{backgroundColor:p.color,opacity:.3},minWidth:"110px",flexShrink:0},children:d(f)}),S.jsx(J.Typography,{variant:"body1",sx:{color:p.enabled&&!(e==="stopping"&&!o)?p.color:l.palette.text.disabled,textAlign:"center",opacity:p.enabled&&!(e==="stopping"&&!o)?1:.3},children:p.label})]},p.label))})})})),e3=Jt(Me.observer(({programState:e,safetyState:t,operationMode:r,className:n})=>{const a=J.useTheme(),{t:o}=Ee.useTranslation(),s=()=>{if(t==="SAFETY_STATE_DEVICE_EMERGENCY_STOP"||t==="SAFETY_STATE_ROBOT_EMERGENCY_STOP")return{label:o("ProgramStateIndicator.EStop.lb"),color:a.palette.error.main};if(t==="SAFETY_STATE_STOP_0"||t==="SAFETY_STATE_STOP_1"||t==="SAFETY_STATE_STOP_2"||t==="SAFETY_STATE_PROTECTIVE_STOP"||t==="SAFETY_STATE_STOP")return{label:o("ProgramStateIndicator.Stopped.lb"),color:a.palette.error.main};if(t==="SAFETY_STATE_UNKNOWN"||t==="SAFETY_STATE_FAULT")return{label:o("ProgramStateIndicator.Error.lb"),color:a.palette.error.main};if(t==="SAFETY_STATE_NORMAL")switch(e){case"running":return{label:o("ProgramStateIndicator.Running.lb"),color:a.palette.success.main};case"paused":return{label:o("ProgramStateIndicator.Paused.lb"),color:a.palette.grey[600]};case"stopping":return{label:o("ProgramStateIndicator.Stopped.lb"),color:a.palette.error.main};case"idle":default:return{label:o("ProgramStateIndicator.Ready.lb"),color:a.palette.success.main}}return t==="SAFETY_STATE_REDUCED"||t==="SAFETY_STATE_MASTERING"||t==="SAFETY_STATE_CONFIRM_SAFETY"||t==="SAFETY_STATE_OPERATOR_SAFETY"||t==="SAFETY_STATE_RECOVERY"||t==="SAFETY_STATE_VIOLATION"?{label:o("ProgramStateIndicator.Idle.lb"),color:a.palette.grey[600]}:{label:o("ProgramStateIndicator.Idle.lb"),color:a.palette.grey[600]}},{label:i,color:l}=s(),u=`${i} / ${(()=>{switch(r){case"OPERATION_MODE_AUTO":return o("ProgramStateIndicator.Auto.lb");case"OPERATION_MODE_MANUAL":return o("ProgramStateIndicator.Manual.lb");case"OPERATION_MODE_MANUAL_T1":return o("ProgramStateIndicator.ManualT1.lb");case"OPERATION_MODE_MANUAL_T2":return o("ProgramStateIndicator.ManualT2.lb");default:return o("ProgramStateIndicator.Auto.lb")}})()}`;return S.jsx(J.Chip,{className:n,label:u,variant:"filled",sx:{backgroundColor:l,color:a.palette.getContrastText(l),fontWeight:500,"& .MuiChip-label":{paddingX:2}}})})),t3=Array(6).fill(2*Math.PI),Th="0.0.0-semantically-released";function Oc(e){let t=Th;return Th.startsWith("0.")&&(t=""),`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components${t?`@${t}`:""}/public/models/${e}.glb`}function r3(e){function t(r){return r.children.length===0?[r]:[r,...r.children.flatMap(n=>t(n))]}return t(e).filter(r=>Gf(r))}function zf(e){return e.name.endsWith("_FLG")}function Gf(e){return/_J[0-9]+$/.test(e.name)}function n3(e,t){let r;function n(a){if(zf(a)){if(r)throw Error(`Found multiple flange groups in robot model ${t}; first ${r.name} then ${a.name}. Only one _FLG group is allowed.`);r=a}Gf(a),a.children.map(n)}if(n(e.scene),!r)throw Error(`No flange group found in robot model ${t}. Flange must be identified with a name ending in _FLG.`);return{gltf:e}}function Hf({rapidlyChangingMotionState:e,dhParameters:t,onRotationChanged:r,children:n}){const a=ee.useRef([]),o=ee.useRef([]),s=ee.useRef(null),{invalidate:i}=wc.useThree();ee.useEffect(()=>{const d=e.state.joint_position.joints.filter(h=>h!==void 0);return s.current=new uc(d,{tension:120,friction:20,threshold:.001}),()=>{var h;(h=s.current)==null||h.destroy()}},[]),wc.useFrame((d,h)=>{if(s.current){const p=s.current.update(h);u(),p||i()}});function l(d){d&&(o.current=r3(d),u(),i())}function c(d){var h;a.current=d,(h=s.current)==null||h.setTarget(d)}function u(){var h;const d=((h=s.current)==null?void 0:h.getCurrentValues())||[];if(r)r(o.current,d);else for(const[p,f]of o.current.entries()){const m=t[p],b=m.theta||0,x=m.reverse_rotation_direction?-1:1;f.rotation.y=x*(d[p]||0)+b}}return xm(()=>{const d=e.state.joint_position.joints.filter(h=>h!==void 0);requestAnimationFrame(()=>c(d))}),S.jsx("group",{ref:l,children:n})}const a3="line",o3="mesh";function s3({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new vt.Matrix4,a=ee.useRef([]),o=ee.useRef([]);ee.useEffect(()=>{a.current=new Array(t.length).fill(null),o.current=new Array(t.length).fill(null)},[t.length]);function s(c,u){const d=new vt.Vector3,h=new vt.Quaternion,p=new vt.Vector3;n.decompose(d,h,p);const f=d.clone(),m=new vt.Matrix4().makeRotationY(c.theta+u*(c.reverse_rotation_direction?-1:1)).multiply(new vt.Matrix4().makeTranslation(0,c.d/1e3,0)).multiply(new vt.Matrix4().makeTranslation(c.a/1e3,0,0)).multiply(new vt.Matrix4().makeRotationX(c.alpha));return n.multiply(m),n.decompose(d,h,p),{a:f,b:d}}function i(c,u,d,h){if(!t)return;const p=t[c];if(!p)return;const{a:f,b:m}=s(p,h);u.geometry.setPositions([f.toArray(),m.toArray()].flat()),d.position.set(m.x,m.y,m.z)}function l(c,u){n.identity();for(let d=0;d<Math.min(c.length,u.length);d++){const h=a.current[d],p=o.current[d];h&&p&&i(d,h,p,u[d])}}return S.jsx(S.Fragment,{children:S.jsx(Hf,{rapidlyChangingMotionState:e,dhParameters:t,onRotationChanged:l,children:S.jsxs("group",{...r,name:"Scene",children:[S.jsxs("mesh",{children:[S.jsx("sphereGeometry",{args:[.01,32,32]}),S.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),t.map((c,u)=>{const{a:d,b:h}=s(c,e.state.joint_position.joints[u]??0),p=`dhrobot_J0${u}`;return S.jsxs("group",{name:p,children:[S.jsx(St.Line,{ref:f=>{a.current[u]=f},name:a3,points:[d,h],color:"white",lineWidth:5}),S.jsxs("mesh",{ref:f=>{o.current[u]=f},name:o3,position:h,children:[S.jsx("sphereGeometry",{args:[.01,32,32]}),S.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+u)]},p)})]})})})}const i3=console.warn;function l3(){return ee.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&i3(e)}},[]),S.jsx(S.Fragment,{})}function c3(e){return e.type==="Mesh"}function u3({modelURL:e,flangeRef:t,postModelRender:r,...n}){const{gltf:a}=n3(St.useGLTF(e),e.split("/").pop()||e),o=ee.useCallback(i=>{i&&r&&r()},[e]);function s(i){return c3(i)?S.jsx("mesh",{name:i.name,geometry:i.geometry,material:i.material,position:i.position,rotation:i.rotation},i.uuid):S.jsx("group",{name:i.name,position:i.position,rotation:i.rotation,ref:zf(i)?t:void 0,children:i.children.map(s)},i.uuid)}return S.jsx("group",{...n,dispose:null,ref:o,children:s(a.scene)})}const d3=(e,t)=>{e.userData.isGhost||(e.traverse(r=>{if(r instanceof ke.Mesh){r.material instanceof ke.Material&&(r.material.colorWrite=!1);const n=r.clone(),a=r.clone();n.material=new ke.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:-1,side:ke.DoubleSide}),n.userData.isGhost=!0,a.material=new ke.MeshStandardMaterial({color:t,opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-2,side:ke.DoubleSide}),a.userData.isGhost=!0,r.parent&&(r.parent.add(n),r.parent.add(a))}}),e.userData.isGhost=!0)},h3=e=>{if(!e.userData.isGhost)return;const t=[];e.traverse(r=>{var n;r instanceof ke.Mesh&&((n=r.userData)!=null&&n.isGhost?t.push(r):r.material instanceof ke.Material&&(r.material.colorWrite=!0))}),t.forEach(r=>{r.parent&&r.parent.remove(r)}),e.userData.isGhost=!1},qf=Jt(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=Oc,flangeRef:a,postModelRender:o,transparentColor:s,...i})=>{const[l,c]=ee.useState(null),u=ee.useCallback(h=>{c(h)},[]);ee.useEffect(()=>{l&&(s?d3(l,s):h3(l))},[l,s]);const d=S.jsx(s3,{rapidlyChangingMotionState:e,dhParameters:r,...i});return S.jsxs(cg.ErrorBoundary,{fallback:d,onError:h=>{console.error(h)},children:[S.jsx(ee.Suspense,{fallback:d,children:S.jsx("group",{ref:u,children:S.jsx(Hf,{rapidlyChangingMotionState:e,dhParameters:r,children:S.jsx(u3,{modelURL:n(t),postModelRender:o,flangeRef:a,...i})})})}),S.jsx(l3,{})]})});function p3({connectedMotionGroup:e,getModel:t=Oc,flangeRef:r,transparentColor:n,...a}){return e.dhParameters?S.jsx(qf,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:e.modelFromController||"",dhParameters:e.dhParameters,getModel:t,flangeRef:r,transparentColor:n,...a}):null}const m3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M5.248 21c-.334 0-.619-.116-.853-.35a1.153 1.153 0 0 1-.351-.848c0-.333.117-.616.351-.85.234-.233.519-.35.853-.35H7.24L4.558 9.87a2.881 2.881 0 0 1-1.126-1.042A2.77 2.77 0 0 1 3 7.317c0-.793.28-1.467.838-2.023a2.774 2.774 0 0 1 2.033-.834 2.71 2.71 0 0 1 1.728.585c.494.389.832.887 1.014 1.493h3.58V5.239c0-.22.076-.406.226-.555a.76.76 0 0 1 .558-.224c.136 0 .263.035.381.104.118.07.209.167.273.292v.14l1.835-1.702a.979.979 0 0 1 .52-.279.881.881 0 0 1 .58.091l4.01 1.85a.74.74 0 0 1 .36.364.537.537 0 0 1-.002.474.592.592 0 0 1-.366.323.657.657 0 0 1-.477-.039l-3.858-1.774L13.76 6.59v1.454l2.473 2.233 3.858-1.774a.648.648 0 0 1 .485-.03.571.571 0 0 1 .358.314.513.513 0 0 1 .01.482.79.79 0 0 1-.367.357l-4.011 1.882a.881.881 0 0 1-.58.09.979.979 0 0 1-.52-.278L13.63 9.638v.14a.92.92 0 0 1-.273.275.665.665 0 0 1-.381.12.76.76 0 0 1-.558-.224.752.752 0 0 1-.225-.555V8.096h-3.58a2.82 2.82 0 0 1-.215.54 2.552 2.552 0 0 1-.323.479l5.139 9.488h2.673c.335 0 .62.116.854.35.234.233.35.516.35.849 0 .332-.116.615-.35.849a1.167 1.167 0 0 1-.854.349H5.248Zm.623-12.385c.362 0 .67-.126.924-.378a1.25 1.25 0 0 0 .38-.92 1.25 1.25 0 0 0-.38-.92 1.261 1.261 0 0 0-.924-.379 1.26 1.26 0 0 0-.925.379 1.25 1.25 0 0 0-.38.92c0 .36.127.667.38.92.254.252.562.378.925.378Z"})),f3=ee.forwardRef(m3),g3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"m13.37 9.12 1.69 1.69 2.99-2.99-3.73-3.73-.95-.95-7.66 7.66-.95.95 3.99 3.99v3.44h7.55v-3.55l-4.72-4.72 1.79-1.79Zm-.91-2.99.91-.91 2.6 2.6-.91.91-2.6-2.6Zm-2.25 10.24h3.74l-1.34-1.34-.04-.04h-2.5l-3.25-3.25 4.59-4.59.92.92L9.5 10.9l5.33 5.33v1.48H10.2v-1.35l.01.01ZM2 2v4.99h1.41V3.4h3.58V2H2ZM22.21 2h-4.98v1.41h3.59v3.58h1.4V2h-.01ZM20.81 20.65h-3.58v1.4h4.98v-4.99h-1.4v3.59ZM3.4 17.06H2v4.98h4.99v-1.4H3.4v-3.58Z"})),y3=ee.forwardRef(g3),Vt=Me.observer(({id:e,icon:t,color:r,title:n,name:a,label:o,explanation:s,literalValue:i,anchorOrigin:l,transformOrigin:c})=>{const u=Me.useLocalObservable(()=>({anchorEl:null,get isPopoverOpen(){return!!u.anchorEl},openPopover(d){u.anchorEl=d.currentTarget},closePopover(){u.anchorEl=null}}));return S.jsxs(S.Fragment,{children:[S.jsxs(J.Stack,{"aria-owns":u.isPopoverOpen?e:void 0,"aria-haspopup":"true",onMouseEnter:u.openPopover,onMouseLeave:u.closePopover,direction:"row",spacing:1,sx:{cursor:"pointer"},children:[S.jsx(J.SvgIcon,{component:t,sx:{color:r}}),o&&S.jsx("div",{style:{color:r},children:o})]}),S.jsx(J.Popover,{id:e,sx:{pointerEvents:"none"},open:u.isPopoverOpen,anchorEl:u.anchorEl,anchorOrigin:l??{vertical:"bottom",horizontal:"left"},transformOrigin:c??{vertical:"top",horizontal:"left"},onClose:u.closePopover,disableRestoreFocus:!0,children:S.jsxs(J.Stack,{gap:"1rem",padding:2,maxWidth:"450px",sx:{wordWrap:"break-word"},children:[S.jsxs("div",{children:[n&&S.jsx(J.Typography,{component:"span",fontSize:"14px",children:`${n}: `}),S.jsx(J.Typography,{component:"span",color:r,fontWeight:"bold",fontSize:"14px",children:a})]}),S.jsx(J.Typography,{fontSize:"14px",children:s}),i&&S.jsx(J.Typography,{fontSize:"12px",children:i})]})})]})}),b3=Me.observer(({isVirtual:e,motionGroupId:t,anchorOrigin:r,transformOrigin:n,compact:a})=>{const o=J.useTheme(),{t:s}=Ee.useTranslation();return e?S.jsx(Vt,{id:"motion-group-virtual",icon:y3,color:o.palette.tertiary.main,name:s("SafetyBar.ControllerType.Virtual.lb"),label:a?null:s("SafetyBar.ControllerType.Virtual.lb"),explanation:S.jsxs(Ee.Trans,{i18nKey:"SafetyBar.MotionGroup.Virtual.Explanation.lb",values:{motionGroupId:t},children:["Motion group ",S.jsx("code",{children:t})," refers to a virtual robot with no physical counterpart. It can be freely manipulated without special safety precautions."]}),anchorOrigin:r,transformOrigin:n}):S.jsx(Vt,{id:"motion-group-physical",icon:f3,color:o.palette.primary.main,name:s("SafetyBar.ControllerType.Physical.lb"),label:a?null:s("SafetyBar.ControllerType.Physical.