@wandelbots/wandelbots-js-react-components 2.31.0 → 2.32.0-pr.feature-robot-precondition-list.372.297bf4f

package/dist/index.cjs

@@ -1,4 +1,4 @@
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oa={black:"#000",white:"#fff"},y0={50:"#fafafa",100:"#f5f5f5",200:"#eeeeee",300:"#e0e0e0",400:"#bdbdbd",500:"#9e9e9e",600:"#757575",700:"#616161",800:"#424242",900:"#212121",A100:"#f5f5f5",A200:"#eeeeee",A400:"#bdbdbd",A700:"#616161"},Lr={50:"#f3e5f5",200:"#ce93d8",300:"#ba68c8",400:"#ab47bc",500:"#9c27b0",700:"#7b1fa2"},Dr={300:"#e57373",400:"#ef5350",500:"#f44336",700:"#d32f2f",800:"#c62828"},$n={300:"#ffb74d",400:"#ffa726",500:"#ff9800",700:"#f57c00",900:"#e65100"},Nr={50:"#e3f2fd",200:"#90caf9",400:"#42a5f5",700:"#1976d2",800:"#1565c0"},Br={300:"#4fc3f7",400:"#29b6f6",500:"#03a9f4",700:"#0288d1",900:"#01579b"},Fr={300:"#81c784",400:"#66bb6a",500:"#4caf50",700:"#388e3c",800:"#2e7d32",900:"#1b5e20"};function qh(){return{text:{primary:"rgba(0, 0, 0, 0.87)",secondary:"rgba(0, 0, 0, 0.6)",disabled:"rgba(0, 0, 0, 0.38)"},divider:"rgba(0, 0, 0, 0.12)",background:{paper:oa.white,default:oa.white},action:{active:"rgba(0, 0, 0, 0.54)",hover:"rgba(0, 0, 0, 0.04)",hoverOpacity:.04,selected:"rgba(0, 0, 0, 0.08)",selectedOpacity:.08,disabled:"rgba(0, 0, 0, 0.26)",disabledBackground:"rgba(0, 0, 0, 0.12)",disabledOpacity:.38,focus:"rgba(0, 0, 0, 0.12)",focusOpacity:.12,activatedOpacity:.12}}}const b0=qh();function Jh(){return{text:{primary:oa.white,secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.5)",icon:"rgba(255, 255, 255, 0.5)"},divider:"rgba(255, 255, 255, 0.12)",background:{paper:"#121212",default:"#121212"},action:{active:oa.white,hover:"rgba(255, 255, 255, 0.08)",hoverOpacity:.08,selected:"rgba(255, 255, 255, 0.16)",selectedOpacity:.16,disabled:"rgba(255, 255, 255, 0.3)",disabledBackground:"rgba(255, 255, 255, 0.12)",disabledOpacity:.38,focus:"rgba(255, 255, 255, 0.12)",focusOpacity:.12,activatedOpacity:.24}}}const zc=Jh();function Gc(e,t,r,n){const a=n.light||n,o=n.dark||n*1.5;e[t]||(e.hasOwnProperty(r)?e[t]=e[r]:t==="light"?e.light=aa(e.main,a):t==="dark"&&(e.dark=na(e.main,o)))}function v0(e="light"){return e==="dark"?{main:Nr[200],light:Nr[50],dark:Nr[400]}:{main:Nr[700],light:Nr[400],dark:Nr[800]}}function S0(e="light"){return e==="dark"?{main:Lr[200],light:Lr[50],dark:Lr[400]}:{main:Lr[500],light:Lr[300],dark:Lr[700]}}function x0(e="light"){return e==="dark"?{main:Dr[500],light:Dr[300],dark:Dr[700]}:{main:Dr[700],light:Dr[400],dark:Dr[800]}}function O0(e="light"){return e==="dark"?{main:Br[400],light:Br[300],dark:Br[700]}:{main:Br[700],light:Br[500],dark:Br[900]}}function w0(e="light"){return e==="dark"?{main:Fr[400],light:Fr[300],dark:Fr[700]}:{main:Fr[800],light:Fr[500],dark:Fr[900]}}function C0(e="light"){return e==="dark"?{main:$n[400],light:$n[300],dark:$n[700]}:{main:"#ed6c02",light:$n[500],dark:$n[900]}}function Cl(e){const{mode:t="light",contrastThreshold:r=3,tonalOffset:n=.2,...a}=e,o=e.primary||v0(t),s=e.secondary||S0(t),i=e.error||x0(t),l=e.info||O0(t),c=e.success||w0(t),u=e.warning||C0(t);function d(m){const b=Nc(m,zc.text.primary)>=r?zc.text.primary:b0.text.primary;if(process.env.NODE_ENV!=="production"){const x=Nc(m,b);x<3&&console.error([`MUI: The contrast ratio of ${x}:1 for ${b} on ${m}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
+`))}return b}const h=({color:m,name:b,mainShade:x=500,lightShade:_=300,darkShade:O=700})=>{if(m={...m},!m.main&&m[x]&&(m.main=m[x]),!m.hasOwnProperty("main"))throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${b?` (${b})`:""} provided to augmentColor(color) is invalid.
+The color object needs to have a \`main\` property or a \`${x}\` property.`:sr(11,b?` (${b})`:"",x));if(typeof m.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${b?` (${b})`:""} provided to augmentColor(color) is invalid.
 \`color.main\` should be a string, but \`${JSON.stringify(m.main)}\` was provided instead.
 
 Did you intend to use one of the following approaches?
@@ -63,23 +63,23 @@ const theme1 = createTheme({ palette: {
 
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   primary: { main: green[500] },
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 const theme = ${JSON.stringify(t,null,2)};
 
 theme.breakpoints = createBreakpoints(theme.breakpoints || {});
 theme.transitions = createTransitions(theme.transitions || {});
 
-export default theme;`}function Li(e={},...t){const{breakpoints:r,mixins:n={},spacing:a,palette:o={},transitions:s={},typography:i={},shape:l,...c}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":or(20));const u=Cl(o),d=os(e);let h=et(d,{mixins:C0(d.breakpoints,n),palette:u,shadows:_0.slice(),typography:T0(u,i),transitions:$0(s),zIndex:{...j0}});if(h=et(h,c),h=t.reduce((p,f)=>et(p,f),h),process.env.NODE_ENV!=="production"){const p=["active","checked","completed","disabled","error","expanded","focused","focusVisible","required","selected"],f=(m,b)=>{let x;for(x in m){const V=m[x];if(p.includes(x)&&Object.keys(V).length>0){if(process.env.NODE_ENV!=="production"){const O=xa("",x);console.error([`MUI: The \`${b}\` component increases the CSS specificity of the \`${x}\` internal state.`,"You can not override it like this: ",JSON.stringify(m,null,2),"",`Instead, you need to use the '&.${O}' syntax:`,JSON.stringify({root:{[`&.${O}`]:V}},null,2),"","https://mui.com/r/state-classes-guide"].join(`
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255, 255, 0.09)"),H(y.FilledInput,"hoverBg","rgba(255, 255, 255, 0.13)"),H(y.FilledInput,"disabledBg","rgba(255, 255, 255, 0.12)"),H(y.LinearProgress,"primaryBg",we(y.primary.main,.5)),H(y.LinearProgress,"secondaryBg",we(y.secondary.main,.5)),H(y.LinearProgress,"errorBg",we(y.error.main,.5)),H(y.LinearProgress,"infoBg",we(y.info.main,.5)),H(y.LinearProgress,"successBg",we(y.success.main,.5)),H(y.LinearProgress,"warningBg",we(y.warning.main,.5)),H(y.Skeleton,"bg",`rgba(${T("palette-text-primaryChannel")} / 0.13)`),H(y.Slider,"primaryTrack",we(y.primary.main,.5)),H(y.Slider,"secondaryTrack",we(y.secondary.main,.5)),H(y.Slider,"errorTrack",we(y.error.main,.5)),H(y.Slider,"infoTrack",we(y.info.main,.5)),H(y.Slider,"successTrack",we(y.success.main,.5)),H(y.Slider,"warningTrack",we(y.warning.main,.5));const z=Ba(y.background.default,.98);H(y.SnackbarContent,"bg",z),H(y.SnackbarContent,"color",Pt(()=>y.getContrastText(z))),H(y.SpeedDialAction,"fabHoverBg",Ba(y.background.paper,.15)),H(y.StepConnector,"border",T("palette-grey-600")),H(y.StepContent,"border",T("palette-grey-600")),H(y.Switch,"defaultColor",T("palette-grey-300")),H(y.Switch,"defaultDisabledColor",T("palette-grey-600")),H(y.Switch,"primaryDisabledColor",we(y.primary.main,.55)),H(y.Switch,"secondaryDisabledColor",we(y.secondary.main,.55)),H(y.Switch,"errorDisabledColor",we(y.error.main,.55)),H(y.Switch,"infoDisabledColor",we(y.info.main,.55)),H(y.Switch,"successDisabledColor",we(y.success.main,.55)),H(y.Switch,"warningDisabledColor",we(y.warning.main,.55)),H(y.TableCell,"border",we(Da(y.divider,1),.68)),H(y.Tooltip,"bg",Da(y.grey[700],.92))}kt(y.background,"default"),kt(y.background,"paper"),kt(y.common,"background"),kt(y.common,"onBackground"),kt(y,"divider"),Object.keys(y).forEach(z=>{const _=y[z];z!=="tonalOffset"&&_&&typeof 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Jc(e,t,r){e.colorSchemes&&r&&(e.colorSchemes[t]={...r!==!0&&r,palette:Cl({...r===!0?{}:r.palette,mode:t})})}function Kh(e={},...t){const{palette:r,cssVariables:n=!1,colorSchemes:a=r?void 0:{light:!0},defaultColorScheme:o=r==null?void 0:r.mode,...s}=e,i=o||"light",l=a==null?void 0:a[i],c={...a,...r?{[i]:{...typeof l!="boolean"&&l,palette:r}}:void 0};if(n===!1){if(!("colorSchemes"in e))return Li(e,...t);let u=r;"palette"in e||c[i]&&(c[i]!==!0?u=c[i].palette:i==="dark"&&(u={mode:"dark"}));const d=Li({...e,palette:u},...t);return d.defaultColorScheme=i,d.colorSchemes=c,d.palette.mode==="light"&&(d.colorSchemes.light={...c.light!==!0&&c.light,palette:d.palette},Jc(d,"dark",c.dark)),d.palette.mode==="dark"&&(d.colorSchemes.dark={...c.dark!==!0&&c.dark,palette:d.palette},Jc(d,"light",c.light)),d}return!r&&!("light"in c)&&i==="light"&&(c.light=!0),q0({...s,colorSchemes:c,defaultColorScheme:i,...typeof n!="boolean"&&n},...t)}const Qh=Kh();function J0({props:e,name:t}){return 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Y({},e,{series:(t=e.series)!=null&&t.length?e.series:Xb,colors:e.colors??ip,theme:e.theme??"light"})};cs.getInitialState=({series:e=[],colors:t,theme:r,dataset:n},a,o)=>({series:{seriesConfig:o,processedSeries:lp({series:e,colors:typeof t=="function"?t(r):t,seriesConfig:o,dataset:n})}});const cp=e=>e.series,wa=pe([cp],e=>e.processedSeries),us=pe([cp],e=>e.seriesConfig),Zb={abort:!0,animationcancel:!0,animationend:!0,animationiteration:!0,animationstart:!0,auxclick:!0,beforeinput:!0,beforetoggle:!0,blur:!0,cancel:!0,canplay:!0,canplaythrough:!0,change:!0,click:!0,close:!0,compositionend:!0,compositionstart:!0,compositionupdate:!0,contextlost:!0,contextmenu:!0,contextrestored:!0,copy:!0,cuechange:!0,cut:!0,dblclick:!0,drag:!0,dragend:!0,dragenter:!0,dragleave:!0,dragover:!0,dragstart:!0,drop:!0,durationchange:!0,emptied:!0,ended:!0,error:!0,focus:!0,focusin:!0,focusout:!0,formdata:!0,gotpointercapture:!0,input:!0,invalid:!0,keydown:!0,keypress:!0,keyup:!0,load:!0,loadeddata:!0,loadedmetadata:!0,loadstart:!0,lostpointercapture:!0,mousedown:!0,mouseenter:!0,mouseleave:!0,mousemove:!0,mouseout:!0,mouseover:!0,mouseup:!0,paste:!0,pause:!0,play:!0,playing:!0,pointercancel:!0,pointerdown:!0,pointerenter:!0,pointerleave:!0,pointermove:!0,pointerout:!0,pointerover:!0,pointerup:!0,progress:!0,ratechange:!0,reset:!0,resize:!0,scroll:!0,scrollend:!0,securitypolicyviolation:!0,seeked:!0,seeking:!0,select:!0,selectionchange:!0,selectstart:!0,slotchange:!0,stalled:!0,submit:!0,suspend:!0,timeupdate:!0,toggle:!0,touchcancel:!0,touchend:!0,touchmove:!0,touchstart:!0,transitioncancel:!0,transitionend:!0,transitionrun:!0,transitionstart:!0,volumechange:!0,waiting:!0,webkitanimationend:!0,webkitanimationiteration:!0,webkitanimationstart:!0,webkittransitionend:!0,wheel:!0};class up{constructor(t){if(this.name=void 0,this.preventDefault=void 0,this.stopPropagation=void 0,this.preventIf=void 0,this.requiredKeys=void 0,this.keyboardManager=void 0,this.pointerMode=void 0,this.customData={},this.pointerManager=void 0,this.gesturesRegistry=void 0,this.element=void 0,this.state=void 0,this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,!t||!t.name)throw new Error("Gesture must be initialized with a valid name.");if(t.name in Zb)throw new Error(`Gesture can't be created with a native event name. 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Please use a custom name instead.`);this.name=t.name,this.preventDefault=t.preventDefault??!1,this.stopPropagation=t.stopPropagation??!1,this.preventIf=t.preventIf??[],this.requiredKeys=t.requiredKeys??[],this.pointerMode=t.pointerMode??[]}init(t,r,n,a){this.element=t,this.pointerManager=r,this.gesturesRegistry=n,this.keyboardManager=a;const o=`${this.name}ChangeOptions`;this.element.addEventListener(o,this.handleOptionsChange.bind(this));const s=`${this.name}ChangeState`;this.element.addEventListener(s,this.handleStateChange.bind(this))}handleOptionsChange(t){t&&t.detail&&this.updateOptions(t.detail)}updateOptions(t){this.preventDefault=t.preventDefault??this.preventDefault,this.stopPropagation=t.stopPropagation??this.stopPropagation,this.preventIf=t.preventIf??this.preventIf,this.requiredKeys=t.requiredKeys??this.requiredKeys,this.pointerMode=t.pointerMode??this.pointerMode}handleStateChange(t){t&&t.detail&&this.updateState(t.detail)}updateState(t){Object.assign(this.state,t)}getTargetElement(t){return this.isActive||this.element===t.target||this.element.contains(t.target)?this.element:null}set isActive(t){t?this.gesturesRegistry.registerActiveGesture(this.element,this):this.gesturesRegistry.unregisterActiveGesture(this.element,this)}get isActive(){return this.gesturesRegistry.isGestureActive(this.element,this)??!1}shouldPreventGesture(t){if(!this.keyboardManager.areKeysPressed(this.requiredKeys))return!0;if(this.preventIf.length===0)return!1;const r=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(n=>r[n])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange.bind(this));const r=`${this.name}ChangeState`;this.element.removeEventListener(r,this.handleStateChange.bind(this))}}class ev{constructor(){this.activeGestures=new Map}registerActiveGesture(t,r){this.activeGestures.has(t)||this.activeGestures.set(t,new Set);const n=this.activeGestures.get(t),a={gesture:r,element:t};n.add(a)}unregisterActiveGesture(t,r){const n=this.activeGestures.get(t);n&&(n.forEach(a=>{a.gesture===r&&n.delete(a)}),n.size===0&&this.activeGestures.delete(t))}getActiveGestures(t){const r=this.activeGestures.get(t);return r?Array.from(r).reduce((n,a)=>(n[a.gesture.name]=!0,n),{}):{}}isGestureActive(t,r){const n=this.activeGestures.get(t);return n?Array.from(n).some(a=>a.gesture===r):!1}destroy(){this.activeGestures.clear()}unregisterElement(t){this.activeGestures.delete(t)}}class tv{constructor(){this.pressedKeys=new Set,this.handleKeyDown=t=>{this.pressedKeys.add(t.key)},this.handleKeyUp=t=>{this.pressedKeys.delete(t.key)},this.clearKeys=()=>{this.pressedKeys.clear()},this.initialize()}initialize(){typeof window>"u"||(window.addEventListener("keydown",this.handleKeyDown),window.addEventListener("keyup",this.handleKeyUp),window.addEventListener("blur",this.clearKeys))}areKeysPressed(t){return!t||t.length===0?!0:t.every(r=>r==="ControlOrMeta"?this.pressedKeys.has("Control")||this.pressedKeys.has("Meta"):this.pressedKeys.has(r))}destroy(){typeof window<"u"&&(window.removeEventListener("keydown",this.handleKeyDown),window.removeEventListener("keyup",this.handleKeyUp),window.removeEventListener("blur",this.clearKeys)),this.clearKeys()}}class rv{constructor(t){this.root=void 0,this.touchAction=void 0,this.passive=void 0,this.preventEventInterruption=!0,this.pointers=new Map,this.gestureHandlers=new Set,this.handleInterruptEvents=r=>{if(this.preventEventInterruption&&"pointerType"in r&&r.pointerType==="touch"){r.preventDefault();return}const n=new PointerEvent("forceCancel",{bubbles:!1,cancelable:!1}),a=this.pointers.values().next().value;if(this.pointers.size>0&&a){Object.defineProperties(n,{clientX:{value:a.clientX},clientY:{value:a.clientY},pointerId:{value:a.pointerId},pointerType:{value:a.pointerType}});for(const[o,s]of this.pointers.entries()){const i=Y({},s,{type:"forceCancel"});this.pointers.set(o,i)}}this.notifyHandlers(n),this.pointers.clear()},this.handlePointerEvent=r=>{const{type:n,pointerId:a}=r;if(n==="pointerdown"){if(this.pointers.set(a,this.createPointerData(r)),r.target instanceof Element)try{r.target.setPointerCapture(a)}catch{}}else if(n==="pointermove")this.pointers.set(a,this.createPointerData(r));else if(n==="pointerup"||n==="pointercancel"||n==="forceCancel"){if(r.target instanceof Element)try{r.target.releasePointerCapture(a)}catch{}this.pointers.set(a,this.createPointerData(r)),this.notifyHandlers(r),this.pointers.delete(a);return}this.notifyHandlers(r)},this.root=t.root??document.documentElement,this.touchAction=t.touchAction||"auto",this.passive=t.passive!==!1,this.preventEventInterruption=t.preventEventInterruption!==!1,this.setupEventListeners()}registerGestureHandler(t){return this.gestureHandlers.add(t),()=>{this.gestureHandlers.delete(t)}}getPointers(){return new Map(this.pointers)}setupEventListeners(){this.touchAction!=="auto"&&(this.root.style.touchAction=this.touchAction),this.root.addEventListener("pointerdown",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointermove",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointerup",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointercancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("forceCancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("blur",this.handleInterruptEvents),this.root.addEventListener("contextmenu",this.handleInterruptEvents)}notifyHandlers(t){this.gestureHandlers.forEach(r=>r(this.pointers,t))}createPointerData(t){return{pointerId:t.pointerId,clientX:t.clientX,clientY:t.clientY,pageX:t.pageX,pageY:t.pageY,target:t.target,timeStamp:t.timeStamp,type:t.type,isPrimary:t.isPrimary,pressure:t.pressure,width:t.width,height:t.height,pointerType:t.pointerType,srcEvent:t}}destroy(){this.root.removeEventListener("pointerdown",this.handlePointerEvent),this.root.removeEventListener("pointermove",this.handlePointerEvent),this.root.removeEventListener("pointerup",this.handlePointerEvent),this.root.removeEventListener("pointercancel",this.handlePointerEvent),this.root.removeEventListener("forceCancel",this.handlePointerEvent),this.root.removeEventListener("blur",this.handleInterruptEvents),this.root.removeEventListener("contextmenu",this.handleInterruptEvents),this.pointers.clear(),this.gestureHandlers.clear()}}class nv{constructor(t){this.gestureTemplates=new Map,this.elementGestureMap=new Map,this.activeGesturesRegistry=new ev,this.pointerManager=void 0,this.keyboardManager=new tv,this.pointerManager=new rv({root:t.root,touchAction:t.touchAction,passive:t.passive}),t.gestures&&t.gestures.length>0&&t.gestures.forEach(r=>{this.addGestureTemplate(r)})}addGestureTemplate(t){this.gestureTemplates.has(t.name)&&console.warn(`Gesture template with name "${t.name}" already exists. It will be overwritten.`),this.gestureTemplates.set(t.name,t)}setGestureOptions(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeOptions`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}setGestureState(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeState`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}registerElement(t,r,n){if(Array.isArray(t))return t.forEach(o=>{const s=n==null?void 0:n[o];this.registerSingleGesture(o,r,s)}),r;const a=n==null?void 0:n[t];return this.registerSingleGesture(t,r,a),r}registerSingleGesture(t,r,n){const a=this.gestureTemplates.get(t);if(!a)return console.error(`Gesture template "${t}" not found.`),!1;this.elementGestureMap.has(r)||this.elementGestureMap.set(r,new Map);const o=this.elementGestureMap.get(r);o.has(t)&&(console.warn(`Element already has gesture "${t}" registered. It will be replaced.`),this.unregisterElement(t,r));const s=a.clone(n);return s.init(r,this.pointerManager,this.activeGesturesRegistry,this.keyboardManager),o.set(t,s),!0}unregisterElement(t,r){const n=this.elementGestureMap.get(r);return!n||!n.has(t)?!1:(n.get(t).destroy(),n.delete(t),this.activeGesturesRegistry.unregisterElement(r),n.size===0&&this.elementGestureMap.delete(r),!0)}unregisterAllGestures(t){const r=this.elementGestureMap.get(t);if(r){for(const[,n]of r)n.destroy(),this.activeGesturesRegistry.unregisterElement(t);this.elementGestureMap.delete(t)}}destroy(){for(const[t]of this.elementGestureMap)this.unregisterAllGestures(t);this.gestureTemplates.clear(),this.elementGestureMap.clear(),this.activeGesturesRegistry.destroy(),this.keyboardManager.destroy()}}class Ca extends up{constructor(t){super(t),this.unregisterHandler=null,this.originalTarget=null,this.optionsType=void 0,this.mutableOptionsType=void 0,this.minPointers=void 0,this.maxPointers=void 0,this.minPointers=t.minPointers??1,this.maxPointers=t.maxPointers??1/0}init(t,r,n,a){super.init(t,r,n,a),this.unregisterHandler=this.pointerManager.registerGestureHandler((o,s)=>this.handlePointerEvent(o,s))}updateOptions(t){super.updateOptions(t),this.minPointers=t.minPointers??this.minPointers,this.maxPointers=t.maxPointers??this.maxPointers}getRelevantPointers(t,r){return t.filter(n=>this.isPointerTypeAllowed(n.pointerType)&&(r===n.target||n.target===this.originalTarget||r===this.originalTarget||r.contains(n.target)))}destroy(){this.unregisterHandler&&(this.unregisterHandler(),this.unregisterHandler=null),super.destroy()}}function av(e,t){const r=t.x-e.x,n=t.y-e.y;return Math.sqrt(r*r+n*n)}function ri(e){if(e.length<2)return 0;let t=0,r=0;for(let n=0;n<e.length;n+=1)for(let a=n+1;a<e.length;a+=1)t+=av({x:e[n].clientX,y:e[n].clientY},{x:e[a].clientX,y:e[a].clientY}),r+=1;return r>0?t/r:0}function Ft(e){if(e.length===0)return{x:0,y:0};const t=e.reduce((r,n)=>(r.x+=n.clientX,r.y+=n.clientY,r),{x:0,y:0});return{x:t.x/e.length,y:t.y/e.length}}function Sn(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Ga=1e-5,Qt=1e-5,iu=.15;function ov(e,t){const r=t.x-e.x,n=t.y-e.y,a={vertical:null,horizontal:null,mainAxis:null},o=sv(t,e),s=Math.abs(r)>Math.abs(n)?"horizontal":"vertical",i=o||s==="horizontal"?Ga:iu,l=o?Ga:s==="horizontal"?iu:Ga;return Math.abs(r)>i&&(a.horizontal=r>0?"right":"left"),Math.abs(n)>l&&(a.vertical=n>0?"down":"up"),a.mainAxis=o?"diagonal":s,a}function sv(e,t){const r=t.x-e.x,n=t.y-e.y,a=Math.atan2(n,r)*180/Math.PI;return a>=-45+Qt&&a<=-22.5+Qt||a>=22.5+Qt&&a<=45+Qt||a>=135+Qt&&a<=157.5+Qt||a>=-157.5+Qt&&a<=-135+Qt}function iv(e,t){if(!e.vertical&&!e.horizontal)return!1;if(t.length===0)return!0;const r=e.vertical===null||t.includes(e.vertical),n=e.horizontal===null||t.includes(e.horizontal);return r&&n}const lv=0,cv=e=>e>lv?1:e<-0?-1:0;class Rl extends Ca{constructor(t){super(t),this.state={lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.handleElementEnterBound=void 0,this.handleElementLeaveBound=void 0,this.handleElementEnterBound=this.handleElementEnter.bind(this),this.handleElementLeaveBound=this.handleElementLeave.bind(this),this.threshold=t.threshold||0}clone(t){return new Rl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,r,n,a){super.init(t,r,n,a),this.element.addEventListener("pointerenter",this.handleElementEnterBound),this.element.addEventListener("pointerleave",this.handleElementLeaveBound)}destroy(){this.element.removeEventListener("pointerenter",this.handleElementEnterBound),this.element.removeEventListener("pointerleave",this.handleElementLeaveBound),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state={lastPosition:null}}handleElementEnter(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen")return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());if(n.length>=this.minPointers&&n.length<=this.maxPointers){this.isActive=!0;const a={x:t.clientX,y:t.clientY};this.state.lastPosition=a,this.emitMoveEvent(this.element,"start",n,t),this.emitMoveEvent(this.element,"ongoing",n,t)}}handleElementLeave(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen"||!this.isActive)return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.emitMoveEvent(this.element,"end",n,t),this.resetState()}handlePointerEvent(t,r){if(r.type!=="pointermove"||r.pointerType!=="mouse"&&r.pointerType!