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.MotionGroup.Physical.Explanation.lb",values:{motionGroupId:t},components:{code:S.jsx("code",{}),strong:S.jsx("strong",{})}}),anchorOrigin:r,transformOrigin:n})}),v3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{fillRule:"evenodd",clipRule:"evenodd",d:"M15.306 2.768c0-.424.344-.768.768-.768h.406C19.53 2 22 4.551 22 7.699c0 3.237-2.51 5.587-5.31 5.703-.84 1.595-2.478 2.677-4.36 2.677a4.845 4.845 0 0 1-3.146-1.163c-.6 1.783 0 3.922 1.79 4.99 1.929 1.149 4.395.467 5.508-1.524l.212-.378a.75.75 0 1 1 1.308.732l-.231.414c-1.524 2.725-4.9 3.66-7.54 2.085-2.716-1.618-3.432-5.037-2.129-7.599a5.22 5.22 0 0 1-.73-2.677c0-2.192 1.335-4.063 3.212-4.793-1.195-1.427-3.29-1.96-5.08-.892-1.928 1.15-2.589 3.696-1.475 5.687l.231.413a.75.75 0 0 1-1.308.732l-.212-.377c-1.524-2.726-.62-6.211 2.02-7.785 2.716-1.619 5.943-.55 7.44 1.897l.13-.001c2.739 0 4.96 2.292 4.96 5.12 0 .284-.023.563-.066.834 1.795-.354 3.288-1.96 3.288-4.095 0-2.3-1.805-4.163-4.032-4.163h-.406a.768.768 0 0 1-.768-.768Zm.496 8.191c0 .286-.033.564-.094.831a3.62 3.62 0 0 1-.672 1.415 3.425 3.425 0 0 1-2.706 1.338 3.402 3.402 0 0 1-2.384-.98 3.598 3.598 0 0 1-.852-1.306 3.677 3.677 0 0 1-.235-1.298c0-1.623 1.046-2.994 2.48-3.435a3.37 3.37 0 0 1 1.522-.107c1.665.264 2.94 1.75 2.94 3.542Z"})),S3=ee.forwardRef(v3),x3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M19.763 16.432 13.516 5.864c-.674-1.152-2.358-1.152-3.049 0l-6.23 10.568C3.563 17.567 4.405 19 5.753 19H18.23c1.364 0 2.206-1.432 1.532-2.568ZM12 8.498c.539 0 .96.428.96.938v.066l-.32 4.708a.639.639 0 0 1-.64.592.639.639 0 0 1-.64-.592l-.32-4.708A.953.953 0 0 1 12 8.498Zm0 8.79c-.556 0-1.01-.444-1.01-.987 0-.544.454-.988 1.01-.988s1.01.444 1.01.988c0 .542-.454.987-1.01.987Z",fill:"#fff",fillOpacity:.56})),O3=ee.forwardRef(x3),w3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M12.953 5.09a1.497 1.497 0 0 0-1.653-.518l-1.35.43a1.504 1.504 0 0 0-1.726-.376L2.858 6.97c-.736.321-1.06 1.155-.726 1.862.334.707 1.202 1.02 1.937.698l4.27-1.865 1.466 1.973v.402c0 .873-.627 1.63-1.512 1.827l-2.56.567c-1.329.295-2.27 1.431-2.27 2.74v.107c0 .26.22.469.489.469h11.117c1.329 0 2.618.435 3.656 1.233l1.665 1.28A1 1 0 0 0 22 17.47V11.062c0-.312-.108-.616-.308-.863l-3.415-4.218a1.5 1.5 0 0 0-1.618-.471l-.378.12-.866-.475a1.516 1.516 0 0 0-1.188-.114l-1.06.338-.214-.289Z"})),C3=ee.forwardRef(w3),P3=Me.observer(({operationMode:e,anchorOrigin:t,transformOrigin:r,compact:n})=>{const{t:a}=Ee.useTranslation(),o=J.useTheme();switch(e){case"OPERATION_MODE_AUTO":return S.jsx(Vt,{id:"operation-mode-auto",icon:S3,title:a("SafetyBar.OperationMode.ti"),name:a("SafetyBar.OperationMode.Automatic.ti"),label:n?null:a("SafetyBar.OperationMode.Automatic.ti"),color:o.palette.text.secondary,explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.OperationMode.Auto.Explanation.lb",children:"The robot controller is in automatic operation mode. Automated movement without manual confirmation is possible in this mode."}),anchorOrigin:t,transformOrigin:r});case"OPERATION_MODE_MANUAL":case"OPERATION_MODE_MANUAL_T1":case"OPERATION_MODE_MANUAL_T2":return S.jsx(Vt,{id:"operation-mode-manual",icon:C3,color:o.palette.warning.main,title:a("SafetyBar.OperationMode.ti"),name:a("SafetyBar.OperationMode.Manual.lb"),label:n?null:a("SafetyBar.OperationMode.Manual.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.OperationMode.Manual.Explanation.lb",children:"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully."}),literalValue:e,anchorOrigin:t,transformOrigin:r});default:return S.jsx(Vt,{id:"operation-mode-error",icon:O3,color:o.palette.warning.main,title:a("SafetyBar.OperationMode.ti"),name:a("SafetyBar.OperationMode.Error.lb"),label:n?null:a("SafetyBar.OperationMode.Error.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.OperationMode.Error.Explanation.lb",children:"The robot controller has entered an unexpected operation mode. Motion group movement may not be possible."}),literalValue:e,anchorOrigin:t,transformOrigin:r})}}),T3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M19.763 16.432 13.516 5.864c-.674-1.152-2.358-1.152-3.049 0l-6.23 10.568C3.563 17.567 4.405 19 5.753 19H18.23c1.364 0 2.206-1.432 1.532-2.568ZM12 8.498c.539 0 .96.428.96.938v.066l-.32 4.708a.639.639 0 0 1-.64.592.639.639 0 0 1-.64-.592l-.32-4.708A.953.953 0 0 1 12 8.498Zm0 8.79c-.556 0-1.01-.444-1.01-.987 0-.544.454-.988 1.01-.988s1.01.444 1.01.988c0 .542-.454.987-1.01.987Z"})),A3=ee.forwardRef(T3),R3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M10.24 10.636 12 13.764l1.76-3.128h-3.52Z"}),B.createElement("path",{fillRule:"evenodd",clipRule:"evenodd",d:"M18.364 12a6.364 6.364 0 1 1-12.728 0 6.364 6.364 0 0 1 12.728 0ZM7.909 9.273 12 16.546l4.09-7.273H7.91Z"}),B.createElement("path",{fillRule:"evenodd",clipRule:"evenodd",d:"M22 12c0 5.523-4.477 10-10 10S2 17.523 2 12 6.477 2 12 2s10 4.477 10 10Zm-1.364 0a8.636 8.636 0 1 1-17.273 0 8.636 8.636 0 0 1 17.273 0Z"})),_3=ee.forwardRef(R3),V3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M9.057 15.115c-1.681 0-3.111-.59-4.29-1.768C3.59 12.17 3 10.74 3 9.057c0-.29.021-.582.064-.876a4.1 4.1 0 0 1 .214-.844.78.78 0 0 1 .273-.36c.115-.077.244-.133.389-.168a.857.857 0 0 1 .437.008c.146.04.28.12.4.24l2.806 2.787 2.26-2.261-2.775-2.786a.903.903 0 0 1-.241-.405.875.875 0 0 1-.008-.442 1.13 1.13 0 0 1 .174-.389.82.82 0 0 1 .355-.273c.268-.107.548-.182.838-.224.29-.043.581-.064.871-.064 1.682 0 3.112.59 4.29 1.768 1.179 1.178 1.768 2.608 1.768 4.29 0 .444-.042.858-.126 1.241-.084.384-.21.755-.377 1.113l5.726 5.692A2.2 2.2 0 0 1 21 18.721a2.2 2.2 0 0 1-.662 1.617A2.2 2.2 0 0 1 18.72 21a2.173 2.173 0 0 1-1.617-.679l-5.692-5.709c-.372.161-.75.285-1.133.372-.383.087-.79.13-1.222.13Z",fill:"#fff",fillOpacity:.56})),E3=ee.forwardRef(V3),I3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"m10.6 13.8-2.15-2.15a.948.948 0 0 0-.7-.275.948.948 0 0 0-.7.275.948.948 0 0 0-.275.7c0 .283.092.517.275.7L9.9 15.9c.2.2.433.3.7.3.267 0 .5-.1.7-.3l5.65-5.65a.948.948 0 0 0 .275-.7.948.948 0 0 0-.275-.7.948.948 0 0 0-.7-.275.948.948 0 0 0-.7.275L10.6 13.8ZM12 22a9.738 9.738 0 0 1-3.9-.788 10.099 10.099 0 0 1-3.175-2.137c-.9-.9-1.612-1.958-2.137-3.175A9.738 9.738 0 0 1 2 12c0-1.383.263-2.683.788-3.9a10.099 10.099 0 0 1 2.137-3.175c.9-.9 1.958-1.612 3.175-2.137A9.738 9.738 0 0 1 12 2c1.383 0 2.683.263 3.9.788a10.098 10.098 0 0 1 3.175 2.137c.9.9 1.613 1.958 2.137 3.175A9.738 9.738 0 0 1 22 12a9.738 9.738 0 0 1-.788 3.9 10.098 10.098 0 0 1-2.137 3.175c-.9.9-1.958 1.613-3.175 2.137A9.738 9.738 0 0 1 12 22Zm0-2c2.233 0 4.125-.775 5.675-2.325C19.225 16.125 20 14.233 20 12c0-2.233-.775-4.125-2.325-5.675C16.125 4.775 14.233 4 12 4c-2.233 0-4.125.775-5.675 2.325C4.775 7.875 4 9.767 4 12c0 2.233.775 4.125 2.325 5.675C7.875 19.225 9.767 20 12 20Z"})),M3=ee.forwardRef(I3),$3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M9 16h6c.283 0 .52-.096.713-.287A.968.968 0 0 0 16 15V9a.967.967 0 0 0-.287-.713A.968.968 0 0 0 15 8H9a.968.968 0 0 0-.713.287A.968.968 0 0 0 8 9v6c0 .283.096.52.287.713.192.191.43.287.713.287Zm3 6a9.738 9.738 0 0 1-3.9-.788 10.099 10.099 0 0 1-3.175-2.137c-.9-.9-1.612-1.958-2.137-3.175A9.738 9.738 0 0 1 2 12c0-1.383.263-2.683.788-3.9a10.099 10.099 0 0 1 2.137-3.175c.9-.9 1.958-1.612 3.175-2.137A9.738 9.738 0 0 1 12 2c1.383 0 2.683.263 3.9.788a10.098 10.098 0 0 1 3.175 2.137c.9.9 1.613 1.958 2.137 3.175A9.738 9.738 0 0 1 22 12a9.738 9.738 0 0 1-.788 3.9 10.098 10.098 0 0 1-2.137 3.175c-.9.9-1.958 1.613-3.175 2.137A9.738 9.738 0 0 1 12 22Zm0-2c2.233 0 4.125-.775 5.675-2.325C19.225 16.125 20 14.233 20 12c0-2.233-.775-4.125-2.325-5.675C16.125 4.775 14.233 4 12 4c-2.233 0-4.125.775-5.675 2.325C4.775 7.875 4 9.767 4 12c0 2.233.775 4.125 2.325 5.675C7.875 19.225 9.767 20 12 20Z"})),j3=ee.forwardRef($3),k3=Me.observer(({safetyState:e,anchorOrigin:t,transformOrigin:r,compact:n})=>{const{t:a}=Ee.useTranslation(),o=J.useTheme();switch(e){case"SAFETY_STATE_NORMAL":return S.jsx(Vt,{id:"safety-state-normal",title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.Normal.lb"),label:n?null:a("SafetyBar.SafetyState.Normal.lb"),icon:M3,color:o.palette.text.secondary,explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.SafetyState.Normal.Explanation.lb",children:"The robot controller is in a normal safety state. Movement is not prevented by this state."}),anchorOrigin:t,transformOrigin:r});case"SAFETY_STATE_DEVICE_EMERGENCY_STOP":case"SAFETY_STATE_ROBOT_EMERGENCY_STOP":return S.jsx(Vt,{id:"safety-state-estop",title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.Estop.lb"),label:n?null:a("SafetyBar.SafetyState.Estop.lb"),icon:_3,color:o.palette.error.main,explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.StopState.Estop.Explanation.lb",children:"An emergency stop of the robot controller has been triggered. Movement of the robot is no longer possible until the estop is released."}),literalValue:e,anchorOrigin:t,transformOrigin:r});case"SAFETY_STATE_STOP_0":case"SAFETY_STATE_STOP_1":case"SAFETY_STATE_STOP_2":case"SAFETY_STATE_PROTECTIVE_STOP":case"SAFETY_STATE_STOP":return S.jsx(Vt,{id:"safety-state-stop",icon:j3,title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.Stop.lb"),label:n?null:a("SafetyBar.SafetyState.Stop.lb"),color:o.palette.warning.main,explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.SafetyState.Stop.Explanation.lb",children:"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved."}),literalValue:e,anchorOrigin:t,transformOrigin:r});case"SAFETY_STATE_REDUCED":case"SAFETY_STATE_MASTERING":case"SAFETY_STATE_CONFIRM_SAFETY":case"SAFETY_STATE_OPERATOR_SAFETY":case"SAFETY_STATE_RECOVERY":case"SAFETY_STATE_VIOLATION":return S.jsx(Vt,{id:"safety-state-manual-action-required",icon:E3,color:o.palette.warning.main,title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.ManualActionRequired.lb"),label:n?null:a("SafetyBar.SafetyState.ManualActionRequired.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.SafetyState.ManualActionRequired.Explanation.lb",children:"The robot controller has entered a safety state requiring manual action to resolve."}),literalValue:e,anchorOrigin:t,transformOrigin:r});case"SAFETY_STATE_UNKNOWN":case"SAFETY_STATE_FAULT":return S.jsx(Vt,{id:"safety-state-error",icon:A3,color:o.palette.error.main,title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.Error.lb"),label:n?null:a("SafetyBar.SafetyState.Error.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.SafetyState.Error.Explanation.lb",children:"The robot controller has entered an unexpected safety state."}),literalValue:e,anchorOrigin:t,transformOrigin:r});default:GE(e,`Unknown safety state ${e}`)}}),U3=Jt(Me.observer(({isVirtual:e,motionGroupId:t,operationMode:r,safetyState:n,anchorOrigin:a,transformOrigin:o,compact:s=!0})=>{const i=s?1:2;return S.jsxs(J.Stack,{direction:"row",gap:i,alignItems:"center",sx:{height:"24px"},children:[S.jsx(k3,{safetyState:n,anchorOrigin:a,transformOrigin:o,compact:s}),S.jsx(J.Divider,{orientation:"vertical",flexItem:!0}),S.jsx(P3,{operationMode:r,anchorOrigin:a,transformOrigin:o,compact:s}),S.jsx(J.Divider,{orientation:"vertical",flexItem:!0}),S.jsx(b3,{isVirtual:e,motionGroupId:t,anchorOrigin:a,transformOrigin:o,compact:s})]})})),L3=J.styled(J.Fab,{shouldForwardProp:e=>e!