=="pen")return;this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a||n.length<this.minPointers||n.length>this.maxPointers)return;if(this.shouldPreventGesture(a)){if(!this.isActive)return;this.resetState(),this.emitMoveEvent(a,"end",n,r);return}const o={x:r.clientX,y:r.clientY};this.state.lastPosition=o,this.isActive||(this.isActive=!0,this.emitMoveEvent(a,"start",n,r)),this.emitMoveEvent(a,"ongoing",n,r)}emitMoveEvent(t,r,n,a){const o=this.state.lastPosition||Ft(n),s=this.gesturesRegistry.getActiveGestures(t),i={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,activeGestures:s,customData:this.customData},l=Sn(this.name,r),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,detail:i});t.dispatchEvent(c)}}class Vl extends Ca{constructor(t){super(t),this.state={startPointers:new Map,startCentroid:null,lastCentroid:null,movementThresholdReached:!1,totalDeltaX:0,totalDeltaY:0,activeDeltaX:0,activeDeltaY:0,lastDirection:{vertical:null,horizontal:null,mainAxis:null},lastDeltas:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.direction=void 0,this.direction=t.direction||["up","down","left","right"],this.threshold=t.threshold||0}clone(t){return new Vl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,direction:[...this.direction],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.direction=t.direction||this.direction}resetState(){this.isActive=!1,this.state=Y({},this.state,{startPointers:new Map,startCentroid:null,lastCentroid:null,lastDeltas:null,activeDeltaX:0,activeDeltaY:0,movementThresholdReached:!1,lastDirection:{vertical:null,horizontal:null,mainAxis:null}})}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancel(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.cancel(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.cancel(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(o.forEach(s=>{this.state.startPointers.set(s.pointerId,s)}),this.originalTarget=a,this.state.startCentroid=Ft(o),this.state.lastCentroid=Y({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&o.length>=this.minPointers){const s=Ft(o),i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y,c=Math.sqrt(i*i+l*l),u=ov(this.state.lastCentroid??this.state.startCentroid,s),d=this.state.lastCentroid?s.x-this.state.lastCentroid.x:0,h=this.state.lastCentroid?s.y-this.state.lastCentroid.y:0;!this.state.movementThresholdReached&&c>=this.threshold&&iv(u,this.direction)?(this.state.movementThresholdReached=!0,this.isActive=!0,this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"start",o,r,s),this.emitPanEvent(a,"ongoing",o,r,s)):this.state.movementThresholdReached&&this.isActive&&(this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"ongoing",o,r,s)),this.state.lastCentroid=s,this.state.lastDirection=u}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive&&this.state.movementThresholdReached){if(o.filter(s=>s.type!=="pointerup"&&s.type!=="pointercancel").length<this.minPointers){const s=this.state.lastCentroid||this.state.startCentroid;r.type==="pointercancel"&&this.emitPanEvent(a,"cancel",o,r,s),this.emitPanEvent(a,"end",o,r,s),this.resetState()}}else this.resetState();break}}emitPanEvent(t,r,n,a,o){var x,V;if(!this.state.startCentroid)return;const s=((x=this.state.lastDeltas)==null?void 0:x.x)??0,i=((V=this.state.lastDeltas)==null?void 0:V.y)??0,l=this.state.startPointers.values().next().value,c=l?(a.timeStamp-l.timeStamp)/1e3:0,u=c>0?s/c:0,d=c>0?i/c:0,h=Math.sqrt(u*u+d*d),p=this.gesturesRegistry.getActiveGestures(t),f={gestureName:this.name,initialCentroid:this.state.startCentroid,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,deltaX:s,deltaY:i,direction:this.state.lastDirection,velocityX:u,velocityY:d,velocity:h,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,activeDeltaX:this.state.activeDeltaX,activeDeltaY:this.state.activeDeltaY,activeGestures:p,customData:this.customData},m=Sn(this.name,r),b=new CustomEvent(m,{bubbles:!0,cancelable:!0,detail:f});t.dispatchEvent(b),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancel(t,r,n){if(this.isActive){const a=t??this.element;this.emitPanEvent(a,"cancel",r,n,this.state.lastCentroid),this.emitPanEvent(a,"end",r,n,this.state.lastCentroid)}this.resetState()}}class _l extends Ca{constructor(t){super(Y({},t,{minPointers:t.minPointers??2})),this.state={startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,totalScale:1,deltaScale:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.threshold=t.threshold??0}clone(t){return new _l(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state=Y({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&(this.emitPinchEvent(a,"cancel",n,r),this.resetState());return}const o=this.getRelevantPointers(n,a);switch(r.type){case"pointerdown":if(o.length>=2&&!this.isActive){const s=ri(o);this.state.startDistance=s,this.state.lastDistance=s,this.state.lastTime=r.timeStamp,this.originalTarget=a}break;case"pointermove":if(this.state.startDistance&&o.length>=this.minPointers){const s=ri(o),i=Math.abs(s-this.state.lastDistance);if(i!==0&&i>=this.threshold){const l=this.state.startDistance?s/this.state.startDistance:1,c=l/this.state.lastScale;this.state.totalScale*=c;const u=(r.timeStamp-this.state.lastTime)/1e3;if(this.state.lastDistance){const h=(s-this.state.lastDistance)/u;this.state.velocity=Number.isNaN(h)?0:h}this.state.lastDistance=s,this.state.deltaScale=l-this.state.lastScale,this.state.lastScale=l,this.state.lastTime=r.timeStamp,this.isActive?this.emitPinchEvent(a,"ongoing",o,r):(this.isActive=!0,this.emitPinchEvent(a,"start",o,r),this.emitPinchEvent(a,"ongoing",o,r))}}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive){const s=o.filter(i=>i.type!=="pointerup"&&i.type!=="pointercancel");if(s.length<this.minPointers)r.type==="pointercancel"&&this.emitPinchEvent(a,"cancel",o,r),this.emitPinchEvent(a,"end",o,r),this.resetState();else if(s.length>=2){const i=ri(s);this.state.startDistance=i/this.state.lastScale}}break}}emitPinchEvent(t,r,n,a){const o=Ft(n),s=this.state.lastDistance,i=this.state.lastScale,l=this.gesturesRegistry.getActiveGestures(t),c={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,scale:i,deltaScale:this.state.deltaScale,totalScale:this.state.totalScale,distance:s,velocity:this.state.velocity,activeGestures:l,direction:cv(this.state.velocity),customData:this.customData};this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation();const u=Sn(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,detail:c});t.dispatchEvent(d)}}class El extends Ca{constructor(t){super(t),this.state={startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.duration=void 0,this.maxDistance=void 0,this.duration=t.duration??500,this.maxDistance=t.maxDistance??10}clone(t){return new El(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,duration:this.duration,maxDistance:this.maxDistance,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.clearPressTimer(),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.duration=t.duration??this.duration,this.maxDistance=t.maxDistance??this.maxDistance}resetState(){this.clearPressTimer(),this.isActive=!1,this.state=Y({},this.state,{startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1})}clearPressTimer(){this.state.timerId!==null&&(clearTimeout(this.state.timerId),this.state.timerId=null)}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancelPress(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&this.cancelPress(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelPress(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(this.state.startCentroid=Ft(o),this.state.lastPosition=Y({},this.state.startCentroid),this.state.startTime=r.timeStamp,this.isActive=!0,this.originalTarget=a,this.clearPressTimer(),this.state.timerId=setTimeout(()=>{if(this.isActive&&this.state.startCentroid){this.state.pressThresholdReached=!0;const s=this.state.lastPosition;this.emitPressEvent(a,"start",o,r,s),this.emitPressEvent(a,"ongoing",o,r,s)}},this.duration));break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=Ft(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelPress(a,o,r)}break;case"pointerup":if(this.isActive){if(this.state.pressThresholdReached){const s=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(a,"end",o,r,s)}this.resetState()}break;case"pointercancel":case"forceCancel":this.cancelPress(a,o,r);break}}emitPressEvent(t,r,n,a,o){const s=this.gesturesRegistry.getActiveGestures(t),i=a.timeStamp-this.state.startTime,l={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,x:o.x,y:o.y,duration:i,activeGestures:s,customData:this.customData},c=Sn(this.name,r),u=new CustomEvent(c,{bubbles:!0,cancelable:!0,detail:l});t.dispatchEvent(u),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancelPress(t,r,n){if(this.isActive&&this.state.pressThresholdReached){const a=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(t??this.element,"cancel",r,n,a),this.emitPressEvent(t??this.element,"end",r,n,a)}this.resetState()}}class Il extends Ca{constructor(t){super(t),this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.maxDistance=void 0,this.taps=void 0,this.maxDistance=t.maxDistance??10,this.taps=t.taps??1}clone(t){return new Il(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,maxDistance:this.maxDistance,taps:this.taps,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.maxDistance=t.maxDistance??this.maxDistance,this.taps=t.taps??this.taps}resetState(){this.isActive=!1,this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null}}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;const o=this.getRelevantPointers(n,a);if(this.shouldPreventGesture(a)||o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelTap(a,o,r);return}switch(r.type){case"pointerdown":this.isActive||(this.state.startCentroid=Ft(o),this.state.lastPosition=Y({},this.state.startCentroid),this.isActive=!0,this.originalTarget=a);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=Ft(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelTap(a,o,r)}break;case"pointerup":if(this.isActive){this.state.currentTapCount+=1;const s=this.state.lastPosition||this.state.startCentroid;if(!s){this.cancelTap(a,o,r);return}this.state.currentTapCount>=this.taps?(this.fireTapEvent(a,o,r,s),this.resetState()):(this.state.lastTapTime=r.timeStamp,this.isActive=!1,this.state.startCentroid=null,setTimeout(()=>{this.state&&this.state.currentTapCount>0&&this.state.currentTapCount<this.taps&&(this.state.currentTapCount=0)},300))}break;case"pointercancel":case"forceCancel":this.cancelTap(a,o,r);break}}fireTapEvent(t,r,n,a){const o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"end",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=new CustomEvent(this.name,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(i),this.preventDefault&&n.preventDefault(),this.stopPropagation&&n.stopPropagation()}cancelTap(t,r,n){if(this.state.startCentroid||this.state.lastPosition){const a=this.state.lastPosition||this.state.startCentroid,o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"cancel",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=Sn(this.name,"cancel"),l=new CustomEvent(i,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(l)}this.resetState()}}class Ml extends up{constructor(t){super(t),this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.sensitivity=void 0,this.max=void 0,this.min=void 0,this.initialDelta=void 0,this.invert=void 0,this.handleWheelEventBound=void 0,this.sensitivity=t.sensitivity??1,this.max=t.max??Number.MAX_SAFE_INTEGER,this.min=t.min??Number.MIN_SAFE_INTEGER,this.initialDelta=t.initialDelta??0,this.invert=t.invert??!1,this.state.totalDeltaX=this.initialDelta,this.state.totalDeltaY=this.initialDelta,this.state.totalDeltaZ=this.initialDelta,this.handleWheelEventBound=this.handleWheelEvent.bind(this)}clone(t){return new Ml(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,sensitivity:this.sensitivity,max:this.max,min:this.min,initialDelta:this.initialDelta,invert:this.invert,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,r,n,a){super.init(t,r,n,a),this.element.addEventListener("wheel",this.handleWheelEventBound)}destroy(){this.element.removeEventListener("wheel",this.handleWheelEventBound),this.resetState(),super.destroy()}resetState(){this.isActive=!1,this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0}}updateOptions(t){super.updateOptions(t),this.sensitivity=t.sensitivity??this.sensitivity,this.max=t.max??this.max,this.min=t.min??this.min,this.initialDelta=t.initialDelta??this.initialDelta,this.invert=t.invert??this.invert}handleWheelEvent(t){if(this.shouldPreventGesture(this.element))return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.state.totalDeltaX+=t.deltaX*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaY+=t.deltaY*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaZ+=t.deltaZ*this.sensitivity*(this.invert?