=="selected"})(({theme:e})=>{var t,r,n;return{borderRadius:"20px","&:hover":{background:(t=e.palette.backgroundPaperElevation)==null?void 0:t[7]},variants:[{props:({selected:a})=>!a,style:{background:(r=e.palette.backgroundPaperElevation)==null?void 0:r[0],color:e.palette.action.disabled,"> img":{opacity:.4}}},{props:({selected:a})=>a,style:{background:(n=e.palette.backgroundPaperElevation)==null?void 0:n[11],border:`1px solid ${e.palette.divider}`,color:e.palette.primary.contrastText}}]}}),D3=ee.forwardRef((e,t)=>S.jsx(L3,{ref:t,selected:e.selected,...e,color:"secondary",variant:"circular"})),B3={$schema:"https://raw.githubusercontent.com/martinring/tmlanguage/master/tmlanguage.json",name:"wandelscript",patterns:[{include:"#keywords"},{include:"#strings"},{include:"#comments"},{include:"#functions"}],repository:{keywords:{patterns:[{name:"keyword.control.flow.wandelscript",match:"\\b(move|via|to|interrupt|def|False|True|for|if|else|elif|while|return|switch|activate|deactivate|print|and|or|not)\\b"}]},strings:{name:"string.quoted.double.wandelscript",begin:'"',end:'"',patterns:[{name:"constant.character.escape.wandelscript",match:"\\\\."}]},comments:{patterns:[{begin:"#",beginCaptures:{0:{name:"punctuation.definition.comment.wandelscript"}},end:"$",name:"comment.line.number-sign.wandelscript"}]},functions:{patterns:[{match:"[a-zA-Z_-]+\\(",name:"entity.name.function.wandelscript"}]}},scopeName:"source.wandelscript"},N3=ee.lazy(()=>import("@monaco-editor/react"));let ji=null;async function F3(){if(!ji){const[{createHighlighter:e},{shikiToMonaco:t}]=await Promise.all([import("shiki"),import("@shikijs/monaco")]);ji={shiki:await e({langs:[B3],themes:["dark-plus","light-plus"]}),shikiToMonaco:t}}return ji}const z3=Jt(e=>{const t=J.useTheme(),[r,n]=ee.useState("dark-plus"),a=t.palette.mode==="dark"?"dark-plus":"light-plus";async function o(s){var c,u;s.languages.register({id:"wandelscript"}),s.languages.setLanguageConfiguration("wandelscript",{comments:{lineComment:"#"},brackets:[["(",")"],["[","]"]],autoClosingPairs:[{open:"[",close:"]"},{open:"(",close:")"}],surroundingPairs:[{open:"[",close:"]"},{open:"(",close:")"}]});const{shiki:i,shikiToMonaco:l}=await F3();l(i,s),s.editor.defineTheme(a,((u=(c=t.componentsExt)==null?void 0:c.WandelscriptEditor)==null?void 0:u.monacoTheme)??{base:t.palette.mode==="dark"?"vs-dark":"vs",inherit:!0,rules:[],colors:{}}),e.monacoSetup&&e.monacoSetup(s),n(a)}return S.jsx(ee.Suspense,{fallback:S.jsx(fc,{}),children:S.jsx(N3,{value:e.code,onMount:(s,i)=>{o(i)},onChange:e.onChange,defaultLanguage:"wandelscript",theme:r,options:{minimap:{enabled:!1},wordWrap:"on",automaticLayout:!0,...e.monacoOptions}})})});function Jf(){var t,r,n,a,o,s,i;const e=J.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiCssBaseline:{styleOverrides:{"html, body, *":{scrollbarWidth:"none",msOverflowStyle:"none"},"html:hover, body:hover, *:hover":{scrollbarWidth:"thin",scrollbarColor:`${e.palette.divider} transparent`}}},MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(n=(r=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:r.tonal)==null?void 0:n.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${e.palette.divider}`}}]},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(a=e.palette.backgroundPaperElevation)==null?void 0:a[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiDrawer:{styleOverrides:{paper:{border:"none",boxShadow:"4px 0 8px -4px rgba(0, 0, 0, 0.3)"}}},MuiFab:{styleOverrides:{root:{background:(s=(o=e.paletteExt)==null?void 0:o.secondary)==null?void 0:s.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:e.palette.text.primary},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:e.palette.text.primary},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:e.palette.text.primary}}},JoggingJoint:{Joint:{arrowColor:e.palette.text.primary}},VelocitySlider:{sliderLegendColor:e.palette.text.primary}},WandelscriptEditor:{monacoTheme:{base:"vs-dark",inherit:!0,rules:[{token:"keyword",foreground:"#b349a9ff"}],colors:{"editor.background":J.rgbToHex(((i=e.palette.backgroundPaperElevation)==null?void 0:i[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function G3(){const e=Jf();return e.palette.mode="light",e}function H3(e){var n,a,o,s;let t=!0;((n=e.palette)==null?void 0:n.mode)==="light"?t=!1:((a=e.palette)==null?void 0:a.mode)!=="dark"&&(t=!(typeof window<"u"&&((s=(o=window.matchMedia)==null?void 0:o.call(window,"(prefers-color-scheme: light)"))==null?void 0:s.matches)));const r=t?Jf():G3();return Kh(r,e)}exports.CycleTimer=Bw;exports.JoggingCartesianAxisControl=Xi;exports.JoggingJointRotationControl=Tm;exports.JoggingPanel=J5;exports.JoggingStore=Bs;exports.LoadingCover=fc;exports.LoadingErrorMessage=bf;exports.NoMotionGroupModal=X5;exports.PoseCartesianValues=Y5;exports.PoseJointValues=K5;exports.PresetEnvironment=mg;exports.ProgramControl=Z5;exports.ProgramStateIndicator=e3;exports.Robot=p3;exports.SafetyBar=U3;exports.SafetyZonesRenderer=yg;exports.SelectableFab=D3;exports.SupportedRobot=qf;exports.TrajectoryRenderer=bg;exports.ValueInterpolator=uc;exports.VelocitySlider=Bf;exports.VelocitySliderLabel=xc;exports.WandelscriptEditor=z3;exports.createNovaMuiTheme=H3;exports.defaultAxisConfig=t3;exports.defaultGetModel=Oc;exports.i18n=cc;exports.useAnimationFrame=xn;exports.useAutorun=xm;exports.useInterpolation=Sm;exports.useMounted=Cs;exports.useReaction=Om;
+`))}return!1}const x5={border:0,clip:"rect(0 0 0 0)",height:"1px",margin:"-1px",overflow:"hidden",padding:0,position:"absolute",whiteSpace:"nowrap",width:"1px"};function O5(e,t,r=(n,a)=>n===a){return e.length===t.length&&e.every((n,a)=>r(n,t[a]))}const w5=2;function Xr(e,t,r,n,a){return r===1?Math.min(e+t,a):Math.max(e-t,n)}function kf(e,t){return e-t}function Oh(e,t){const{index:r}=e.reduce((n,a,o)=>{const s=Math.abs(t-a);return n===null||s<n.distance||s===n.distance?{distance:s,index:o}:n},null)??{};return r}function io(e,t){if(t.current!==void 0&&e.changedTouches){const r=e;for(let n=0;n<r.changedTouches.length;n+=1){const a=r.changedTouches[n];if(a.identifier===t.current)return{x:a.clientX,y:a.clientY}}return!1}return{x:e.clientX,y:e.clientY}}function Wo(e,t,r){return(e-t)*100/(r-t)}function C5(e,t,r){return(r-t)*e+t}function P5(e){if(Math.abs(e)<1){const r=e.toExponential().split("e-"),n=r[0].split(".")[1];return(n?n.length:0)+parseInt(r[1],10)}const t=e.toString().split(".")[1];return t?t.length:0}function T5(e,t,r){const n=Math.round((e-r)/t)*t+r;return Number(n.toFixed(P5(t)))}function wh({values:e,newValue:t,index:r}){const n=e.slice();return n[r]=t,n.sort(kf)}function lo({sliderRef:e,activeIndex:t,setActive:r}){var a,o,s;const n=go(e.current);(!((a=e.current)!=null&&a.contains(n.activeElement))||Number((o=n==null?void 0:n.activeElement)==null?void 0:o.getAttribute("data-index"))!==t)&&((s=e.current)==null||s.querySelector(`[type="range"][data-index="${t}"]`).focus()),r&&r(t)}function co(e,t){return typeof e=="number"&&typeof t=="number"?e===t:typeof e=="object"&&typeof t=="object"?O5(e,t):!1}const A5={horizontal:{offset:e=>({left:`${e}%`}),leap:e=>({width:`${e}%`})},"horizontal-reverse":{offset:e=>({right:`${e}%`}),leap:e=>({width:`${e}%`})},vertical:{offset:e=>({bottom:`${e}%`}),leap:e=>({height:`${e}%`})}},R5=e=>e;let uo;function Ch(){return uo===void 0&&(typeof CSS<"u"&&typeof CSS.supports=="function"?uo=CSS.supports("touch-action","none"):uo=!0),uo}function _5(e){const{"aria-labelledby":t,defaultValue:r,disabled:n=!1,disableSwap:a=!1,isRtl:o=!1,marks:s=!1,max:i=100,min:l=0,name:c,onChange:u,onChangeCommitted:d,orientation:h="horizontal",rootRef:p,scale:f=R5,step:m=1,shiftStep:b=10,tabIndex:x,value:_}=e,O=B.useRef(void 0),[C,P]=B.useState(-1),[w,A]=B.useState(-1),[E,F]=B.useState(!1),y=B.useRef(0),T=B.useRef(null),[z,V]=Ww({controlled:_,default:r??l,name:"Slider"}),N=u&&((K,ne,se)=>{const fe=K.nativeEvent||K,Oe=new fe.constructor(fe.type,fe);Object.defineProperty(Oe,"target",{writable:!0,value:{value:ne,name:c}}),T.current=ne,u(Oe,ne,se)}),te=Array.isArray(z);let Z=te?z.slice().sort(kf):[z];Z=Z.map(K=>K==null?l:Zr(K,l,i));const ae=s===!0&&m!==null?[...Array(Math.floor((i-l)/m)+1)].map((K,ne)=>({value:l+m*ne})):s||[],re=ae.map(K=>K.value),[le,q]=B.useState(-1),X=B.useRef(null),he=wm(p,X),Pe=K=>ne=>{var fe;const se=Number(ne.currentTarget.getAttribute("data-index"));xh(ne.target)&&q(se),A(se),(fe=K==null?void 0:K.onFocus)==null||fe.call(K,ne)},ze=K=>ne=>{var se;xh(ne.target)||q(-1),A(-1),(se=K==null?void 0:K.onBlur)==null||se.call(K,ne)},xe=(K,ne)=>{const se=Number(K.currentTarget.getAttribute("data-index")),fe=Z[se],Oe=re.indexOf(fe);let ie=ne;if(ae&&m==null){const He=re[re.length-1];ie>=He?ie=He:ie<=re[0]?ie=re[0]:ie=ie<fe?re[Oe-1]:re[Oe+1]}if(ie=Zr(ie,l,i),te){a&&(ie=Zr(ie,Z[se-1]||-1/0,Z[se+1]||1/0));const He=ie;ie=wh({values:Z,newValue:ie,index:se});let Xe=se;a||(Xe=ie.indexOf(He)),lo({sliderRef:X,activeIndex:Xe})}V(ie),q(se),N&&!co(ie,z)&&N(K,ie,se),d&&d(K,T.current??ie)},it=K=>ne=>{var se;if(["ArrowUp","ArrowDown","ArrowLeft","ArrowRight","PageUp","PageDown","Home","End"].includes(ne.key)){ne.preventDefault();const fe=Number(ne.currentTarget.getAttribute("data-index")),Oe=Z[fe];let ie=null;if(m!=null){const He=ne.shiftKey?b:m;switch(ne.key){case"ArrowUp":ie=Xr(Oe,He,1,l,i);break;case"ArrowRight":ie=Xr(Oe,He,o?-1:1,l,i);break;case"ArrowDown":ie=Xr(Oe,He,-1,l,i);break;case"ArrowLeft":ie=Xr(Oe,He,o?1:-1,l,i);break;case"PageUp":ie=Xr(Oe,b,1,l,i);break;case"PageDown":ie=Xr(Oe,b,-1,l,i);break;case"Home":ie=l;break;case"End":ie=i;break}}else if(ae){const He=re[re.length-1],Xe=re.indexOf(Oe),De=[o?"ArrowRight":"ArrowLeft","ArrowDown","PageDown","Home"],ht=[o?"ArrowLeft":"ArrowRight","ArrowUp","PageUp","End"];De.includes(ne.key)?Xe===0?ie=re[0]:ie=re[Xe-1]:ht.includes(ne.key)&&(Xe===re.length-1?ie=He:ie=re[Xe+1])}ie!=null&&xe(ne,ie)}(se=K==null?void 0:K.onKeyDown)==null||se.call(K,ne)};zh(()=>{var K;n&&X.current.contains(document.activeElement)&&((K=document.activeElement)==null||K.blur())},[n]),n&&C!==-1&&P(-1),n&&le!==-1&&q(-1);const tt=K=>ne=>{var se;(se=K.onChange)==null||se.call(K,ne),xe(ne,ne.target.valueAsNumber)},ye=B.useRef(void 0);let Q=h;o&&h==="horizontal"&&(Q+="-reverse");const oe=({finger:K,move:ne=!1})=>{const{current:se}=X,{width:fe,height:Oe,bottom:ie,left:He}=se.getBoundingClientRect();let Xe;Q.startsWith("vertical")?Xe=(ie-K.y)/Oe:Xe=(K.x-He)/fe,Q.includes("-reverse")&&(Xe=1-Xe);let De;if(De=C5(Xe,l,i),m)De=T5(De,m,l);else{const _n=Oh(re,De);De=re[_n]}De=Zr(De,l,i);let ht=0;if(te){ne?ht=ye.current:ht=Oh(Z,De),a&&(De=Zr(De,Z[ht-1]||-1/0,Z[ht+1]||1/0));const _n=De;De=wh({values:Z,newValue:De,index:ht}),a&&ne||(ht=De.indexOf(_n),ye.current=ht)}return{newValue:De,activeIndex:ht}},ce=bi(K=>{const ne=io(K,O);if(!ne)return;if(y.current+=1,K.type==="mousemove"&&K.buttons===0){W(K);return}const{newValue:se,activeIndex:fe}=oe({finger:ne,move:!0});lo({sliderRef:X,activeIndex:fe,setActive:P}),V(se),!E&&y.current>w5&&F(!0),N&&!co(se,z)&&N(K,se,fe)}),W=bi(K=>{const ne=io(K,O);if(F(!1),!ne)return;const{newValue:se}=oe({finger:ne,move:!0});P(-1),K.type==="touchend"&&A(-1),d&&d(K,T.current??se),O.current=void 0,me()}),be=bi(K=>{if(n)return;Ch()||K.preventDefault();const ne=K.changedTouches[0];ne!=null&&(O.current=ne.identifier);const se=io(K,O);if(se!==!1){const{newValue:Oe,activeIndex:ie}=oe({finger:se});lo({sliderRef:X,activeIndex:ie,setActive:P}),V(Oe),N&&!co(Oe,z)&&N(K,Oe,ie)}y.current=0;const fe=go(X.current);fe.addEventListener("touchmove",ce,{passive:!0}),fe.addEventListener("touchend",W,{passive:!0})}),me=B.useCallback(()=>{const K=go(X.current);K.removeEventListener("mousemove",ce),K.removeEventListener("mouseup",W),K.removeEventListener("touchmove",ce),K.removeEventListener("touchend",W)},[W,ce]);B.useEffect(()=>{const{current:K}=X;return K.addEventListener("touchstart",be,{passive:Ch()}),()=>{K.removeEventListener("touchstart",be),me()}},[me,be]),B.useEffect(()=>{n&&me()},[n,me]);const Je=K=>ne=>{var Oe;if((Oe=K.onMouseDown)==null||Oe.call(K,ne),n||ne.defaultPrevented||ne.button!==0)return;ne.preventDefault();const se=io(ne,O);if(se!==!1){const{newValue:ie,activeIndex:He}=oe({finger:se});lo({sliderRef:X,activeIndex:He,setActive:P}),V(ie),N&&!co(ie,z)&&N(ne,ie,He)}y.current=0;const fe=go(X.current);fe.addEventListener("mousemove",ce,{passive:!0}),fe.addEventListener("mouseup",W)},Ge=Wo(te?Z[0]:l,l,i),Ie=Wo(Z[Z.length-1],l,i)-Ge,Qt=(K={})=>{const ne=So(K),se={onMouseDown:Je(ne||{})},fe={...ne,...se};return{...K,ref:he,...fe}},Ea=K=>ne=>{var fe;(fe=K.onMouseOver)==null||fe.call(K,ne);const se=Number(ne.currentTarget.getAttribute("data-index"));A(se)},Ia=K=>ne=>{var se;(se=K.onMouseLeave)==null||se.call(K,ne),A(-1)},Ma=(K={})=>{const ne=So(K),se={onMouseOver:Ea(ne||{}),onMouseLeave:Ia(ne||{})};return{...K,...ne,...se}},$a=K=>({pointerEvents:C!==-1&&C!==K?"none":void 0});let Ur;return h==="vertical"&&(Ur=o?"vertical-rl":"vertical-lr"),{active:C,axis:Q,axisProps:A5,dragging:E,focusedThumbIndex:le,getHiddenInputProps:(K={})=>{const ne=So(K),se={onChange:tt(ne||{}),onFocus:Pe(ne||{}),onBlur:ze(ne||{}),onKeyDown:it(ne||{})},fe={...ne,...se};return{tabIndex:x,"aria-labelledby":t,"aria-orientation":h,"aria-valuemax":f(i),"aria-valuemin":f(l),name:c,type:"range",min:e.min,max:e.max,step:e.step===null&&e.marks?"any":e.step??void 0,disabled:n,...K,...fe,style:{...x5,direction:o?"rtl":"ltr",width:"100%",height:"100%",writingMode:Ur}}},getRootProps:Qt,getThumbProps:Ma,marks:ae,open:w,range:te,rootRef:he,trackLeap:Ie,trackOffset:Ge,values:Z,getThumbStyle:$a}}function xo(e){return typeof e=="string"}const V5=e=>!e||!xo(e);function E5(e){return typeof e.main=="string"}function I5(e,t=[]){if(!E5(e))return!1;for(const r of t)if(!e.hasOwnProperty(r)||typeof e[r]!="string")return!1;return!0}function Sc(e=[]){return([,t])=>t&&I5(t,e)}function M5(e){return xa("MuiSlider",e)}const gt=kh("MuiSlider",["root","active","colorPrimary","colorSecondary","colorError","colorInfo","colorSuccess","colorWarning","disabled","dragging","focusVisible","mark","markActive","marked","markLabel","markLabelActive","rail","sizeSmall","thumb","thumbColorPrimary","thumbColorSecondary","thumbColorError","thumbColorSuccess","thumbColorInfo","thumbColorWarning","track","trackInverted","trackFalse","thumbSizeSmall","valueLabel","valueLabelOpen","valueLabelCircle","valueLabelLabel","vertical"]),$5=e=>{const{open:t}=e;return{offset:Et(t&&gt.valueLabelOpen),circle:gt.valueLabelCircle,label:gt.valueLabelLabel}};function Uf(e){const{children:t,className:r,value:n}=e,a=$5(e);return t?B.cloneElement(t,{className:t.props.className},S.jsxs(B.Fragment,{children:[t.props.children,S.jsx("span",{className:Et(a.offset,r),"aria-hidden":!0,children:S.jsx("span",{className:a.circle,children:S.jsx("span",{className:a.label,children:n})})})]})):null}process.env.NODE_ENV!=="production"&&(Uf.propTypes={children:g.element.isRequired,className:g.string,value:g.node});function Ph(e){return e}const j5=dt("span",{name:"MuiSlider",slot:"Root",overridesResolver:(e,t)=>{const{ownerState:r}=e;return[t.root,t[`color${Ze(r.color)}`],r.size!=="medium"&&t[`size${Ze(r.size)}`],r.marked&&t.marked,r.orientation==="vertical"&&t.vertical,r.track==="inverted"&&t.trackInverted,r.track===!1&&t.trackFalse]}})(Ir(({theme:e})=>({borderRadius:12,boxSizing:"content-box",display:"inline-block",position:"relative",cursor:"pointer",touchAction:"none",WebkitTapHighlightColor:"transparent","@media print":{colorAdjust:"exact"},[`&.${gt.disabled}`]:{pointerEvents:"none",cursor:"default",color:(e.vars||e).palette.grey[400]},[`&.${gt.dragging}`]:{[`& .${gt.thumb}, & .${gt.track}`]:{transition:"none"}},variants:[...Object.entries(e.palette).filter(Sc()).map(([t])=>({props:{color:t},style:{color:(e.vars||e).palette[t].main}})),{props:{orientation:"horizontal"},style:{height:4,width:"100%",padding:"13px 0","@media (pointer: coarse)":{padding:"20px 0"}}},{props:{orientation:"horizontal",size:"small"},style:{height:2}},{props:{orientation:"horizontal",marked:!0},style:{marginBottom:20}},{props:{orientation:"vertical"},style:{height:"100%",width:4,padding:"0 13px","@media (pointer: coarse)":{padding:"0 20px"}}},{props:{orientation:"vertical",size:"small"},style:{width:2}},{props:{orientation:"vertical",marked:!0},style:{marginRight:44}}]}))),k5=dt("span",{name:"MuiSlider",slot:"Rail"})({display:"block",position:"absolute",borderRadius:"inherit",backgroundColor:"currentColor",opacity:.38,variants:[{props:{orientation:"horizontal"},style:{width:"100%",height:"inherit",top:"50%",transform:"translateY(-50%)"}},{props:{orientation:"vertical"},style:{height:"100%",width:"inherit",left:"50%",transform:"translateX(-50%)"}},{props:{track:"inverted"},style:{opacity:1}}]}),U5=dt("span",{name:"MuiSlider",slot:"Track"})(Ir(({theme:e})=>({display:"block",position:"absolute",borderRadius:"inherit",border:"1px solid currentColor",backgroundColor:"currentColor",transition:e.transitions.create(["left","width","bottom","height"],{duration:e.transitions.duration.shortest}),variants:[{props:{size:"small"},style:{border:"none"}},{props:{orientation:"horizontal"},style:{height:"inherit",top:"50%",transform:"translateY(-50%)"}},{props:{orientation:"vertical"},style:{width:"inherit",left:"50%",transform:"translateX(-50%)"}},{props:{track:!1},style:{display:"none"}},...Object.entries(e.palette).filter(Sc()).map(([t])=>({props:{color:t,track:"inverted"},style:{...e.vars?{backgroundColor:e.vars.palette.Slider[`${t}Track`],borderColor:e.vars.palette.Slider[`${t}Track`]}:{backgroundColor:aa(e.palette[t].main,.62),borderColor:aa(e.palette[t].main,.62),...e.applyStyles("dark",{backgroundColor:na(e.palette[t].main,.5)}),...e.applyStyles("dark",{borderColor:na(e.palette[t].main,.5)})}}}))]}))),L5=dt("span",{name:"MuiSlider",slot:"Thumb",overridesResolver:(e,t)=>{const{ownerState:r}=e;return[t.thumb,t[`thumbColor${Ze(r.color)}`],r.size!=="medium"&&t[`thumbSize${Ze(r.size)}`]]}})(Ir(({theme:e})=>({position:"absolute",width:20,height:20,boxSizing:"border-box",borderRadius:"50%",outline:0,backgroundColor:"currentColor",display:"flex",alignItems:"center",justifyContent:"center",transition:e.transitions.create(["box-shadow","left","bottom"],{duration:e.transitions.duration.shortest}),"&::before":{position:"absolute",content:'""',borderRadius:"inherit",width:"100%",height:"100%",boxShadow:(e.vars||e).shadows[2]},"&::after":{position:"absolute",content:'""',borderRadius:"50%",width:42,height:42,top:"50%",left:"50%",transform:"translate(-50%, -50%)"},[`&.${gt.disabled}`]:{"&:hover":{boxShadow:"none"}},variants:[{props:{size:"small"},style:{width:12,height:12,"&::before":{boxShadow:"none"}}},{props:{orientation:"horizontal"},style:{top:"50%",transform:"translate(-50%, -50%)"}},{props:{orientation:"vertical"},style:{left:"50%",transform:"translate(-50%, 50%)"}},...Object.entries(e.palette).filter(Sc()).map(([t])=>({props:{color:t},style:{[`&:hover, &.${gt.focusVisible}`]:{...e.vars?{boxShadow:`0px 0px 0px 8px rgba(${e.vars.palette[t].mainChannel} / 0.16)`}:{boxShadow:`0px 0px 0px 8px ${Ui(e.palette[t].main,.16)}`},"@media (hover: none)":{boxShadow:"none"}},[`&.${gt.active}`]:{...e.vars?{boxShadow:`0px 0px 0px 14px rgba(${e.vars.palette[t].mainChannel} / 0.16)`}:{boxShadow:`0px 0px 0px 14px ${Ui(e.palette[t].main,.16)}`}}}}))]}))),Lf=dt(Uf,{name:"MuiSlider",slot:"ValueLabel"})(Ir(({theme:e})=>({zIndex:1,whiteSpace:"nowrap",...e.typography.body2,fontWeight:500,transition:e.transitions.create(["transform"],{duration:e.transitions.duration.shortest}),position:"absolute",backgroundColor:(e.vars||e).palette.grey[600],borderRadius:2,color:(e.vars||e).palette.common.white,display:"flex",alignItems:"center",justifyContent:"center",padding:"0.25rem 0.75rem",variants:[{props:{orientation:"horizontal"},style:{transform:"translateY(-100%) scale(0)",top:"-10px",transformOrigin:"bottom center","&::before":{position:"absolute",content:'""',width:8,height:8,transform:"translate(-50%, 50%) rotate(45deg)",backgroundColor:"inherit",bottom:0,left:"50%"},[`&.${gt.valueLabelOpen}`]:{transform:"translateY(-100%) scale(1)"}}},{props:{orientation:"vertical"},style:{transform:"translateY(-50%) scale(0)",right:"30px",top:"50%",transformOrigin:"right center","&::before":{position:"absolute",content:'""',width:8,height:8,transform:"translate(-50%, -50%) rotate(45deg)",backgroundColor:"inherit",right:-8,top:"50%"},[`&.${gt.valueLabelOpen}`]:{transform:"translateY(-50%) scale(1)"}}},{props:{size:"small"},style:{fontSize:e.typography.pxToRem(12),padding:"0.25rem 0.5rem"}},{props:{orientation:"vertical",size:"small"},style:{right:"20px"}}]})));process.env.NODE_ENV!=="production"&&(Lf.propTypes={children:g.element.isRequired,index:g.number.isRequired,open:g.bool.isRequired,value:g.node});const D5=dt("span",{name:"MuiSlider",slot:"Mark",shouldForwardProp:e=>Pl(e)&&e!=="markActive",overridesResolver:(e,t)=>{const{markActive:r}=e;return[t.mark,r&&t.markActive]}})(Ir(({theme:e})=>({position:"absolute",width:2,height:2,borderRadius:1,backgroundColor:"currentColor",variants:[{props:{orientation:"horizontal"},style:{top:"50%",transform:"translate(-1px, -50%)"}},{props:{orientation:"vertical"},style:{left:"50%",transform:"translate(-50%, 1px)"}},{props:{markActive:!0},style:{backgroundColor:(e.vars||e).palette.background.paper,opacity:.8}}]}))),B5=dt("span",{name:"MuiSlider",slot:"MarkLabel",shouldForwardProp:e=>Pl(e)&&e!=="markLabelActive"})(Ir(({theme:e})=>({...e.typography.body2,color:(e.vars||e).palette.text.secondary,position:"absolute",whiteSpace:"nowrap",variants:[{props:{orientation:"horizontal"},style:{top:30,transform:"translateX(-50%)","@media (pointer: coarse)":{top:40}}},{props:{orientation:"vertical"},style:{left:36,transform:"translateY(50%)","@media (pointer: coarse)":{left:44}}},{props:{markLabelActive:!0},style:{color:(e.vars||e).palette.text.primary}}]}))),N5=e=>{const{disabled:t,dragging:r,marked:n,orientation:a,track:o,classes:s,color:i,size:l}=e,c={root:["root",t&&"disabled",r&&"dragging",n&&"marked",a==="vertical"&&"vertical",o==="inverted"&&"trackInverted",o===!1&&"trackFalse",i&&`color${Ze(i)}`,l&&`size${Ze(l)}`],rail:["rail"],track:["track"],mark:["mark"],markActive:["markActive"],markLabel:["markLabel"],markLabelActive:["markLabelActive"],valueLabel:["valueLabel"],thumb:["thumb",t&&"disabled",l&&`thumbSize${Ze(l)}`,i&&`thumbColor${Ze(i)}`],active:["active"],disabled:["disabled"],focusVisible:["focusVisible"]};return wl(c,M5,s)},F5=({children:e})=>e,Df=B.forwardRef(function(t,r){const n=dc({props:t,name:"MuiSlider"}),a=Xy(),{"aria-label":o,"aria-valuetext":s,"aria-labelledby":i,component:l="span",components:c={},componentsProps:u={},color:d="primary",classes:h,className:p,disableSwap:f=!1,disabled:m=!1,getAriaLabel:b,getAriaValueText:x,marks:_=!1,max:O=100,min:C=0,name:P,onChange:w,onChangeCommitted:A,orientation:E="horizontal",shiftStep:F=10,size:y="medium",step:T=1,scale:z=Ph,slotProps:V,slots:N,tabIndex:te,track:Z="normal",value:ae,valueLabelDisplay:re="off",valueLabelFormat:le=Ph,...q}=n,X={...n,isRtl:a,max:O,min:C,classes:h,disabled:m,disableSwap:f,orientation:E,marks:_,color:d,size:y,step:T,shiftStep:F,scale:z,track:Z,valueLabelDisplay:re,valueLabelFormat:le},{axisProps:he,getRootProps:Pe,getHiddenInputProps:ze,getThumbProps:xe,open:it,active:tt,axis:ye,focusedThumbIndex:Q,range:oe,dragging:ce,marks:W,values:be,trackOffset:me,trackLeap:Je,getThumbStyle:Ge}=_5({...X,rootRef:r});X.marked=W.length>0&&W.some(Le=>Le.label),X.dragging=ce,X.focusedThumbIndex=Q;const Ie=N5(X),Qt=(N==null?void 0:N.root)??c.Root??j5,Ea=(N==null?void 0:N.rail)??c.Rail??k5,Ia=(N==null?void 0:N.track)??c.Track??U5,Ma=(N==null?void 0:N.thumb)??c.Thumb??L5,$a=(N==null?void 0:N.valueLabel)??c.ValueLabel??Lf,Ur=(N==null?void 0:N.mark)??c.Mark??D5,ja=(N==null?void 0:N.markLabel)??c.MarkLabel??B5,K=(N==null?void 0:N.input)??c.Input??"input",ne=(V==null?void 0:V.root)??u.root,se=(V==null?void 0:V.rail)??u.rail,fe=(V==null?void 0:V.track)??u.track,Oe=(V==null?void 0:V.thumb)??u.thumb,ie=(V==null?void 0:V.valueLabel)??u.valueLabel,He=(V==null?void 0:V.mark)??u.mark,Xe=(V==null?void 0:V.markLabel)??u.markLabel,De=(V==null?void 0:V.input)??u.input,ht=tr({elementType:Qt,getSlotProps:Pe,externalSlotProps:ne,externalForwardedProps:q,additionalProps:{...V5(Qt)&&{as:l}},ownerState:{...X,...ne==null?void 0:ne.ownerState},className:[Ie.root,p]}),_n=tr({elementType:Ea,externalSlotProps:se,ownerState:X,className:Ie.rail}),Wf=tr({elementType:Ia,externalSlotProps:fe,additionalProps:{style:{...he[ye].offset(me),...he[ye].leap(Je)}},ownerState:{...X,...fe==null?void 0:fe.ownerState},className:Ie.track}),Ns=tr({elementType:Ma,getSlotProps:xe,externalSlotProps:Oe,ownerState:{...X,...Oe==null?void 0:Oe.ownerState},className:Ie.thumb}),Yf=tr({elementType:$a,externalSlotProps:ie,ownerState:{...X,...ie==null?void 0:ie.ownerState},className:Ie.valueLabel}),Fs=tr({elementType:Ur,externalSlotProps:He,ownerState:X,className:Ie.mark}),zs=tr({elementType:ja,externalSlotProps:Xe,ownerState:X,className:Ie.markLabel}),Kf=tr({elementType:K,getSlotProps:ze,externalSlotProps:De,ownerState:X});return S.jsxs(Qt,{...ht,children:[S.jsx(Ea,{..._n}),S.jsx(Ia,{...Wf}),W.filter(Le=>Le.value>=C&&Le.value<=O).map((Le,We)=>{const Gs=Wo(Le.value,C,O),ka=he[ye].offset(Gs);let jt;return Z===!1?jt=be.includes(Le.value):jt=Z==="normal"&&(oe?Le.value>=be[0]&&Le.value<=be[be.length-1]:Le.value<=be[0])||Z==="inverted"&&(oe?Le.value<=be[0]||Le.value>=be[be.length-1]:Le.value>=be[0]),S.jsxs(B.Fragment,{children:[S.jsx(Ur,{"data-index":We,...Fs,...!xo(Ur)&&{markActive:jt},style:{...ka,...Fs.style},className:Et(Fs.className,jt&&Ie.markActive)}),Le.label!