-1:1),["totalDeltaX","totalDeltaY","totalDeltaZ"].forEach(a=>{this.state[a]<this.min&&(this.state[a]=this.min),this.state[a]>this.max&&(this.state[a]=this.max)}),this.emitWheelEvent(n,t)}emitWheelEvent(t,r){const n=t.length>0?Ft(t):{x:r.clientX,y:r.clientY},a=this.gesturesRegistry.getActiveGestures(this.element),o={gestureName:this.name,centroid:n,target:r.target,srcEvent:r,phase:"ongoing",pointers:t,timeStamp:r.timeStamp,deltaX:r.deltaX*this.sensitivity*(this.invert?-1:1),deltaY:r.deltaY*this.sensitivity*(this.invert?-1:1),deltaZ:r.deltaZ*this.sensitivity*(this.invert?-1:1),deltaMode:r.deltaMode,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,totalDeltaZ:this.state.totalDeltaZ,activeGestures:a,customData:this.customData};this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const s=Sn(this.name,"ongoing"),i=new CustomEvent(s,{bubbles:!0,cancelable:!0,detail:o});this.element.dispatchEvent(i)}}const zr=e=>e.preventDefault(),$l=({svgRef:e})=>{B.useEffect(()=>{const r=e.current;if(!r)return;const n=new nv({gestures:[new Vl({name:"pan",threshold:0,maxPointers:1}),new Rl({name:"move",preventIf:["pan","pinch"]}),new 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r=this.activeGestures.get(t);return r?Array.from(r).reduce((n,a)=>(n[a.gesture.name]=!0,n),{}):{}}isGestureActive(t,r){const n=this.activeGestures.get(t);return n?Array.from(n).some(a=>a.gesture===r):!1}destroy(){this.activeGestures.clear()}unregisterElement(t){this.activeGestures.delete(t)}}class nv{constructor(){this.pressedKeys=new Set,this.handleKeyDown=t=>{this.pressedKeys.add(t.key)},this.handleKeyUp=t=>{this.pressedKeys.delete(t.key)},this.clearKeys=()=>{this.pressedKeys.clear()},this.initialize()}initialize(){typeof window>"u"||(window.addEventListener("keydown",this.handleKeyDown),window.addEventListener("keyup",this.handleKeyUp),window.addEventListener("blur",this.clearKeys))}areKeysPressed(t){return!t||t.length===0?!0:t.every(r=>r==="ControlOrMeta"?this.pressedKeys.has("Control")||this.pressedKeys.has("Meta"):this.pressedKeys.has(r))}destroy(){typeof window<"u"&&(window.removeEventListener("keydown",this.handleKeyDown),window.removeEventListener("keyup",this.handleKeyUp),window.removeEventListener("blur",this.clearKeys)),this.clearKeys()}}class av{constructor(t){this.root=void 0,this.touchAction=void 0,this.passive=void 0,this.preventEventInterruption=!0,this.pointers=new Map,this.gestureHandlers=new Set,this.handleInterruptEvents=r=>{if(this.preventEventInterruption&&"pointerType"in r&&r.pointerType==="touch"){r.preventDefault();return}const n=new PointerEvent("forceCancel",{bubbles:!1,cancelable:!1}),a=this.pointers.values().next().value;if(this.pointers.size>0&&a){Object.defineProperties(n,{clientX:{value:a.clientX},clientY:{value:a.clientY},pointerId:{value:a.pointerId},pointerType:{value:a.pointerType}});for(const[o,s]of this.pointers.entries()){const i=Y({},s,{type:"forceCancel"});this.pointers.set(o,i)}}this.notifyHandlers(n),this.pointers.clear()},this.handlePointerEvent=r=>{const{type:n,pointerId:a}=r;if(n==="pointerdown"){if(this.pointers.set(a,this.createPointerData(r)),r.target instanceof Element)try{r.target.setPointerCapture(a)}catch{}}else if(n==="pointermove")this.pointers.set(a,this.createPointerData(r));else if(n==="pointerup"||n==="pointercancel"||n==="forceCancel"){if(r.target instanceof Element)try{r.target.releasePointerCapture(a)}catch{}this.pointers.set(a,this.createPointerData(r)),this.notifyHandlers(r),this.pointers.delete(a);return}this.notifyHandlers(r)},this.root=t.root??document.documentElement,this.touchAction=t.touchAction||"auto",this.passive=t.passive!==!1,this.preventEventInterruption=t.preventEventInterruption!==!1,this.setupEventListeners()}registerGestureHandler(t){return this.gestureHandlers.add(t),()=>{this.gestureHandlers.delete(t)}}getPointers(){return new Map(this.pointers)}setupEventListeners(){this.touchAction!=="auto"&&(this.root.style.touchAction=this.touchAction),this.root.addEventListener("pointerdown",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointermove",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointerup",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointercancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("forceCancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("blur",this.handleInterruptEvents),this.root.addEventListener("contextmenu",this.handleInterruptEvents)}notifyHandlers(t){this.gestureHandlers.forEach(r=>r(this.pointers,t))}createPointerData(t){return{pointerId:t.pointerId,clientX:t.clientX,clientY:t.clientY,pageX:t.pageX,pageY:t.pageY,target:t.target,timeStamp:t.timeStamp,type:t.type,isPrimary:t.isPrimary,pressure:t.pressure,width:t.width,height:t.height,pointerType:t.pointerType,srcEvent:t}}destroy(){this.root.removeEventListener("pointerdown",this.handlePointerEvent),this.root.removeEventListener("pointermove",this.handlePointerEvent),this.root.removeEventListener("pointerup",this.handlePointerEvent),this.root.removeEventListener("pointercancel",this.handlePointerEvent),this.root.removeEventListener("forceCancel",this.handlePointerEvent),this.root.removeEventListener("blur",this.handleInterruptEvents),this.root.removeEventListener("contextmenu",this.handleInterruptEvents),this.pointers.clear(),this.gestureHandlers.clear()}}class ov{constructor(t){this.gestureTemplates=new Map,this.elementGestureMap=new Map,this.activeGesturesRegistry=new rv,this.pointerManager=void 0,this.keyboardManager=new nv,this.pointerManager=new av({root:t.root,touchAction:t.touchAction,passive:t.passive}),t.gestures&&t.gestures.length>0&&t.gestures.forEach(r=>{this.addGestureTemplate(r)})}addGestureTemplate(t){this.gestureTemplates.has(t.name)&&console.warn(`Gesture template with name "${t.name}" already exists. It will be overwritten.`),this.gestureTemplates.set(t.name,t)}setGestureOptions(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeOptions`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}setGestureState(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeState`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}registerElement(t,r,n){if(Array.isArray(t))return t.forEach(o=>{const s=n==null?void 0:n[o];this.registerSingleGesture(o,r,s)}),r;const a=n==null?void 0:n[t];return this.registerSingleGesture(t,r,a),r}registerSingleGesture(t,r,n){const a=this.gestureTemplates.get(t);if(!a)return console.error(`Gesture template "${t}" not found.`),!1;this.elementGestureMap.has(r)||this.elementGestureMap.set(r,new Map);const o=this.elementGestureMap.get(r);o.has(t)&&(console.warn(`Element already has gesture "${t}" registered. It will be replaced.`),this.unregisterElement(t,r));const s=a.clone(n);return s.init(r,this.pointerManager,this.activeGesturesRegistry,this.keyboardManager),o.set(t,s),!0}unregisterElement(t,r){const n=this.elementGestureMap.get(r);return!n||!n.has(t)?!1:(n.get(t).destroy(),n.delete(t),this.activeGesturesRegistry.unregisterElement(r),n.size===0&&this.elementGestureMap.delete(r),!0)}unregisterAllGestures(t){const r=this.elementGestureMap.get(t);if(r){for(const[,n]of r)n.destroy(),this.activeGesturesRegistry.unregisterElement(t);this.elementGestureMap.delete(t)}}destroy(){for(const[t]of this.elementGestureMap)this.unregisterAllGestures(t);this.gestureTemplates.clear(),this.elementGestureMap.clear(),this.activeGesturesRegistry.destroy(),this.keyboardManager.destroy()}}class Ca extends dp{constructor(t){super(t),this.unregisterHandler=null,this.originalTarget=null,this.optionsType=void 0,this.mutableOptionsType=void 0,this.minPointers=void 0,this.maxPointers=void 0,this.minPointers=t.minPointers??1,this.maxPointers=t.maxPointers??1/0}init(t,r,n,a){super.init(t,r,n,a),this.unregisterHandler=this.pointerManager.registerGestureHandler((o,s)=>this.handlePointerEvent(o,s))}updateOptions(t){super.updateOptions(t),this.minPointers=t.minPointers??this.minPointers,this.maxPointers=t.maxPointers??this.maxPointers}getRelevantPointers(t,r){return t.filter(n=>this.isPointerTypeAllowed(n.pointerType)&&(r===n.target||n.target===this.originalTarget||r===this.originalTarget||r.contains(n.target)))}destroy(){this.unregisterHandler&&(this.unregisterHandler(),this.unregisterHandler=null),super.destroy()}}function sv(e,t){const r=t.x-e.x,n=t.y-e.y;return Math.sqrt(r*r+n*n)}function ri(e){if(e.length<2)return 0;let t=0,r=0;for(let n=0;n<e.length;n+=1)for(let a=n+1;a<e.length;a+=1)t+=sv({x:e[n].clientX,y:e[n].clientY},{x:e[a].clientX,y:e[a].clientY}),r+=1;return r>0?t/r:0}function zt(e){if(e.length===0)return{x:0,y:0};const t=e.reduce((r,n)=>(r.x+=n.clientX,r.y+=n.clientY,r),{x:0,y:0});return{x:t.x/e.length,y:t.y/e.length}}function Sn(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Ha=1e-5,Xt=1e-5,lu=.15;function iv(e,t){const r=t.x-e.x,n=t.y-e.y,a={vertical:null,horizontal:null,mainAxis:null},o=lv(t,e),s=Math.abs(r)>Math.abs(n)?"horizontal":"vertical",i=o||s==="horizontal"?Ha:lu,l=o?Ha:s==="horizontal"?lu:Ha;return Math.abs(r)>i&&(a.horizontal=r>0?"right":"left"),Math.abs(n)>l&&(a.vertical=n>0?"down":"up"),a.mainAxis=o?"diagonal":s,a}function lv(e,t){const r=t.x-e.x,n=t.y-e.y,a=Math.atan2(n,r)*180/Math.PI;return a>=-45+Xt&&a<=-22.5+Xt||a>=22.5+Xt&&a<=45+Xt||a>=135+Xt&&a<=157.5+Xt||a>=-157.5+Xt&&a<=-135+Xt}function cv(e,t){if(!e.vertical&&!e.horizontal)return!1;if(t.length===0)return!0;const r=e.vertical===null||t.includes(e.vertical),n=e.horizontal===null||t.includes(e.horizontal);return r&&n}const uv=0,dv=e=>e>uv?1:e<-0?-1:0;class Al extends Ca{constructor(t){super(t),this.state={lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.handleElementEnterBound=void 0,this.handleElementLeaveBound=void 0,this.handleElementEnterBound=this.handleElementEnter.bind(this),this.handleElementLeaveBound=this.handleElementLeave.bind(this),this.threshold=t.threshold||0}clone(t){return new Al(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,r,n,a){super.init(t,r,n,a),this.element.addEventListener("pointerenter",this.handleElementEnterBound),this.element.addEventListener("pointerleave",this.handleElementLeaveBound)}destroy(){this.element.removeEventListener("pointerenter",this.handleElementEnterBound),this.element.removeEventListener("pointerleave",this.handleElementLeaveBound),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state={lastPosition:null}}handleElementEnter(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen")return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());if(n.length>=this.minPointers&&n.length<=this.maxPointers){this.isActive=!0;const a={x:t.clientX,y:t.clientY};this.state.lastPosition=a,this.emitMoveEvent(this.element,"start",n,t),this.emitMoveEvent(this.element,"ongoing",n,t)}}handleElementLeave(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen"||!this.isActive)return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.emitMoveEvent(this.element,"end",n,t),this.resetState()}handlePointerEvent(t,r){if(r.type!