=null?S.jsx(ja,{"aria-hidden":!0,"data-index":We,...zs,...!xo(ja)&&{markLabelActive:jt},style:{...ka,...zs.style},className:Et(Ie.markLabel,zs.className,jt&&Ie.markLabelActive),children:Le.label}):null]},We)}),be.map((Le,We)=>{const Gs=Wo(Le,C,O),ka=he[ye].offset(Gs),jt=re==="off"?F5:$a;return S.jsx(jt,{...!xo(jt)&&{valueLabelFormat:le,valueLabelDisplay:re,value:typeof le=="function"?le(z(Le),We):le,index:We,open:it===We||tt===We||re==="on",disabled:m},...Yf,children:S.jsx(Ma,{"data-index":We,...Ns,className:Et(Ie.thumb,Ns.className,tt===We&&Ie.active,Q===We&&Ie.focusVisible),style:{...ka,...Ge(We),...Ns.style},children:S.jsx(K,{"data-index":We,"aria-label":b?b(We):o,"aria-valuenow":z(Le),"aria-labelledby":i,"aria-valuetext":x?x(z(Le),We):s,value:be[We],...Kf})})},We)})]})});process.env.NODE_ENV!=="production"&&(Df.propTypes={"aria-label":vh(g.string,e=>Array.isArray(e.value||e.defaultValue)&&e["aria-label"]!=null?new Error("MUI: You need to use the `getAriaLabel` prop instead of `aria-label` when using a range slider."):null),"aria-labelledby":g.string,"aria-valuetext":vh(g.string,e=>Array.isArray(e.value||e.defaultValue)&&e["aria-valuetext"]!=null?new Error("MUI: You need to use the `getAriaValueText` prop instead of `aria-valuetext` when using a range slider."):null),children:g.node,classes:g.object,className:g.string,color:g.oneOfType([g.oneOf(["primary","secondary","error","info","success","warning"]),g.string]),components:g.shape({Input:g.elementType,Mark:g.elementType,MarkLabel:g.elementType,Rail:g.elementType,Root:g.elementType,Thumb:g.elementType,Track:g.elementType,ValueLabel:g.elementType}),componentsProps:g.shape({input:g.oneOfType([g.func,g.object]),mark:g.oneOfType([g.func,g.object]),markLabel:g.oneOfType([g.func,g.object]),rail:g.oneOfType([g.func,g.object]),root:g.oneOfType([g.func,g.object]),thumb:g.oneOfType([g.func,g.object]),track:g.oneOfType([g.func,g.object]),valueLabel:g.oneOfType([g.func,g.shape({children:g.element,className:g.string,open:g.bool,style:g.object,value:g.node,valueLabelDisplay:g.oneOf(["auto","off","on"])})])}),defaultValue:g.oneOfType([g.arrayOf(g.number),g.number]),disabled:g.bool,disableSwap:g.bool,getAriaLabel:g.func,getAriaValueText:g.func,marks:g.oneOfType([g.arrayOf(g.shape({label:g.node,value:g.number.isRequired})),g.bool]),max:g.number,min:g.number,name:g.string,onChange:g.func,onChangeCommitted:g.func,orientation:g.oneOf(["horizontal","vertical"]),scale:g.func,shiftStep:g.number,size:g.oneOfType([g.oneOf(["small","medium"]),g.string]),slotProps:g.shape({input:g.oneOfType([g.func,g.object]),mark:g.oneOfType([g.func,g.object]),markLabel:g.oneOfType([g.func,g.object]),rail:g.oneOfType([g.func,g.object]),root:g.oneOfType([g.func,g.object]),thumb:g.oneOfType([g.func,g.object]),track:g.oneOfType([g.func,g.object]),valueLabel:g.oneOfType([g.func,g.shape({children:g.element,className:g.string,open:g.bool,style:g.object,value:g.node,valueLabelDisplay:g.oneOf(["auto","off","on"])})])}),slots:g.shape({input:g.elementType,mark:g.elementType,markLabel:g.elementType,rail:g.elementType,root:g.elementType,thumb:g.elementType,track:g.elementType,valueLabel:g.elementType}),step:g.number,sx:g.oneOfType([g.arrayOf(g.oneOfType([g.func,g.object,g.bool])),g.func,g.object]),tabIndex:g.number,track:g.oneOf(["inverted","normal",!1]),value:g.oneOfType([g.arrayOf(g.number),g.number]),valueLabelDisplay:g.oneOf(["auto","off","on"]),valueLabelFormat:g.oneOfType([g.func,g.string])});var z5="[object Number]";function G5(e){return typeof e=="number"||Cr(e)&&Mr(e)==z5}const Bf=Me.observer(e=>{var o,s,i;const t=J.useTheme(),{store:r}=e,{t:n}=Ee.useTranslation();function a(l,c){c===e.velocity||!G5(c)||e.onVelocityChange(c)}return S.jsxs(J.Stack,{direction:"row",gap:2,alignItems:"center",children:[r.showVelocityLegend&&S.jsx(J.Typography,{sx:{color:(i=(s=(o=t.componentsExt)==null?void 0:o.JoggingPanel)==null?void 0:s.VelocitySlider)==null?void 0:i.sliderLegendColor,fontSize:"14px"},children:n("Jogging.Velocity.bt")}),S.jsx(Df,{value:e.velocity,color:"secondary",onChange:a,min:e.min,max:e.max,"aria-labelledby":"input-slider",disabled:e.disabled,sx:{"& .MuiSlider-valueLabelOpen":{zIndex:100,backgroundColor:"transparent",top:"0px"}}}),r.showVelocitySliderLabel&&(e.renderValue?e.renderValue(e.velocity):S.jsx(xc,{value:e.velocity.toString()}))]})});function xc({value:e,sx:t}){var n;const r=J.useTheme();return S.jsx(J.Stack,{direction:"row",justifyContent:"center",alignItems:"center",gap:"5px",sx:{padding:"6px 12px",background:(n=r.palette.backgroundPaperElevation)==null?void 0:n[8],borderRadius:"10px",minWidth:"111px",...t},children:S.jsx(J.Typography,{component:"span",sx:{textAlign:"right",fontSize:"14px",opacity:.8,color:r.palette.text.primary,whiteSpace:"nowrap"},children:e})})}const Nf=Me.observer(({store:e})=>{const{t}=Ee.useTranslation(),r=Me.useLocalObservable(()=>({get valueLabelFormat(){return e.currentMotionType==="translate"?n=>`v = ${t("Jogging.Cartesian.Translation.velocityMmPerSec.lb",{amount:n})}`:n=>`ω = ${t("Jogging.Cartesian.Rotation.velocityDegPerSec.lb",{amount:n})}`}}));return S.jsx(Bf,{store:e,velocity:e.velocityInDisplayUnits,min:e.minVelocityInDisplayUnits,max:e.maxVelocityInDisplayUnits,onVelocityChange:e.setVelocityFromSlider,disabled:e.isLocked,renderValue:n=>S.jsx(xc,{value:r.valueLabelFormat(n),sx:{minWidth:"111px",span:{transform:"translateY(-1.5px)"}}})})}),H5=Me.observer(({store:e,children:t})=>{const{t:r}=Ee.useTranslation(),n=J.useTheme();function a(h,p){(p==="translate"||p==="rotate")&&e.setSelectedCartesianMotionType(p)}Om(()=>[e.selectedCoordSystemId,e.selectedTcpId],()=>{e.jogger.motionStream.motionStateSocket.changeUrl(e.jogger.nova.makeWebsocketURL(`/motion-groups/${e.jogger.motionGroupId}/state-stream?tcp=${e.selectedTcpId}&response_coordinate_system=${e.selectedCoordSystemId}`))},{fireImmediately:!0});async function o(h,p){const f=await e.activate(),m=f.motionStream.rapidlyChangingMotionState.tcp_pose,b=f.motionStream.rapidlyChangingMotionState.state.joint_position;m&&await e.withMotionLock(async()=>{try{e.setCurrentIncrementJog({axis:h.axis,direction:h.direction}),await e.jogger.runIncrementalCartesianMotion({currentTcpPose:m,currentJoints:b,coordSystemId:e.activeCoordSystemId,velocityInRelevantUnits:e.selectedCartesianMotionType==="translate"?e.translationVelocityMmPerSec:e.rotationVelocityRadsPerSec,axis:h.axis,direction:h.direction,motion:e.selectedCartesianMotionType==="translate"?{type:"translate",distanceMm:p.mm}:{type:"rotate",distanceRads:br.degreesToRadians(p.degrees)}})}finally{e.setCurrentIncrementJog(null),await e.deactivate()}})}async function s(h){if(!e.isLocked){if(await e.activate(),e.activeDiscreteIncrement)return o(h,e.activeDiscreteIncrement);h.motionType==="translate"?await e.jogger.startTCPTranslation({axis:h.axis,direction:h.direction,velocityMmPerSec:e.translationVelocityMmPerSec}):await e.jogger.startTCPRotation({axis:h.axis,direction:h.direction,velocityRadsPerSec:e.rotationVelocityRadsPerSec})}}async function i(){e.isLocked||e.activeDiscreteIncrement||await e.deactivate()}function l(h,p,f){var b,x,_;const m=(_=(x=(b=f.componentsExt)==null?void 0:b.JoggingPanel)==null?void 0:x.JoggingCartesian)==null?void 0:_.Axis;if(m)return p==="translate"?m[h]:m.CustomRotation??m[h]}const c=[{id:"x",icon:S.jsx(JE,{}),colors:l("X",e.selectedCartesianMotionType,n)},{id:"y",icon:S.jsx(YE,{}),colors:l("Y",e.selectedCartesianMotionType,n)},{id:"z",icon:S.jsx(QE,{}),colors:l("Z",e.selectedCartesianMotionType,n)}];function u(h){return r("General.mm.variable",{amount:h.toFixed(1)})}function d(h){return r("General.degree.variable",{amount:br.radiansToDegrees(h).toFixed(1)})}return S.jsxs(J.Stack,{flexGrow:1,gap:2,sx:{padding:"18px 24px"},children:[S.jsxs(J.Stack,{gap:2,children:[S.jsx(f5,{store:e}),S.jsx(Nf,{store:e}),S.jsx(J.Divider,{})]}),S.jsx(J.Stack,{marginLeft:"auto",marginRight:"auto",gap:"24px",justifyContent:"center",sx:{flexGrow:"1"},children:S.jsxs(J.Stack,{alignItems:"center",justifyContent:"center",gap:"24px",sx:{flexGrow:1},children:[S.jsxs(g5,{value:e.selectedCartesianMotionType,onChange:a,exclusive:!0,"aria-label":r("Jogging.Cartesian.MotionType.lb"),sx:{justifyContent:"center"},children:[S.jsx(J.ToggleButton,{value:"translate",children:r("Jogging.Cartesian.Translation.bt")}),S.jsx(J.ToggleButton,{value:"rotate",children:r("Jogging.Cartesian.Rotation.bt")})]}),e.selectedCartesianMotionType==="translate"&&c.map(h=>{var p,f;return S.jsx(Xi,{colors:h.colors,disabled:e.isLocked,activeJoggingDirection:((p=e.incrementJogInProgress)==null?void 0:p.axis)===h.id?e.incrementJogInProgress.direction:void 0,label:S.jsxs(S.Fragment,{children:[h.icon,S.jsx(J.Typography,{sx:{fontSize:"24px",color:((f=h.colors)==null?void 0:f.labelColor)??n.palette.text.primary},children:h.id.toUpperCase()})]}),getDisplayedValue:()=>{var m;return u(((m=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:m.position[h.id])||0)},startJogging:m=>s({axis:h.id,motionType:"translate",direction:m}),stopJogging:i},h.id)}),e.selectedCartesianMotionType==="rotate"&&c.map(h=>{var p,f;return S.jsx(Xi,{colors:h.colors,disabled:e.isLocked,activeJoggingDirection:((p=e.incrementJogInProgress)==null?void 0:p.axis)===h.id?e.incrementJogInProgress.direction:void 0,label:S.jsxs(S.Fragment,{children:[S.jsx(ZE,{}),S.jsx(J.Typography,{sx:{fontSize:"24px",color:((f=h.colors)==null?void 0:f.labelColor)??n.palette.text.primary},children:h.id.toUpperCase()})]}),getDisplayedValue:()=>{var m,b;return d(((b=(m=e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose)==null?void 0:m.orientation)==null?void 0:b[h.id])||0)},startJogging:m=>s({axis:h.id,motionType:"rotate",direction:m}),stopJogging:i},h.id)})]})}),S.jsx(_f,{store:e}),t&&S.jsx(J.Divider,{}),t]})}),q5=Me.observer(({store:e,children:t})=>{const r=J.useTheme();async function n(o){await e.activate(),await e.jogger.startJointRotation({joint:o.joint,direction:o.direction,velocityRadsPerSec:e.rotationVelocityRadsPerSec})}async function a(){await e.jogger.stop(),await e.deactivate()}return S.jsxs(J.Stack,{flexGrow:1,gap:2,sx:{padding:"18px 24px"},children:[S.jsx(Nf,{store:e}),S.jsx(J.Divider,{}),S.jsx(J.Stack,{justifyContent:"center",alignItems:"stretch",sx:{flexGrow:"1"},id:"JointControls",children:S.jsx(J.Stack,{alignItems:"center",gap:"24px",children:e.jogger.motionStream.joints.map(o=>{var c;const s=(c=e.motionGroupSpec.mechanical_joint_limits)==null?void 0:c[o.index],i=(s==null?void 0:s.lower_limit)!==void 0?br.radiansToDegrees(s.lower_limit):void 0,l=(s==null?void 0:s.upper_limit)!==void 0?br.radiansToDegrees(s.upper_limit):void 0;return S.jsxs(J.Stack,{direction:"row",alignItems:"center",justifyContent:"center",spacing:1.5,width:"100%",children:[e.showJointsLegend&&S.jsx(J.Typography,{color:e.isLocked?r.palette.text.disabled:r.palette.text.secondary,children:`G${o.index+1}`}),S.jsx(Tm,{disabled:e.isLocked,lowerLimitDegs:i,upperLimitDegs:l,getValueDegs:()=>{const u=e.jogger.motionStream.rapidlyChangingMotionState.state.joint_position.joints[o.index];return u!==void 0?br.radiansToDegrees(u):void 0},startJogging:u=>n({joint:o.index,direction:u}),stopJogging:a})]},`joint-${o.index}`)})})}),S.jsx(_f,{store:e}),t&&S.jsx(J.Divider,{}),t]})}),J5=Jt(Me.observer(e=>{const t=Sl.isString(e.nova)?new FE({instanceUrl:e.nova}):e.nova,r=Me.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function n(){Be.runInAction(()=>{r.loadingError=null,r.joggingStore=null});try{let a=e.store;if(!a){const o=await t.connectJogger(e.motionGroupId);a=await Bs.loadFor(o)}Be.runInAction(()=>{r.joggingStore=a}),e.onSetup&&e.onSetup(a)}catch(a){r.loadingError=a}}return ee.useEffect(()=>(n(),e.store?()=>null:()=>{var a;(a=r.joggingStore)==null||a.dispose()}),[e.store,e.nova,e.motionGroupId]),ee.useEffect(()=>{const a=r.joggingStore;a&&(e.locked?a.lock("external"):a.unlock("external"))},[r.joggingStore,e.locked]),S.jsx(J.Stack,{sx:{maxWidth:"460px",minWidth:"320px",position:"relative",...e.sx},children:r.joggingStore?S.jsx(W5,{store:r.joggingStore,children:e.children}):S.jsx(fc,{message:"Loading jogging",error:r.loadingError})})})),W5=Me.observer(({store:e,children:t})=>{const{t:r}=Ee.useTranslation();function n(){if(e.currentTab.id==="cartesian")return S.jsx(S.Fragment,{children:S.jsx(H5,{store:e,children:t})});if(e.currentTab.id==="joint")return S.jsx(S.Fragment,{children:S.jsx(q5,{store:e,children:t})})}return S.jsxs(J.Stack,{flexGrow:1,sx:{overflow:"hidden"},children:[S.jsx(J.Tabs,{value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(a=>{const o=a.label==="cartesian"?r("Jogging.Cartesian.bt"):r("Jogging.Joints.bt"),s=a.label==="cartesian"?S.jsx(xC,{fontSize:"small",sx:{mr:1}}):S.jsx(OC,{fontSize:"small",sx:{mr:1}});return S.jsx(J.Tab,{label:e.showTabIcons?S.jsxs(J.Stack,{direction:"row",alignItems:"center",children:[s,o]}):o,id:`jogging-tab-${a.id}`,"aria-controls":`jogging-tab-${a.id}`},a.id)})}),S.jsx(J.Stack,{flexGrow:1,position:"relative",sx:{overflowY:"auto",overflowX:"hidden"},children:n()})]})}),Ff=ee.forwardRef(({label:e,value:t},r)=>{var i;const n=J.useTheme(),[a,o]=ee.useState(!1);async function s(){if(!r||!("current"in r))return console.warn("No copy target found"),!1;try{return await navigator.clipboard.writeText(t),console.log("Copied!"),o(!0),!0}catch(l){console.error(l);const c=window.getSelection(),u=document.createRange();u.selectNodeContents(r.current),c.removeAllRanges(),c.addRange(u)}return!1}return ee.useEffect(()=>{if(!a)return;const l=setTimeout(()=>o(!1),3e3);return()=>{l&&clearTimeout(l)}},[a]),S.jsx(J.Tooltip,{open:a,title:"Copied!",children:S.jsx(J.Stack,{justifyContent:"center",sx:{height:"100%",boxSizing:"border-box",padding:"6px 12px",background:(i=n.palette.backgroundPaperElevation)==null?void 0:i[8],borderRadius:"10px",minWidth:"0",cursor:"pointer"},onClick:()=>s(),children:S.jsx(J.Typography,{ref:r,align:"center",sx:{pointerEvents:"none",fontSize:"12px",color:n.palette.text.primary,whiteSpace:"nowrap",minWidth:0,textOverflow:"ellipsis",width:"100%",overflow:"hidden"},children:t})})})}),Y5=Me.observer(({motionStream:e})=>{const t=ee.useRef(null);function r(){const n=e.rapidlyChangingMotionState.tcp_pose;return n?br.poseToWandelscriptString(n):""}return xn(()=>{if(!t.current)return;const n=r();t.current.textContent!==n&&(t.current.textContent=n)}),S.jsx(J.Stack,{alignItems:"left",spacing:2,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},children:S.jsx(Ff,{value:r(),ref:t})})}),K5=Me.observer(({motionStream:e})=>{const t=ee.useRef(null);function r(){const{joints:n}=e.rapidlyChangingMotionState.state.joint_position;return`[${n.map(a=>parseFloat(a.toFixed(4))).join(", ")}]`}return xn(()=>{if(!t.current)return;const n=r();t.current.textContent!==n&&(t.current.textContent=n)}),S.jsx(J.Stack,{alignItems:"left",spacing:2,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},children:S.jsx(Ff,{value:r(),ref:t})})});function Q5(){const e=window.location.href;return e.substring(0,e.indexOf("/",e.indexOf("//")+2))}function X5({baseUrl:e=Q5(),...t}){return S.jsxs(J.Dialog,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[S.jsx(J.DialogTitle,{id:"no-motion-group-modal-title",children:"No motion group found"}),S.jsxs(J.DialogContent,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[S.jsx(J.Typography,{color:"#fff",children:"Found no devices to connect to."}),S.jsx(J.Typography,{color:"#fff",children:"Please ensure a motion group has been created."})]}),S.jsx(J.DialogActions,{children:S.jsxs(J.Stack,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[S.jsx(J.Button,{href:`${e}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),S.jsx(J.Button,{href:`${e}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}const Z5=Jt(Me.observer(({state:e,onRun:t,onPause:r,onStop:n,onReset:a,requiresManualReset:o=!1,variant:s="with_pause",className:i})=>{const l=J.useTheme(),{t:c}=Ee.useTranslation(),u=()=>{const p={run:{enabled:e==="idle"||e==="paused",label:c(e==="paused"?"ProgramControl.Resume.bt":"ProgramControl.Start.bt"),color:l.palette.success.main,onClick:t},pause:{enabled:e==="running",label:c("ProgramControl.Pause.bt"),color:"#FFFFFF33",onClick:r||(()=>{})},stop:{enabled:e==="running"||e==="paused",label:c("ProgramControl.Stop.bt"),color:l.palette.error.main,onClick:n}};return s==="without_pause"?[p.run,p.stop]:[p.run,p.pause,p.stop]},d=p=>{const f={sx:{fontSize:"55px"}};if(s==="without_pause")return p===0?S.jsx(En.PlayArrow,{...f}):S.jsx(En.Stop,{...f});switch(p){case 0:return S.jsx(En.PlayArrow,{...f});case 1:return S.jsx(En.Pause,{...f});case 2:return S.jsx(En.Stop,{...f});default:return null}},h=u();return S.jsx(J.Box,{className:i,sx:{display:"flex",flexDirection:"column",alignItems:"center",gap:2},children:S.jsx(J.Box,{sx:{display:"flex",gap:"40px",flexWrap:"wrap",justifyContent:"center",alignItems:"center"},children:h.map((p,f)=>S.jsxs(J.Box,{sx:{display:"flex",flexDirection:"column",alignItems:"center",gap:1},children:[S.jsx(J.Button,{variant:"contained",disabled:!p.enabled||e==="stopping"&&!o,onClick:p.onClick,sx:{width:"110px",height:"110px",borderRadius:"110px",backgroundColor:p.color,opacity:p.enabled&&!(e==="stopping"&&!o)?1:.3,"&:hover":{backgroundColor:p.color,opacity:p.enabled&&!(e==="stopping"&&!o)?.8:.3},"&:disabled":{backgroundColor:p.color,opacity:.3},minWidth:"110px",flexShrink:0},children:d(f)}),S.jsx(J.Typography,{variant:"body1",sx:{color:p.enabled&&!(e==="stopping"&&!o)?p.color:l.palette.text.disabled,textAlign:"center",opacity:p.enabled&&!(e==="stopping"&&!o)?1:.3},children:p.label})]},p.label))})})})),e3=Jt(Me.observer(({programState:e,safetyState:t,operationMode:r,className:n})=>{const a=J.useTheme(),{t:o}=Ee.useTranslation(),s=()=>{if(t==="SAFETY_STATE_DEVICE_EMERGENCY_STOP"||t==="SAFETY_STATE_ROBOT_EMERGENCY_STOP"||t==="SAFETY_STATE_STOP_0"||t==="SAFETY_STATE_STOP_1"||t==="SAFETY_STATE_STOP_2"||t==="SAFETY_STATE_PROTECTIVE_STOP"||t==="SAFETY_STATE_STOP"||t==="SAFETY_STATE_REDUCED"||t==="SAFETY_STATE_MASTERING"||t==="SAFETY_STATE_CONFIRM_SAFETY"||t==="SAFETY_STATE_OPERATOR_SAFETY"||t==="SAFETY_STATE_RECOVERY"||t==="SAFETY_STATE_VIOLATION")return{label:o("ProgramStateIndicator.EStop.lb"),color:a.palette.error.main};if(t==="SAFETY_STATE_UNKNOWN"||t==="SAFETY_STATE_FAULT")return{label:o("ProgramStateIndicator.Error.lb"),color:a.palette.error.main};if(t==="SAFETY_STATE_NORMAL")switch(e){case"running":return{label:o("ProgramStateIndicator.Running.lb"),color:a.palette.success.main};case"paused":return{label:o("ProgramStateIndicator.Paused.lb"),color:a.palette.grey[600]};case"stopping":return{label:o("ProgramStateIndicator.Stopped.lb"),color:a.palette.error.main};case"idle":default:return{label:o("ProgramStateIndicator.Ready.lb"),color:a.palette.success.main}}return{label:o("ProgramStateIndicator.Idle.lb"),color:a.palette.grey[600]}},{label:i,color:l}=s(),u=`${i} / ${(()=>{switch(r){case"OPERATION_MODE_AUTO":return o("ProgramStateIndicator.Auto.lb");case"OPERATION_MODE_MANUAL":return o("ProgramStateIndicator.Manual.lb");case"OPERATION_MODE_MANUAL_T1":return o("ProgramStateIndicator.ManualT1.lb");case"OPERATION_MODE_MANUAL_T2":return o("ProgramStateIndicator.ManualT2.lb");default:return o("ProgramStateIndicator.Auto.lb")}})()}`;return S.jsx(J.Chip,{className:n,label:u,variant:"filled",sx:{backgroundColor:l,color:a.palette.getContrastText(l),fontWeight:500,"& .MuiChip-label":{paddingX:2}}})})),t3=Array(6).fill(2*Math.PI),Th="0.0.0-semantically-released";function Oc(e){let t=Th;return Th.startsWith("0.")&&(t=""),`https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components${t?`@${t}`:""}/public/models/${e}.glb`}function r3(e){function t(r){return r.children.length===0?[r]:[r,...r.children.flatMap(n=>t(n))]}return t(e).filter(r=>Gf(r))}function zf(e){return e.name.endsWith("_FLG")}function Gf(e){return/_J[0-9]+$/.test(e.name)}function n3(e,t){let r;function n(a){if(zf(a)){if(r)throw Error(`Found multiple flange groups in robot model ${t}; first ${r.name} then ${a.name}. Only one _FLG group is allowed.`);r=a}Gf(a),a.children.map(n)}if(n(e.scene),!r)throw Error(`No flange group found in robot model ${t}. Flange must be identified with a name ending in _FLG.`);return{gltf:e}}function Hf({rapidlyChangingMotionState:e,dhParameters:t,onRotationChanged:r,children:n}){const a=ee.useRef([]),o=ee.useRef([]),s=ee.useRef(null),{invalidate:i}=wc.useThree();ee.useEffect(()=>{const d=e.state.joint_position.joints.filter(h=>h!==void 0);return s.current=new uc(d,{tension:120,friction:20,threshold:.001}),()=>{var h;(h=s.current)==null||h.destroy()}},[]),wc.useFrame((d,h)=>{if(s.current){const p=s.current.update(h);u(),p||i()}});function l(d){d&&(o.current=r3(d),u(),i())}function c(d){var h;a.current=d,(h=s.current)==null||h.setTarget(d)}function u(){var h;const d=((h=s.current)==null?void 0:h.getCurrentValues())||[];if(r)r(o.current,d);else for(const[p,f]of o.current.entries()){const m=t[p],b=m.theta||0,x=m.reverse_rotation_direction?-1:1;f.rotation.y=x*(d[p]||0)+b}}return xm(()=>{const d=e.state.joint_position.joints.filter(h=>h!==void 0);requestAnimationFrame(()=>c(d))}),S.jsx("group",{ref:l,children:n})}const a3="line",o3="mesh";function s3({rapidlyChangingMotionState:e,dhParameters:t,...r}){const n=new vt.Matrix4,a=ee.useRef([]),o=ee.useRef([]);ee.useEffect(()=>{a.current=new Array(t.length).fill(null),o.current=new Array(t.length).fill(null)},[t.length]);function s(c,u){const d=new vt.Vector3,h=new vt.Quaternion,p=new vt.Vector3;n.decompose(d,h,p);const f=d.clone(),m=new vt.Matrix4().makeRotationY(c.theta+u*(c.reverse_rotation_direction?-1:1)).multiply(new vt.Matrix4().makeTranslation(0,c.d/1e3,0)).multiply(new vt.Matrix4().makeTranslation(c.a/1e3,0,0)).multiply(new vt.Matrix4().makeRotationX(c.alpha));return n.multiply(m),n.decompose(d,h,p),{a:f,b:d}}function i(c,u,d,h){if(!t)return;const p=t[c];if(!p)return;const{a:f,b:m}=s(p,h);u.geometry.setPositions([f.toArray(),m.toArray()].flat()),d.position.set(m.x,m.y,m.z)}function l(c,u){n.identity();for(let d=0;d<Math.min(c.length,u.length);d++){const h=a.current[d],p=o.current[d];h&&p&&i(d,h,p,u[d])}}return S.jsx(S.Fragment,{children:S.jsx(Hf,{rapidlyChangingMotionState:e,dhParameters:t,onRotationChanged:l,children:S.jsxs("group",{...r,name:"Scene",children:[S.jsxs("mesh",{children:[S.jsx("sphereGeometry",{args:[.01,32,32]}),S.