=="pointermove"||r.pointerType!=="mouse"&&r.pointerType!=="pen")return;this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a||n.length<this.minPointers||n.length>this.maxPointers)return;if(this.shouldPreventGesture(a)){if(!this.isActive)return;this.resetState(),this.emitMoveEvent(a,"end",n,r);return}const o={x:r.clientX,y:r.clientY};this.state.lastPosition=o,this.isActive||(this.isActive=!0,this.emitMoveEvent(a,"start",n,r)),this.emitMoveEvent(a,"ongoing",n,r)}emitMoveEvent(t,r,n,a){const o=this.state.lastPosition||zt(n),s=this.gesturesRegistry.getActiveGestures(t),i={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,activeGestures:s,customData:this.customData},l=Sn(this.name,r),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,detail:i});t.dispatchEvent(c)}}class _l extends Ca{constructor(t){super(t),this.state={startPointers:new Map,startCentroid:null,lastCentroid:null,movementThresholdReached:!1,totalDeltaX:0,totalDeltaY:0,activeDeltaX:0,activeDeltaY:0,lastDirection:{vertical:null,horizontal:null,mainAxis:null},lastDeltas:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.direction=void 0,this.direction=t.direction||["up","down","left","right"],this.threshold=t.threshold||0}clone(t){return new _l(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,direction:[...this.direction],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.direction=t.direction||this.direction}resetState(){this.isActive=!1,this.state=Y({},this.state,{startPointers:new Map,startCentroid:null,lastCentroid:null,lastDeltas:null,activeDeltaX:0,activeDeltaY:0,movementThresholdReached:!1,lastDirection:{vertical:null,horizontal:null,mainAxis:null}})}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancel(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.cancel(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.cancel(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(o.forEach(s=>{this.state.startPointers.set(s.pointerId,s)}),this.originalTarget=a,this.state.startCentroid=zt(o),this.state.lastCentroid=Y({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&o.length>=this.minPointers){const s=zt(o),i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y,c=Math.sqrt(i*i+l*l),u=iv(this.state.lastCentroid??this.state.startCentroid,s),d=this.state.lastCentroid?s.x-this.state.lastCentroid.x:0,h=this.state.lastCentroid?s.y-this.state.lastCentroid.y:0;!this.state.movementThresholdReached&&c>=this.threshold&&cv(u,this.direction)?(this.state.movementThresholdReached=!0,this.isActive=!0,this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"start",o,r,s),this.emitPanEvent(a,"ongoing",o,r,s)):this.state.movementThresholdReached&&this.isActive&&(this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(a,"ongoing",o,r,s)),this.state.lastCentroid=s,this.state.lastDirection=u}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive&&this.state.movementThresholdReached){if(o.filter(s=>s.type!=="pointerup"&&s.type!=="pointercancel").length<this.minPointers){const s=this.state.lastCentroid||this.state.startCentroid;r.type==="pointercancel"&&this.emitPanEvent(a,"cancel",o,r,s),this.emitPanEvent(a,"end",o,r,s),this.resetState()}}else this.resetState();break}}emitPanEvent(t,r,n,a,o){var x,_;if(!this.state.startCentroid)return;const s=((x=this.state.lastDeltas)==null?void 0:x.x)??0,i=((_=this.state.lastDeltas)==null?void 0:_.y)??0,l=this.state.startPointers.values().next().value,c=l?(a.timeStamp-l.timeStamp)/1e3:0,u=c>0?s/c:0,d=c>0?i/c:0,h=Math.sqrt(u*u+d*d),p=this.gesturesRegistry.getActiveGestures(t),f={gestureName:this.name,initialCentroid:this.state.startCentroid,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,deltaX:s,deltaY:i,direction:this.state.lastDirection,velocityX:u,velocityY:d,velocity:h,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,activeDeltaX:this.state.activeDeltaX,activeDeltaY:this.state.activeDeltaY,activeGestures:p,customData:this.customData},m=Sn(this.name,r),b=new CustomEvent(m,{bubbles:!0,cancelable:!0,detail:f});t.dispatchEvent(b),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancel(t,r,n){if(this.isActive){const a=t??this.element;this.emitPanEvent(a,"cancel",r,n,this.state.lastCentroid),this.emitPanEvent(a,"end",r,n,this.state.lastCentroid)}this.resetState()}}class El extends Ca{constructor(t){super(Y({},t,{minPointers:t.minPointers??2})),this.state={startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,totalScale:1,deltaScale:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.threshold=t.threshold??0}clone(t){return new El(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state=Y({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&(this.emitPinchEvent(a,"cancel",n,r),this.resetState());return}const o=this.getRelevantPointers(n,a);switch(r.type){case"pointerdown":if(o.length>=2&&!this.isActive){const s=ri(o);this.state.startDistance=s,this.state.lastDistance=s,this.state.lastTime=r.timeStamp,this.originalTarget=a}break;case"pointermove":if(this.state.startDistance&&o.length>=this.minPointers){const s=ri(o),i=Math.abs(s-this.state.lastDistance);if(i!==0&&i>=this.threshold){const l=this.state.startDistance?s/this.state.startDistance:1,c=l/this.state.lastScale;this.state.totalScale*=c;const u=(r.timeStamp-this.state.lastTime)/1e3;if(this.state.lastDistance){const h=(s-this.state.lastDistance)/u;this.state.velocity=Number.isNaN(h)?0:h}this.state.lastDistance=s,this.state.deltaScale=l-this.state.lastScale,this.state.lastScale=l,this.state.lastTime=r.timeStamp,this.isActive?this.emitPinchEvent(a,"ongoing",o,r):(this.isActive=!0,this.emitPinchEvent(a,"start",o,r),this.emitPinchEvent(a,"ongoing",o,r))}}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive){const s=o.filter(i=>i.type!=="pointerup"&&i.type!=="pointercancel");if(s.length<this.minPointers)r.type==="pointercancel"&&this.emitPinchEvent(a,"cancel",o,r),this.emitPinchEvent(a,"end",o,r),this.resetState();else if(s.length>=2){const i=ri(s);this.state.startDistance=i/this.state.lastScale}}break}}emitPinchEvent(t,r,n,a){const o=zt(n),s=this.state.lastDistance,i=this.state.lastScale,l=this.gesturesRegistry.getActiveGestures(t),c={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,scale:i,deltaScale:this.state.deltaScale,totalScale:this.state.totalScale,distance:s,velocity:this.state.velocity,activeGestures:l,direction:dv(this.state.velocity),customData:this.customData};this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation();const u=Sn(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,detail:c});t.dispatchEvent(d)}}class Vl extends Ca{constructor(t){super(t),this.state={startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.duration=void 0,this.maxDistance=void 0,this.duration=t.duration??500,this.maxDistance=t.maxDistance??10}clone(t){return new Vl(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,duration:this.duration,maxDistance:this.maxDistance,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.clearPressTimer(),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.duration=t.duration??this.duration,this.maxDistance=t.maxDistance??this.maxDistance}resetState(){this.clearPressTimer(),this.isActive=!1,this.state=Y({},this.state,{startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1})}clearPressTimer(){this.state.timerId!==null&&(clearTimeout(this.state.timerId),this.state.timerId=null)}handlePointerEvent(t,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancelPress(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&this.cancelPress(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelPress(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(this.state.startCentroid=zt(o),this.state.lastPosition=Y({},this.state.startCentroid),this.state.startTime=r.timeStamp,this.isActive=!0,this.originalTarget=a,this.clearPressTimer(),this.state.timerId=setTimeout(()=>{if(this.isActive&&this.state.startCentroid){this.state.pressThresholdReached=!0;const s=this.state.lastPosition;this.emitPressEvent(a,"start",o,r,s),this.emitPressEvent(a,"ongoing",o,r,s)}},this.duration));break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=zt(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelPress(a,o,r)}break;case"pointerup":if(this.isActive){if(this.state.pressThresholdReached){const s=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(a,"end",o,r,s)}this.resetState()}break;case"pointercancel":case"forceCancel":this.cancelPress(a,o,r);break}}emitPressEvent(t,r,n,a,o){const s=this.gesturesRegistry.getActiveGestures(t),i=a.timeStamp-this.state.startTime,l={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,x:o.x,y:o.y,duration:i,activeGestures:s,customData:this.customData},c=Sn(this.name,r),u=new CustomEvent(c,{bubbles:!0,cancelable:!0,detail:l});t.dispatchEvent(u),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancelPress(t,r,n){if(this.isActive&&this.state.pressThresholdReached){const a=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(t??this.element,"cancel",r,n,a),this.emitPressEvent(t??this.element,"end",r,n,a)}this.resetState()}}class Il extends Ca{constructor(t){super(t),this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.maxDistance=void 0,this.taps=void 0,this.maxDistance=t.maxDistance??10,this.taps=t.taps??1}clone(t){return new Il(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,maxDistance:this.maxDistance,taps:this.taps,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.maxDistance=t.maxDistance??this.maxDistance,this.taps=t.taps??this.taps}resetState(){this.isActive=!1,this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null}}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;const o=this.getRelevantPointers(n,a);if(this.shouldPreventGesture(a)||o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelTap(a,o,r);return}switch(r.type){case"pointerdown":this.isActive||(this.state.startCentroid=zt(o),this.state.lastPosition=Y({},this.state.startCentroid),this.isActive=!0,this.originalTarget=a);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=zt(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelTap(a,o,r)}break;case"pointerup":if(this.isActive){this.state.currentTapCount+=1;const s=this.state.lastPosition||this.state.startCentroid;if(!s){this.cancelTap(a,o,r);return}this.state.currentTapCount>=this.taps?