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),t.map((c,u)=>{const{a:d,b:h}=s(c,e.state.joint_position.joints[u]??0),p=`dhrobot_J0${u}`;return S.jsxs("group",{name:p,children:[S.jsx(St.Line,{ref:f=>{a.current[u]=f},name:a3,points:[d,h],color:"white",lineWidth:5}),S.jsxs("mesh",{ref:f=>{o.current[u]=f},name:o3,position:h,children:[S.jsx("sphereGeometry",{args:[.01,32,32]}),S.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+u)]},p)})]})})})}const i3=console.warn;function l3(){return ee.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&i3(e)}},[]),S.jsx(S.Fragment,{})}function c3(e){return e.type==="Mesh"}function u3({modelURL:e,flangeRef:t,postModelRender:r,...n}){const{gltf:a}=n3(St.useGLTF(e),e.split("/").pop()||e),o=ee.useCallback(i=>{i&&r&&r()},[e]);function s(i){return c3(i)?S.jsx("mesh",{name:i.name,geometry:i.geometry,material:i.material,position:i.position,rotation:i.rotation},i.uuid):S.jsx("group",{name:i.name,position:i.position,rotation:i.rotation,ref:zf(i)?t:void 0,children:i.children.map(s)},i.uuid)}return S.jsx("group",{...n,dispose:null,ref:o,children:s(a.scene)})}const d3=(e,t)=>{e.userData.isGhost||(e.traverse(r=>{if(r instanceof ke.Mesh){r.material instanceof ke.Material&&(r.material.colorWrite=!1);const n=r.clone(),a=r.clone();n.material=new ke.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:-1,side:ke.DoubleSide}),n.userData.isGhost=!0,a.material=new ke.MeshStandardMaterial({color:t,opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-2,side:ke.DoubleSide}),a.userData.isGhost=!0,r.parent&&(r.parent.add(n),r.parent.add(a))}}),e.userData.isGhost=!0)},h3=e=>{if(!e.userData.isGhost)return;const t=[];e.traverse(r=>{var n;r instanceof ke.Mesh&&((n=r.userData)!=null&&n.isGhost?t.push(r):r.material instanceof ke.Material&&(r.material.colorWrite=!0))}),t.forEach(r=>{r.parent&&r.parent.remove(r)}),e.userData.isGhost=!1},qf=Jt(({rapidlyChangingMotionState:e,modelFromController:t,dhParameters:r,getModel:n=Oc,flangeRef:a,postModelRender:o,transparentColor:s,...i})=>{const[l,c]=ee.useState(null),u=ee.useCallback(h=>{c(h)},[]);ee.useEffect(()=>{l&&(s?d3(l,s):h3(l))},[l,s]);const d=S.jsx(s3,{rapidlyChangingMotionState:e,dhParameters:r,...i});return S.jsxs(cg.ErrorBoundary,{fallback:d,onError:h=>{console.error(h)},children:[S.jsx(ee.Suspense,{fallback:d,children:S.jsx("group",{ref:u,children:S.jsx(Hf,{rapidlyChangingMotionState:e,dhParameters:r,children:S.jsx(u3,{modelURL:n(t),postModelRender:o,flangeRef:a,...i})})})}),S.jsx(l3,{})]})});function p3({connectedMotionGroup:e,getModel:t=Oc,flangeRef:r,transparentColor:n,...a}){return e.dhParameters?S.jsx(qf,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:e.modelFromController||"",dhParameters:e.dhParameters,getModel:t,flangeRef:r,transparentColor:n,...a}):null}const m3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M5.248 21c-.334 0-.619-.116-.853-.35a1.153 1.153 0 0 1-.351-.848c0-.333.117-.616.351-.85.234-.233.519-.35.853-.35H7.24L4.558 9.87a2.881 2.881 0 0 1-1.126-1.042A2.77 2.77 0 0 1 3 7.317c0-.793.28-1.467.838-2.023a2.774 2.774 0 0 1 2.033-.834 2.71 2.71 0 0 1 1.728.585c.494.389.832.887 1.014 1.493h3.58V5.239c0-.22.076-.406.226-.555a.76.76 0 0 1 .558-.224c.136 0 .263.035.381.104.118.07.209.167.273.292v.14l1.835-1.702a.979.979 0 0 1 .52-.279.881.881 0 0 1 .58.091l4.01 1.85a.74.74 0 0 1 .36.364.537.537 0 0 1-.002.474.592.592 0 0 1-.366.323.657.657 0 0 1-.477-.039l-3.858-1.774L13.76 6.59v1.454l2.473 2.233 3.858-1.774a.648.648 0 0 1 .485-.03.571.571 0 0 1 .358.314.513.513 0 0 1 .01.482.79.79 0 0 1-.367.357l-4.011 1.882a.881.881 0 0 1-.58.09.979.979 0 0 1-.52-.278L13.63 9.638v.14a.92.92 0 0 1-.273.275.665.665 0 0 1-.381.12.76.76 0 0 1-.558-.224.752.752 0 0 1-.225-.555V8.096h-3.58a2.82 2.82 0 0 1-.215.54 2.552 2.552 0 0 1-.323.479l5.139 9.488h2.673c.335 0 .62.116.854.35.234.233.35.516.35.849 0 .332-.116.615-.35.849a1.167 1.167 0 0 1-.854.349H5.248Zm.623-12.385c.362 0 .67-.126.924-.378a1.25 1.25 0 0 0 .38-.92 1.25 1.25 0 0 0-.38-.92 1.261 1.261 0 0 0-.924-.379 1.26 1.26 0 0 0-.925.379 1.25 1.25 0 0 0-.38.92c0 .36.127.667.38.92.254.252.562.378.925.378Z"})),f3=ee.forwardRef(m3),g3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"m13.37 9.12 1.69 1.69 2.99-2.99-3.73-3.73-.95-.95-7.66 7.66-.95.95 3.99 3.99v3.44h7.55v-3.55l-4.72-4.72 1.79-1.79Zm-.91-2.99.91-.91 2.6 2.6-.91.91-2.6-2.6Zm-2.25 10.24h3.74l-1.34-1.34-.04-.04h-2.5l-3.25-3.25 4.59-4.59.92.92L9.5 10.9l5.33 5.33v1.48H10.2v-1.35l.01.01ZM2 2v4.99h1.41V3.4h3.58V2H2ZM22.21 2h-4.98v1.41h3.59v3.58h1.4V2h-.01ZM20.81 20.65h-3.58v1.4h4.98v-4.99h-1.4v3.59ZM3.4 17.06H2v4.98h4.99v-1.4H3.4v-3.58Z"})),y3=ee.forwardRef(g3),Vt=Me.observer(({id:e,icon:t,color:r,title:n,name:a,label:o,explanation:s,literalValue:i,anchorOrigin:l,transformOrigin:c})=>{const u=Me.useLocalObservable(()=>({anchorEl:null,get isPopoverOpen(){return!!u.anchorEl},openPopover(d){u.anchorEl=d.currentTarget},closePopover(){u.anchorEl=null}}));return S.jsxs(S.Fragment,{children:[S.jsxs(J.Stack,{"aria-owns":u.isPopoverOpen?e:void 0,"aria-haspopup":"true",onMouseEnter:u.openPopover,onMouseLeave:u.closePopover,direction:"row",spacing:1,sx:{cursor:"pointer"},children:[S.jsx(J.SvgIcon,{component:t,sx:{color:r}}),o&&S.jsx("div",{style:{color:r},children:o})]}),S.jsx(J.Popover,{id:e,sx:{pointerEvents:"none"},open:u.isPopoverOpen,anchorEl:u.anchorEl,anchorOrigin:l??{vertical:"bottom",horizontal:"left"},transformOrigin:c??{vertical:"top",horizontal:"left"},onClose:u.closePopover,disableRestoreFocus:!0,children:S.jsxs(J.Stack,{gap:"1rem",padding:2,maxWidth:"450px",sx:{wordWrap:"break-word"},children:[S.jsxs("div",{children:[n&&S.jsx(J.Typography,{component:"span",fontSize:"14px",children:`${n}: `}),S.jsx(J.Typography,{component:"span",color:r,fontWeight:"bold",fontSize:"14px",children:a})]}),S.jsx(J.Typography,{fontSize:"14px",children:s}),i&&S.jsx(J.Typography,{fontSize:"12px",children:i})]})})]})}),b3=Me.observer(({isVirtual:e,motionGroupId:t,anchorOrigin:r,transformOrigin:n,compact:a})=>{const o=J.useTheme(),{t:s}=Ee.useTranslation();return e?S.jsx(Vt,{id:"motion-group-virtual",icon:y3,color:o.palette.tertiary.main,name:s("SafetyBar.ControllerType.Virtual.lb"),label:a?null:s("SafetyBar.ControllerType.Virtual.lb"),explanation:S.jsxs(Ee.Trans,{i18nKey:"SafetyBar.MotionGroup.Virtual.Explanation.lb",values:{motionGroupId:t},children:["Motion group ",S.jsx("code",{children:t})," refers to a virtual robot with no physical counterpart. It can be freely manipulated without special safety precautions."]}),anchorOrigin:r,transformOrigin:n}):S.jsx(Vt,{id:"motion-group-physical",icon:f3,color:o.palette.primary.main,name:s("SafetyBar.ControllerType.Physical.lb"),label:a?null:s("SafetyBar.ControllerType.Physical.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.MotionGroup.Physical.Explanation.lb",values:{motionGroupId:t},components:{code:S.jsx("code",{}),strong:S.jsx("strong",{})}}),anchorOrigin:r,transformOrigin:n})}),v3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{fillRule:"evenodd",clipRule:"evenodd",d:"M15.306 2.768c0-.424.344-.768.768-.768h.406C19.53 2 22 4.551 22 7.699c0 3.237-2.51 5.587-5.31 5.703-.84 1.595-2.478 2.677-4.36 2.677a4.845 4.845 0 0 1-3.146-1.163c-.6 1.783 0 3.922 1.79 4.99 1.929 1.149 4.395.467 5.508-1.524l.212-.378a.75.75 0 1 1 1.308.732l-.231.414c-1.524 2.725-4.9 3.66-7.54 2.085-2.716-1.618-3.432-5.037-2.129-7.599a5.22 5.22 0 0 1-.73-2.677c0-2.192 1.335-4.063 3.212-4.793-1.195-1.427-3.29-1.96-5.08-.892-1.928 1.15-2.589 3.696-1.475 5.687l.231.413a.75.75 0 0 1-1.308.732l-.212-.377c-1.524-2.726-.62-6.211 2.02-7.785 2.716-1.619 5.943-.55 7.44 1.897l.13-.001c2.739 0 4.96 2.292 4.96 5.12 0 .284-.023.563-.066.834 1.795-.354 3.288-1.96 3.288-4.095 0-2.3-1.805-4.163-4.032-4.163h-.406a.768.768 0 0 1-.768-.768Zm.496 8.191c0 .286-.033.564-.094.831a3.62 3.62 0 0 1-.672 1.415 3.425 3.425 0 0 1-2.706 1.338 3.402 3.402 0 0 1-2.384-.98 3.598 3.598 0 0 1-.852-1.306 3.677 3.677 0 0 1-.235-1.298c0-1.623 1.046-2.994 2.48-3.435a3.37 3.37 0 0 1 1.522-.107c1.665.264 2.94 1.75 2.94 3.542Z"})),S3=ee.forwardRef(v3),x3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M19.763 16.432 13.516 5.864c-.674-1.152-2.358-1.152-3.049 0l-6.23 10.568C3.563 17.567 4.405 19 5.753 19H18.23c1.364 0 2.206-1.432 1.532-2.568ZM12 8.498c.539 0 .96.428.96.938v.066l-.32 4.708a.639.639 0 0 1-.64.592.639.639 0 0 1-.64-.592l-.32-4.708A.953.953 0 0 1 12 8.498Zm0 8.79c-.556 0-1.01-.444-1.01-.987 0-.544.454-.988 1.01-.988s1.01.444 1.01.988c0 .542-.454.987-1.01.987Z",fill:"#fff",fillOpacity:.56})),O3=ee.forwardRef(x3),w3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M12.953 5.09a1.497 1.497 0 0 0-1.653-.518l-1.35.43a1.504 1.504 0 0 0-1.726-.376L2.858 6.97c-.736.321-1.06 1.155-.726 1.862.334.707 1.202 1.02 1.937.698l4.27-1.865 1.466 1.973v.402c0 .873-.627 1.63-1.512 1.827l-2.56.567c-1.329.295-2.27 1.431-2.27 2.74v.107c0 .26.22.469.489.469h11.117c1.329 0 2.618.435 3.656 1.233l1.665 1.28A1 1 0 0 0 22 17.47V11.062c0-.312-.108-.616-.308-.863l-3.415-4.218a1.5 1.5 0 0 0-1.618-.471l-.378.12-.866-.475a1.516 1.516 0 0 0-1.188-.114l-1.06.338-.214-.289Z"})),C3=ee.forwardRef(w3),P3=Me.observer(({operationMode:e,anchorOrigin:t,transformOrigin:r,compact:n})=>{const{t:a}=Ee.useTranslation(),o=J.useTheme();switch(e){case"OPERATION_MODE_AUTO":return S.jsx(Vt,{id:"operation-mode-auto",icon:S3,title:a("SafetyBar.OperationMode.ti"),name:a("SafetyBar.OperationMode.Automatic.ti"),label:n?null:a("SafetyBar.OperationMode.Automatic.ti"),color:o.palette.text.secondary,explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.OperationMode.Auto.Explanation.lb",children:"The robot controller is in automatic operation mode. Automated movement without manual confirmation is possible in this mode."}),anchorOrigin:t,transformOrigin:r});case"OPERATION_MODE_MANUAL":case"OPERATION_MODE_MANUAL_T1":case"OPERATION_MODE_MANUAL_T2":return S.jsx(Vt,{id:"operation-mode-manual",icon:C3,color:o.palette.warning.main,title:a("SafetyBar.OperationMode.ti"),name:a("SafetyBar.OperationMode.Manual.lb"),label:n?null:a("SafetyBar.OperationMode.Manual.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.OperationMode.Manual.Explanation.lb",children:"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully."}),literalValue:e,anchorOrigin:t,transformOrigin:r});default:return S.jsx(Vt,{id:"operation-mode-error",icon:O3,color:o.palette.warning.main,title:a("SafetyBar.OperationMode.ti"),name:a("SafetyBar.OperationMode.Error.lb"),label:n?null:a("SafetyBar.OperationMode.Error.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.OperationMode.Error.Explanation.lb",children:"The robot controller has entered an unexpected operation mode. Motion group movement may not be possible."