(this.fireTapEvent(a,o,r,s),this.resetState()):(this.state.lastTapTime=r.timeStamp,this.isActive=!1,this.state.startCentroid=null,setTimeout(()=>{this.state&&this.state.currentTapCount>0&&this.state.currentTapCount<this.taps&&(this.state.currentTapCount=0)},300))}break;case"pointercancel":case"forceCancel":this.cancelTap(a,o,r);break}}fireTapEvent(t,r,n,a){const o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"end",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=new CustomEvent(this.name,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(i),this.preventDefault&&n.preventDefault(),this.stopPropagation&&n.stopPropagation()}cancelTap(t,r,n){if(this.state.startCentroid||this.state.lastPosition){const a=this.state.lastPosition||this.state.startCentroid,o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"cancel",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=Sn(this.name,"cancel"),l=new CustomEvent(i,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(l)}this.resetState()}}class Ml extends dp{constructor(t){super(t),this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.sensitivity=void 0,this.max=void 0,this.min=void 0,this.initialDelta=void 0,this.invert=void 0,this.handleWheelEventBound=void 0,this.sensitivity=t.sensitivity??1,this.max=t.max??Number.MAX_SAFE_INTEGER,this.min=t.min??Number.MIN_SAFE_INTEGER,this.initialDelta=t.initialDelta??0,this.invert=t.invert??!1,this.state.totalDeltaX=this.initialDelta,this.state.totalDeltaY=this.initialDelta,this.state.totalDeltaZ=this.initialDelta,this.handleWheelEventBound=this.handleWheelEvent.bind(this)}clone(t){return new Ml(Y({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,sensitivity:this.sensitivity,max:this.max,min:this.min,initialDelta:this.initialDelta,invert:this.invert,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,r,n,a){super.init(t,r,n,a),this.element.addEventListener("wheel",this.handleWheelEventBound)}destroy(){this.element.removeEventListener("wheel",this.handleWheelEventBound),this.resetState(),super.destroy()}resetState(){this.isActive=!1,this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0}}updateOptions(t){super.updateOptions(t),this.sensitivity=t.sensitivity??this.sensitivity,this.max=t.max??this.max,this.min=t.min??this.min,this.initialDelta=t.initialDelta??this.initialDelta,this.invert=t.invert??this.invert}handleWheelEvent(t){if(this.shouldPreventGesture(this.element))return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.state.totalDeltaX+=t.deltaX*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaY+=t.deltaY*this.sensitivity*(this.invert?-1:1),this.state.totalDeltaZ+=t.deltaZ*this.sensitivity*(this.invert?-1:1),["totalDeltaX","totalDeltaY","totalDeltaZ"].forEach(a=>{this.state[a]<this.min&&(this.state[a]=this.min),this.state[a]>this.max&&(this.state[a]=this.max)}),this.emitWheelEvent(n,t)}emitWheelEvent(t,r){const n=t.length>0?zt(t):{x:r.clientX,y:r.clientY},a=this.gesturesRegistry.getActiveGestures(this.element),o={gestureName:this.name,centroid:n,target:r.target,srcEvent:r,phase:"ongoing",pointers:t,timeStamp:r.timeStamp,deltaX:r.deltaX*this.sensitivity*(this.invert?-1:1),deltaY:r.deltaY*this.sensitivity*(this.invert?-1:1),deltaZ:r.deltaZ*this.sensitivity*(this.invert?-1:1),deltaMode:r.deltaMode,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,totalDeltaZ:this.state.totalDeltaZ,activeGestures:a,customData:this.customData};this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const s=Sn(this.name,"ongoing"),i=new CustomEvent(s,{bubbles:!0,cancelable:!0,detail:o});this.element.dispatchEvent(i)}}const zr=e=>e.preventDefault(),$l=({svgRef:e})=>{V.useEffect(()=>{const r=e.current;if(!r)return;const n=new ov({gestures:[new _l({name:"pan",threshold:0,maxPointers:1}),new Al({name:"move",preventIf:["pan","pinch"]}),new 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i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.completionTimeout=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deployCell:async(t,r,n={})=>{v("deployCell","cell",t);const a="/cells",o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.completionTimeout=r),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(t,i,e),{url:L(o),options:i}},getCell:async(t,r={})=>{v("getCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},getCellStatus:async(t,r={})=>{v("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listCells:async(t={})=>{const r="/cells",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};j(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},updateCell:async(t,r,n,a={})=>{v("updateCell","cell",t),v("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:L(s),options:l}}}},Jr=function(e){const t=U_(e);return{async deleteCell(r,n,a){var l,c;const o=await t.deleteCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CellApi.deleteCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deployCell(r,n,a){var l,c;const o=await t.deployCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CellApi.deployCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getCell(r,n){var i,l;const a=await t.getCell(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["CellApi.getCell"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async getCellStatus(r,n){var i,l;const a=await t.getCellStatus(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["CellApi.getCellStatus"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async listCells(r){var s,i;const n=await t.listCells(r),a=(e==null?void 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D_=function(e){return{addRobotController:async(t,r,n,a={})=>{v("addRobotController","cell",t),v("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:L(s),options:l}},clearRobotControllers:async(t,r,n={})=>{v("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.completionTimeout=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteRobotController:async(t,r,n,a={})=>{v("deleteRobotController","cell",t),v("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.completionTimeout=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getCurrentRobotControllerState:async(t,r,n={})=>{v("getCurrentRobotControllerState","cell",t),v("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMode:async(t,r,n={})=>{v("getMode","cell",t),v("getMode","controller",r);const a="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRobotController:async(t,r,n={})=>{v("getRobotController","cell",t),v("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getSupportedModes:async(t,r,n={})=>{v("getSupportedModes","cell",t),v("getSupportedModes","controller",r);const a="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotConfiguration:async(t,r,n={})=>{v("getVirtualRobotConfiguration","cell",t),v("getVirtualRobotConfiguration","controller",r);const a="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listControllers:async(t,r={})=>{v("listControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},setDefaultMode:async(t,r,n,a={})=>{v("setDefaultMode","cell",t),v("setDefaultMode","controller",r),v("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.mode=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamFreeDrive:async(t,r,n,a={})=>{v("streamFreeDrive","cell",t),v("streamFreeDrive","controller",r);const o="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.response_rate=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamModeChange:async(t,r,n={})=>{v("streamModeChange","cell",t),v("streamModeChange","controller",r);const a="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},streamRobotControllerState:async(t,r,n,a={})=>{v("streamRobotControllerState","cell",t),v("streamRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.response_rate=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},updateRobotController:async(t,r,n,a,o={})=>{v("updateRobotController","cell",t),v("updateRobotController","controller",r),v("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),a!==void 0&&(d.completionTimeout=a),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:L(i),options:c}}}},rt=function(e){const t=D_(e);return{async addRobotController(r,n,a,o){var c,u;const s=await t.addRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async clearRobotControllers(r,n,a){var l,c;const o=await t.clearRobotControllers(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.clearRobotControllers"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteRobotController(r,n,a,o){var c,u;const s=await t.deleteRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getCurrentRobotControllerState(r,n,a){var l,c;const o=await t.getCurrentRobotControllerState(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getMode(r,n,a){var l,c;const o=await t.getMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getRobotController(r,n,a){var l,c;const o=await t.getRobotController(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getRobotController"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getSupportedModes(r,n,a){var l,c;const o=await t.getSupportedModes(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getSupportedModes"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getVirtualRobotConfiguration(r,n,a){var l,c;const o=await t.getVirtualRobotConfiguration(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listControllers(r,n){var i,l;const a=await t.listControllers(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ControllerApi.listControllers"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async setDefaultMode(r,n,a,o){var c,u;const s=await t.setDefaultMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async streamFreeDrive(r,n,a,o){var c,u;const s=await t.streamFreeDrive(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async streamModeChange(r,n,a){var l,c;const o=await t.streamModeChange(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ControllerApi.streamModeChange"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async streamRobotControllerState(r,n,a,o){var c,u;const s=await t.streamRobotControllerState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerApi.streamRobotControllerState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async updateRobotController(r,n,a,o,s){var u,d;const i=await t.updateRobotController(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)}}};class B_ extends Ve{addRobotController(t,r,n,a){return rt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return rt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return rt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return rt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return rt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return rt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return rt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return rt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return rt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return rt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return rt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return rt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return rt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return rt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const N_=function(e){return{listIODescriptions:async(t,r,n,a={})=>{v("listIODescriptions","cell",t),v("listIODescriptions","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n&&(u.ios=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listIOValues:async(t,r,n,a={})=>{v("listIOValues","cell",t),v("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n&&(u.ios=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setOutputValues:async(t,r,n,a={})=>{v("setOutputValues","cell",t),v("setOutputValues","controller",r),v("setOutputValues","iOValue",n);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},streamIOValues:async(t,r,n,a={})=>{v("streamIOValues","cell",t),v("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n&&(u.ios=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},waitForIOEvent:async(t,r,n,a,o,s,i,l={})=>{v("waitForIOEvent","cell",t),v("waitForIOEvent","controller",r),v("waitForIOEvent","io",n),v("waitForIOEvent","comparisonType",a);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),u=new URL(c,$);let d;e&&(d=e.baseOptions);const h={method:"GET",...d,...l},p={},f={};j(h,e),await k(p,e),n!==void 0&&(f.io=n),a!==void 0&&(f.comparison_type=a),o!==void 0&&(f.boolean_value=o),s!==void 0&&(f.integer_value=s),i!==void 0&&(f.floating_value=i),U(u,f);let m=d&&d.headers?d.headers:{};return h.headers={...p,...m,...l.headers},{url:L(u),options:h}}}},zn=function(e){const t=N_(e);return{async listIODescriptions(r,n,a,o){var c,u;const s=await t.listIODescriptions(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.listIODescriptions"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async listIOValues(r,n,a,o){var c,u;const s=await t.listIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async setOutputValues(r,n,a,o){var c,u;const s=await t.setOutputValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async streamIOValues(r,n,a,o){var c,u;const s=await t.streamIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ControllerIOsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async waitForIOEvent(r,n,a,o,s,i,l,c){var p,f;const u=await t.waitForIOEvent(r,n,a,o,s,i,l,c),d=(e==null?void 0:e.serverIndex)??0,h=(f=(p=M["ControllerIOsApi.waitForIOEvent"])==null?void 0:p[d])==null?void 0:f.url;return(m,b)=>D(u,R,I,e)(m,h||b)}}};class F_ extends Ve{listIODescriptions(t,r,n,a){return zn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return zn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return zn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return zn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return zn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const z_=function(e){return{addCoordinateSystem:async(t,r,n={})=>{v("addCoordinateSystem","cell",t),v("addCoordinateSystem","addRequest",r);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},deleteCoordinateSystem:async(t,r,n={})=>{v("deleteCoordinateSystem","cell",t),v("deleteCoordinateSystem","coordinateSystem",r);const a="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getCoordinateSystem:async(t,r,n,a={})=>{v("getCoordinateSystem","cell",t),v("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.rotation_type=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listCoordinateSystems:async(t,r,n={})=>{v("listCoordinateSystems","cell",t);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.rotation_type=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},transformInCoordinateSystem:async(t,r,n,a={})=>{v("transformInCoordinateSystem","cell",t),v("transformInCoordinateSystem","coordinateSystem",r),v("transformInCoordinateSystem","pose",n);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},Gn=function(e){const t=z_(e);return{async addCoordinateSystem(r,n,a){var l,c;const o=await t.addCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteCoordinateSystem(r,n,a){var l,c;const o=await t.deleteCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getCoordinateSystem(r,n,a,o){var c,u;const s=await t.getCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async listCoordinateSystems(r,n,a){var l,c;const o=await t.listCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async transformInCoordinateSystem(r,n,a,o){var c,u;const s=await t.transformInCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class G_ extends Ve{addCoordinateSystem(t,r,n){return Gn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Gn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Gn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Gn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Gn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const H_=function(e){return{clearDevices:async(t,r={})=>{v("clearDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},createDevice:async(t,r,n={})=>{v("createDevice","cell",t),v("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},deleteDevice:async(t,r,n={})=>{v("deleteDevice","cell",t),v("deleteDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getDevice:async(t,r,n={})=>{v("getDevice","cell",t),v("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listDevices:async(t,r={})=>{v("listDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},Hn=function(e){const t=H_(e);return{async clearDevices(r,n){var i,l;const a=await t.clearDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["DeviceConfigurationApi.clearDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async createDevice(r,n,a){var l,c;const o=await t.createDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["DeviceConfigurationApi.createDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteDevice(r,n,a){var l,c;const o=await t.deleteDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getDevice(r,n,a){var l,c;const o=await t.getDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["DeviceConfigurationApi.getDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listDevices(r,n){var i,l;const a=await t.listDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["DeviceConfigurationApi.listDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)}}};class q_ extends Ve{clearDevices(t,r){return Hn(this.configuration).clearDevices(t,r).then(n=>n(this.axios,this.basePath))}createDevice(t,r,n){return Hn(this.configuration).createDevice(t,r,n).then(a=>a(this.axios,this.basePath))}deleteDevice(t,r,n){return Hn(this.configuration).deleteDevice(t,r,n).then(a=>a(this.axios,this.basePath))}getDevice(t,r,n){return Hn(this.configuration).getDevice(t,r,n).then(a=>a(this.axios,this.basePath))}listDevices(t,r){return Hn(this.configuration).listDevices(t,r).then(n=>n(this.axios,this.basePath))}}const J_=function(e){return{createProgram:async(t,r,n,a={})=>{v("createProgram","cell",t),v("createProgram","body",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.name=n),c["Content-Type"]="text/plain",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:L(s),options:l}},deleteProgram:async(t,r,n={})=>{v("deleteProgram","cell",t),v("deleteProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteProgramList:async(t,r,n={})=>{v("deleteProgramList","cell",t),v("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),r&&(c.program_ids=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getProgram:async(t,r,n={})=>{v("getProgram","cell",t),v("getProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateProgram:async(t,r,n,a={})=>{v("updateProgram","cell",t),v("updateProgram","program",r),v("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="text/plain",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},qn=function(e){const t=J_(e);return{async createProgram(r,n,a,o){var c,u;const s=await t.createProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramApi.createProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async deleteProgram(r,n,a){var l,c;const o=await t.deleteProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramApi.deleteProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteProgramList(r,n,a){var l,c;const o=await t.deleteProgramList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramApi.deleteProgramList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getProgram(r,n,a){var l,c;const o=await t.getProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramApi.getProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async updateProgram(r,n,a,o){var c,u;const s=await t.updateProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramApi.updateProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class W_ extends Ve{createProgram(t,r,n,a){return qn(this.configuration).createProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}deleteProgram(t,r,n){return qn(this.configuration).deleteProgram(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramList(t,r,n){return qn(this.configuration).deleteProgramList(t,r,n).then(a=>a(this.axios,this.basePath))}getProgram(t,r,n){return qn(this.configuration).getProgram(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgram(t,r,n,a){return qn(this.configuration).updateProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const Y_=function(e){return{getProgramMetadata:async(t,r,n={})=>{v("getProgramMetadata","cell",t),v("getProgramMetadata","program",r);const a="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramMetadata:async(t,r,n={})=>{v("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.show_hidden=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateProgramMetadata:async(t,r,n,a={})=>{v("updateProgramMetadata","cell",t),v("updateProgramMetadata","program",r),v("updateProgramMetadata","updateProgramMetadataRequest",n);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{v("uploadProgramMetadataImage","cell",t),v("uploadProgramMetadataImage","program",r),v("uploadProgramMetadataImage","file",n);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);j(l,e),await k(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",U(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},Xa=function(e){const t=Y_(e);return{async getProgramMetadata(r,n,a){var l,c;const o=await t.getProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listProgramMetadata(r,n,a){var l,c;const o=await t.listProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async updateProgramMetadata(r,n,a,o){var c,u;const s=await t.updateProgramMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async uploadProgramMetadataImage(r,n,a,o){var c,u;const s=await t.uploadProgramMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class K_ extends Ve{getProgramMetadata(t,r,n){return Xa(this.configuration).getProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramMetadata(t,r,n){return Xa(this.configuration).listProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgramMetadata(t,r,n,a){return Xa(this.configuration).updateProgramMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,n,a){return Xa(this.configuration).uploadProgramMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const Q_=function(e){return{createRecipe:async(t,r,n,a,o={})=>{v("createRecipe","cell",t),v("createRecipe","programId",r),v("createRecipe","body",n);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};j(c,e),await k(u,e),r!==void 0&&(d.program_id=r),a!==void 0&&(d.name=a),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:L(i),options:c}},deleteRecipe:async(t,r,n={})=>{v("deleteRecipe","cell",t),v("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteRecipeList:async(t,r,n={})=>{v("deleteRecipeList","cell",t),v("deleteRecipeList","recipeIds",r);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),r&&(c.recipe_ids=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRecipe:async(t,r,n={})=>{v("getRecipe","cell",t),v("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateRecipe:async(t,r,n,a={})=>{v("updateRecipe","cell",t),v("updateRecipe","recipe",r),v("updateRecipe","body",n);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},Jn=function(e){const t=Q_(e);return{async createRecipe(r,n,a,o,s){var u,d;const i=await t.createRecipe(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["LibraryRecipeApi.createRecipe"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async deleteRecipe(r,n,a){var l,c;const o=await t.deleteRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteRecipeList(r,n,a){var l,c;const o=await t.deleteRecipeList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getRecipe(r,n,a){var l,c;const o=await t.getRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeApi.getRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async updateRecipe(r,n,a,o){var c,u;const s=await t.updateRecipe(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryRecipeApi.updateRecipe"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class X_ extends Ve{createRecipe(t,r,n,a,o){return Jn(this.configuration).createRecipe(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,n){return Jn(this.configuration).deleteRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRecipeList(t,r,n){return Jn(this.configuration).deleteRecipeList(t,r,n).then(a=>a(this.axios,this.basePath))}getRecipe(t,r,n){return