}),literalValue:e,anchorOrigin:t,transformOrigin:r})}}),T3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M19.763 16.432 13.516 5.864c-.674-1.152-2.358-1.152-3.049 0l-6.23 10.568C3.563 17.567 4.405 19 5.753 19H18.23c1.364 0 2.206-1.432 1.532-2.568ZM12 8.498c.539 0 .96.428.96.938v.066l-.32 4.708a.639.639 0 0 1-.64.592.639.639 0 0 1-.64-.592l-.32-4.708A.953.953 0 0 1 12 8.498Zm0 8.79c-.556 0-1.01-.444-1.01-.987 0-.544.454-.988 1.01-.988s1.01.444 1.01.988c0 .542-.454.987-1.01.987Z"})),A3=ee.forwardRef(T3),R3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M10.24 10.636 12 13.764l1.76-3.128h-3.52Z"}),B.createElement("path",{fillRule:"evenodd",clipRule:"evenodd",d:"M18.364 12a6.364 6.364 0 1 1-12.728 0 6.364 6.364 0 0 1 12.728 0ZM7.909 9.273 12 16.546l4.09-7.273H7.91Z"}),B.createElement("path",{fillRule:"evenodd",clipRule:"evenodd",d:"M22 12c0 5.523-4.477 10-10 10S2 17.523 2 12 6.477 2 12 2s10 4.477 10 10Zm-1.364 0a8.636 8.636 0 1 1-17.273 0 8.636 8.636 0 0 1 17.273 0Z"})),_3=ee.forwardRef(R3),V3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M9.057 15.115c-1.681 0-3.111-.59-4.29-1.768C3.59 12.17 3 10.74 3 9.057c0-.29.021-.582.064-.876a4.1 4.1 0 0 1 .214-.844.78.78 0 0 1 .273-.36c.115-.077.244-.133.389-.168a.857.857 0 0 1 .437.008c.146.04.28.12.4.24l2.806 2.787 2.26-2.261-2.775-2.786a.903.903 0 0 1-.241-.405.875.875 0 0 1-.008-.442 1.13 1.13 0 0 1 .174-.389.82.82 0 0 1 .355-.273c.268-.107.548-.182.838-.224.29-.043.581-.064.871-.064 1.682 0 3.112.59 4.29 1.768 1.179 1.178 1.768 2.608 1.768 4.29 0 .444-.042.858-.126 1.241-.084.384-.21.755-.377 1.113l5.726 5.692A2.2 2.2 0 0 1 21 18.721a2.2 2.2 0 0 1-.662 1.617A2.2 2.2 0 0 1 18.72 21a2.173 2.173 0 0 1-1.617-.679l-5.692-5.709c-.372.161-.75.285-1.133.372-.383.087-.79.13-1.222.13Z",fill:"#fff",fillOpacity:.56})),E3=ee.forwardRef(V3),I3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,fill:"none",xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"m10.6 13.8-2.15-2.15a.948.948 0 0 0-.7-.275.948.948 0 0 0-.7.275.948.948 0 0 0-.275.7c0 .283.092.517.275.7L9.9 15.9c.2.2.433.3.7.3.267 0 .5-.1.7-.3l5.65-5.65a.948.948 0 0 0 .275-.7.948.948 0 0 0-.275-.7.948.948 0 0 0-.7-.275.948.948 0 0 0-.7.275L10.6 13.8ZM12 22a9.738 9.738 0 0 1-3.9-.788 10.099 10.099 0 0 1-3.175-2.137c-.9-.9-1.612-1.958-2.137-3.175A9.738 9.738 0 0 1 2 12c0-1.383.263-2.683.788-3.9a10.099 10.099 0 0 1 2.137-3.175c.9-.9 1.958-1.612 3.175-2.137A9.738 9.738 0 0 1 12 2c1.383 0 2.683.263 3.9.788a10.098 10.098 0 0 1 3.175 2.137c.9.9 1.613 1.958 2.137 3.175A9.738 9.738 0 0 1 22 12a9.738 9.738 0 0 1-.788 3.9 10.098 10.098 0 0 1-2.137 3.175c-.9.9-1.958 1.613-3.175 2.137A9.738 9.738 0 0 1 12 22Zm0-2c2.233 0 4.125-.775 5.675-2.325C19.225 16.125 20 14.233 20 12c0-2.233-.775-4.125-2.325-5.675C16.125 4.775 14.233 4 12 4c-2.233 0-4.125.775-5.675 2.325C4.775 7.875 4 9.767 4 12c0 2.233.775 4.125 2.325 5.675C7.875 19.225 9.767 20 12 20Z"})),M3=ee.forwardRef(I3),$3=({title:e,titleId:t,...r},n)=>B.createElement("svg",{width:24,height:24,xmlns:"http://www.w3.org/2000/svg",ref:n,"aria-labelledby":t,...r},e?B.createElement("title",{id:t},e):null,B.createElement("path",{d:"M9 16h6c.283 0 .52-.096.713-.287A.968.968 0 0 0 16 15V9a.967.967 0 0 0-.287-.713A.968.968 0 0 0 15 8H9a.968.968 0 0 0-.713.287A.968.968 0 0 0 8 9v6c0 .283.096.52.287.713.192.191.43.287.713.287Zm3 6a9.738 9.738 0 0 1-3.9-.788 10.099 10.099 0 0 1-3.175-2.137c-.9-.9-1.612-1.958-2.137-3.175A9.738 9.738 0 0 1 2 12c0-1.383.263-2.683.788-3.9a10.099 10.099 0 0 1 2.137-3.175c.9-.9 1.958-1.612 3.175-2.137A9.738 9.738 0 0 1 12 2c1.383 0 2.683.263 3.9.788a10.098 10.098 0 0 1 3.175 2.137c.9.9 1.613 1.958 2.137 3.175A9.738 9.738 0 0 1 22 12a9.738 9.738 0 0 1-.788 3.9 10.098 10.098 0 0 1-2.137 3.175c-.9.9-1.958 1.613-3.175 2.137A9.738 9.738 0 0 1 12 22Zm0-2c2.233 0 4.125-.775 5.675-2.325C19.225 16.125 20 14.233 20 12c0-2.233-.775-4.125-2.325-5.675C16.125 4.775 14.233 4 12 4c-2.233 0-4.125.775-5.675 2.325C4.775 7.875 4 9.767 4 12c0 2.233.775 4.125 2.325 5.675C7.875 19.225 9.767 20 12 20Z"})),j3=ee.forwardRef($3),k3=Me.observer(({safetyState:e,anchorOrigin:t,transformOrigin:r,compact:n})=>{const{t:a}=Ee.useTranslation(),o=J.useTheme();switch(e){case"SAFETY_STATE_NORMAL":return S.jsx(Vt,{id:"safety-state-normal",title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.Normal.lb"),label:n?null:a("SafetyBar.SafetyState.Normal.lb"),icon:M3,color:o.palette.text.secondary,explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.SafetyState.Normal.Explanation.lb",children:"The robot controller is in a normal safety state. Movement is not prevented by this state."}),anchorOrigin:t,transformOrigin:r});case"SAFETY_STATE_DEVICE_EMERGENCY_STOP":case"SAFETY_STATE_ROBOT_EMERGENCY_STOP":return S.jsx(Vt,{id:"safety-state-estop",title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.Estop.lb"),label:n?null:a("SafetyBar.SafetyState.Estop.lb"),icon:_3,color:o.palette.error.main,explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.StopState.Estop.Explanation.lb",children:"An emergency stop of the robot controller has been triggered. Movement of the robot is no longer possible until the estop is released."}),literalValue:e,anchorOrigin:t,transformOrigin:r});case"SAFETY_STATE_STOP_0":case"SAFETY_STATE_STOP_1":case"SAFETY_STATE_STOP_2":case"SAFETY_STATE_PROTECTIVE_STOP":case"SAFETY_STATE_STOP":return S.jsx(Vt,{id:"safety-state-stop",icon:j3,title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.Stop.lb"),label:n?null:a("SafetyBar.SafetyState.Stop.lb"),color:o.palette.warning.main,explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.SafetyState.Stop.Explanation.lb",children:"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved."}),literalValue:e,anchorOrigin:t,transformOrigin:r});case"SAFETY_STATE_REDUCED":case"SAFETY_STATE_MASTERING":case"SAFETY_STATE_CONFIRM_SAFETY":case"SAFETY_STATE_OPERATOR_SAFETY":case"SAFETY_STATE_RECOVERY":case"SAFETY_STATE_VIOLATION":return S.jsx(Vt,{id:"safety-state-manual-action-required",icon:E3,color:o.palette.warning.main,title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.ManualActionRequired.lb"),label:n?null:a("SafetyBar.SafetyState.ManualActionRequired.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.SafetyState.ManualActionRequired.Explanation.lb",children:"The robot controller has entered a safety state requiring manual action to resolve."}),literalValue:e,anchorOrigin:t,transformOrigin:r});case"SAFETY_STATE_UNKNOWN":case"SAFETY_STATE_FAULT":return S.jsx(Vt,{id:"safety-state-error",icon:A3,color:o.palette.error.main,title:a("SafetyBar.SafetyState.ti"),name:a("SafetyBar.SafetyState.Error.lb"),label:n?null:a("SafetyBar.SafetyState.Error.lb"),explanation:S.jsx(Ee.Trans,{i18nKey:"SafetyBar.SafetyState.Error.Explanation.lb",children:"The robot controller has entered an unexpected safety state."}),literalValue:e,anchorOrigin:t,transformOrigin:r});default:GE(e,`Unknown safety state ${e}`)}}),U3=Jt(Me.observer(({isVirtual:e,motionGroupId:t,operationMode:r,safetyState:n,anchorOrigin:a,transformOrigin:o,compact:s=!0})=>{const i=s?1:2;return S.jsxs(J.Stack,{direction:"row",gap:i,alignItems:"center",sx:{height:"24px"},children:[S.jsx(k3,{safetyState:n,anchorOrigin:a,transformOrigin:o,compact:s}),S.jsx(J.Divider,{orientation:"vertical",flexItem:!0}),S.jsx(P3,{operationMode:r,anchorOrigin:a,transformOrigin:o,compact:s}),S.jsx(J.Divider,{orientation:"vertical",flexItem:!0}),S.jsx(b3,{isVirtual:e,motionGroupId:t,anchorOrigin:a,transformOrigin:o,compact:s})]})})),L3=J.styled(J.Fab,{shouldForwardProp:e=>e!=="selected"})(({theme:e})=>{var t,r,n;return{borderRadius:"20px","&:hover":{background:(t=e.palette.backgroundPaperElevation)==null?void 0:t[7]},variants:[{props:({selected:a})=>!a,style:{background:(r=e.palette.backgroundPaperElevation)==null?void 0:r[0],color:e.palette.action.disabled,"> img":{opacity:.4}}},{props:({selected:a})=>a,style:{background:(n=e.palette.backgroundPaperElevation)==null?void 0:n[11],border:`1px solid ${e.palette.divider}`,color:e.palette.primary.contrastText}}]}}),D3=ee.forwardRef((e,t)=>S.jsx(L3,{ref:t,selected:e.selected,...e,color:"secondary",variant:"circular"})),B3={$schema:"https://raw.githubusercontent.com/martinring/tmlanguage/master/tmlanguage.json",name:"wandelscript",patterns:[{include:"#keywords"},{include:"#strings"},{include:"#comments"},{include:"#functions"}],repository:{keywords:{patterns:[{name:"keyword.control.flow.wandelscript",match:"\\b(move|via|to|interrupt|def|False|True|for|if|else|elif|while|return|switch|activate|deactivate|print|and|or|not)\\b"}]},strings:{name:"string.quoted.double.wandelscript",begin:'"',end:'"',patterns:[{name:"constant.character.escape.wandelscript",match:"\\\\."}]},comments:{patterns:[{begin:"#",beginCaptures:{0:{name:"punctuation.definition.comment.wandelscript"}},end:"$",name:"comment.line.number-sign.wandelscript"}]},functions:{patterns:[{match:"[a-zA-Z_-]+\\(",name:"entity.name.function.wandelscript"}]}},scopeName:"source.wandelscript"},N3=ee.lazy(()=>import("@monaco-editor/react"));let ji=null;async function F3(){if(!ji){const[{createHighlighter:e},{shikiToMonaco:t}]=await Promise.all([import("shiki"),import("@shikijs/monaco")]);ji={shiki:await e({langs:[B3],themes:["dark-plus","light-plus"]}),shikiToMonaco:t}}return ji}const z3=Jt(e=>{const t=J.useTheme(),[r,n]=ee.useState("dark-plus"),a=t.palette.mode==="dark"?"dark-plus":"light-plus";async function o(s){var c,u;s.languages.register({id:"wandelscript"}),s.languages.setLanguageConfiguration("wandelscript",{comments:{lineComment:"#"},brackets:[["(",")"],["[","]"]],autoClosingPairs:[{open:"[",close:"]"},{open:"(",close:")"}],surroundingPairs:[{open:"[",close:"]"},{open:"(",close:")"}]});const{shiki:i,shikiToMonaco:l}=await F3();l(i,s),s.editor.defineTheme(a,((u=(c=t.componentsExt)==null?void 0:c.WandelscriptEditor)==null?void 0:u.monacoTheme)??{base:t.palette.mode==="dark"?"vs-dark":"vs",inherit:!0,rules:[],colors:{}}),e.monacoSetup&&e.monacoSetup(s),n(a)}return S.jsx(ee.Suspense,{fallback:S.jsx(fc,{}),children:S.jsx(N3,{value:e.code,onMount:(s,i)=>{o(i)},onChange:e.onChange,defaultLanguage:"wandelscript",theme:r,options:{minimap:{enabled:!1},wordWrap:"on",automaticLayout:!0,...e.monacoOptions}})})});function Jf(){var t,r,n,a,o,s,i;const e=J.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiCssBaseline:{styleOverrides:{"html, body, *":{scrollbarWidth:"none",msOverflowStyle:"none"},"html:hover, body:hover, *:hover":{scrollbarWidth:"thin",scrollbarColor:`${e.palette.divider} transparent`}}},MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(n=(r=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:r.tonal)==null?void 0:n.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${e.palette.divider}`}}]},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(a=e.palette.backgroundPaperElevation)==null?void 0:a[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiDrawer:{styleOverrides:{paper:{border:"none",boxShadow:"4px 0 8px -4px rgba(0, 0, 0, 0.3)"}}},MuiFab:{styleOverrides:{root:{background:(s=(o=e.paletteExt)==null?void 0:o.secondary)==null?void 0:s.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:e.palette.text.primary},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:e.palette.text.primary},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:e.palette.text.primary}}},JoggingJoint:{Joint:{arrowColor:e.palette.text.primary}},VelocitySlider:{sliderLegendColor:e.palette.text.primary}},WandelscriptEditor:{monacoTheme:{base:"vs-dark",inherit:!0,rules:[{token:"keyword",foreground:"#b349a9ff"}],colors:{"editor.background":J.rgbToHex(((i=e.palette.backgroundPaperElevation)==null?void 0:i[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function G3(){const e=Jf();return e.palette.mode="light",e}function H3(e){var n,a,o,s;let t=!0;((n=e.palette)==null?void 0:n.mode)==="light"?t=!1:((a=e.palette)==null?void 0:a.mode)!=="dark"&&(t=!(typeof window<"u"&&((s=(o=window.matchMedia)==null?void 0:o.call(window,"(prefers-color-scheme: light)"))==null?void 0:s.matches)));const r=t?Jf():G3();return Kh(r,e)}exports.CycleTimer=Bw;exports.JoggingCartesianAxisControl=Xi;exports.JoggingJointRotationControl=Tm;exports.JoggingPanel=J5;exports.JoggingStore=Bs;exports.LoadingCover=fc;exports.LoadingErrorMessage=bf;exports.NoMotionGroupModal=X5;exports.PoseCartesianValues=Y5;exports.PoseJointValues=K5;exports.PresetEnvironment=mg;exports.ProgramControl=Z5;exports.ProgramStateIndicator=e3;exports.Robot=p3;exports.SafetyBar=U3;exports.SafetyZonesRenderer=yg;exports.SelectableFab=D3;exports.SupportedRobot=qf;exports.TrajectoryRenderer=bg;exports.ValueInterpolator=uc;exports.VelocitySlider=Bf;exports.VelocitySliderLabel=xc;exports.WandelscriptEditor=z3;exports.createNovaMuiTheme=H3;exports.defaultAxisConfig=t3;exports.defaultGetModel=Oc;exports.i18n=cc;exports.useAnimationFrame=xn;exports.useAutorun=xm;exports.useInterpolation=Sm;exports.useMounted=Cs;exports.useReaction=Om;
 //# sourceMappingURL=index.cjs.map