Jn(this.configuration).getRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}updateRecipe(t,r,n,a){return Jn(this.configuration).updateRecipe(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const Z_=function(e){return{getRecipeMetadata:async(t,r,n={})=>{v("getRecipeMetadata","cell",t),v("getRecipeMetadata","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listRecipeMetadata:async(t,r={})=>{v("listRecipeMetadata","cell",t);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},updateRecipeMetadata:async(t,r,n,a={})=>{v("updateRecipeMetadata","cell",t),v("updateRecipeMetadata","recipe",r),v("updateRecipeMetadata","updateRecipeMetadataRequest",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},uploadRecipeMetadataImage:async(t,r,n,a={})=>{v("uploadRecipeMetadataImage","cell",t),v("uploadRecipeMetadataImage","recipe",r),v("uploadRecipeMetadataImage","file",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);j(l,e),await k(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",U(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},Za=function(e){const t=Z_(e);return{async getRecipeMetadata(r,n,a){var l,c;const o=await t.getRecipeMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listRecipeMetadata(r,n){var i,l;const a=await t.listRecipeMetadata(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async updateRecipeMetadata(r,n,a,o){var c,u;const s=await t.updateRecipeMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async uploadRecipeMetadataImage(r,n,a,o){var c,u;const s=await t.uploadRecipeMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class eE extends Ve{getRecipeMetadata(t,r,n){return Za(this.configuration).getRecipeMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listRecipeMetadata(t,r){return Za(this.configuration).listRecipeMetadata(t,r).then(n=>n(this.axios,this.basePath))}updateRecipeMetadata(t,r,n,a){return Za(this.configuration).updateRecipeMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,n,a){return Za(this.configuration).uploadRecipeMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const tE=function(e){return{deleteAllMotions:async(t,r={})=>{v("deleteAllMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},deleteMotion:async(t,r,n={})=>{v("deleteMotion","cell",t),v("deleteMotion","motion",r);const a="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},executeTrajectory:async(t,r,n={})=>{v("executeTrajectory","cell",t),v("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},getMotionTrajectory:async(t,r,n,a,o={})=>{v("getMotionTrajectory","cell",t),v("getMotionTrajectory","motion",r),v("getMotionTrajectory","sampleTime",n);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};j(c,e),await k(u,e),n!==void 0&&(d.sample_time=n),a!==void 0&&(d.responses_coordinate_system=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getMotionTrajectorySample:async(t,r,n,a,o={})=>{v("getMotionTrajectorySample","cell",t),v("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};j(c,e),await k(u,e),n!==void 0&&(d.location_on_trajectory=n),a!==void 0&&(d.response_coordinate_system=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getPlannedMotion:async(t,r,n,a={})=>{v("getPlannedMotion","cell",t),v("getPlannedMotion","motion",r);const o="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.sample_time=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{v("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listMotions:async(t,r={})=>{v("listMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},loadPlannedMotion:async(t,r,n={})=>{v("loadPlannedMotion","cell",t),v("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},planCollisionFreePTP:async(t,r,n={})=>{v("planCollisionFreePTP","cell",t);const a="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},planMotion:async(t,r,n={})=>{v("planMotion","cell",t),v("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},planTrajectory:async(t,r,n={})=>{v("planTrajectory","cell",t);const a="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},stopExecution:async(t,r,n={})=>{v("stopExecution","cell",t),v("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},streamMove:async(t,r,n={})=>{v("streamMove","cell",t),v("streamMove","streamMoveRequest",r);const a="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{v("streamMoveBackward","cell",t),v("streamMoveBackward","motion",r),v("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};j(d,e),await k(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),U(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}},streamMoveForward:async(t,r,n,a,o,s,i={})=>{v("streamMoveForward","cell",t),v("streamMoveForward","motion",r),v("streamMoveForward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};j(d,e),await k(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),U(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}},streamMoveToTrajectoryViaJointPTP:async(t,r,n,a,o,s,i,l,c,u,d={})=>{v("streamMoveToTrajectoryViaJointPTP","cell",t),v("streamMoveToTrajectoryViaJointPTP","motion",r),v("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,$);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},b={},x={};j(m,e),await k(b,e),n!==void 0&&(x.location_on_trajectory=n),a&&(x["limit_override.joint_velocity_limits.joints"]=a),o&&(x["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(x["limit_override.tcp_velocity_limit"]=s),i!==void 0&&(x["limit_override.tcp_acceleration_limit"]=i),l!==void 0&&(x["limit_override.tcp_orientation_velocity_limit"]=l),c!==void 0&&(x["limit_override.tcp_orientation_acceleration_limit"]=c),u!==void 0&&(x.responses_coordinate_system=u),U(p,x);let V=f&&f.headers?f.headers:{};return m.headers={...b,...V,...d.headers},{url:L(p),options:m}}}},Ye=function(e){const t=tE(e);return{async deleteAllMotions(r,n){var i,l;const a=await t.deleteAllMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionApi.deleteAllMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async deleteMotion(r,n,a){var l,c;const o=await t.deleteMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.deleteMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async executeTrajectory(r,n,a){var l,c;const o=await t.executeTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.executeTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getMotionTrajectory(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectory(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["MotionApi.getMotionTrajectory"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async getMotionTrajectorySample(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectorySample(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["MotionApi.getMotionTrajectorySample"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async getPlannedMotion(r,n,a,o){var c,u;const s=await t.getPlannedMotion(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionApi.getPlannedMotion"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getPlanningMotionGroupModels(r,n){var i,l;const a=await t.getPlanningMotionGroupModels(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async listMotions(r,n){var i,l;const a=await t.listMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionApi.listMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async loadPlannedMotion(r,n,a){var l,c;const o=await t.loadPlannedMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.loadPlannedMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async planCollisionFreePTP(r,n,a){var l,c;const o=await t.planCollisionFreePTP(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.planCollisionFreePTP"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async planMotion(r,n,a){var l,c;const o=await t.planMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.planMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async planTrajectory(r,n,a){var l,c;const o=await t.planTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.planTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async stopExecution(r,n,a){var l,c;const o=await t.stopExecution(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.stopExecution"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async streamMove(r,n,a){var l,c;const o=await t.streamMove(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionApi.streamMove"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async streamMoveBackward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveBackward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=M["MotionApi.streamMoveBackward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>D(c,R,I,e)(f,d||m)},async streamMoveForward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveForward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=M["MotionApi.streamMoveForward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>D(c,R,I,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var b,x;const p=await t.streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h),f=(e==null?void 0:e.serverIndex)??0,m=(x=(b=M["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:b[f])==null?void 0:x.url;return(V,O)=>D(p,R,I,e)(V,m||O)}}};class rE extends Ve{deleteAllMotions(t,r){return Ye(this.configuration).deleteAllMotions(t,r).then(n=>n(this.axios,this.basePath))}deleteMotion(t,r,n){return Ye(this.configuration).deleteMotion(t,r,n).then(a=>a(this.axios,this.basePath))}executeTrajectory(t,r,n){return Ye(this.configuration).executeTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionTrajectory(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectory(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectorySample(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,n,a){return Ye(this.configuration).getPlannedMotion(t,r,n,a).then(o=>o(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ye(this.configuration).getPlanningMotionGroupModels(t,r).then(n=>n(this.axios,this.basePath))}listMotions(t,r){return Ye(this.configuration).listMotions(t,r).then(n=>n(this.axios,this.basePath))}loadPlannedMotion(t,r,n){return Ye(this.configuration).loadPlannedMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planCollisionFreePTP(t,r,n){return Ye(this.configuration).planCollisionFreePTP(t,r,n).then(a=>a(this.axios,this.basePath))}planMotion(t,r,n){return Ye(this.configuration).planMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planTrajectory(t,r,n){return Ye(this.configuration).planTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}stopExecution(t,r,n){return Ye(this.configuration).stopExecution(t,r,n).then(a=>a(this.axios,this.basePath))}streamMove(t,r,n){return Ye(this.configuration).streamMove(t,r,n).then(a=>a(this.axios,this.basePath))}streamMoveBackward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveBackward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveForward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveForward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d){return Ye(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d).then(h=>h(this.axios,this.basePath))}}const nE=function(e){return{activateAllMotionGroups:async(t,r,n={})=>{v("activateAllMotionGroups","cell",t),v("activateAllMotionGroups","controller",r);const a="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.controller=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},activateMotionGroup:async(t,r,n={})=>{v("activateMotionGroup","cell",t),v("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),r!==void 0&&(c.motion_group=r),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deactivateMotionGroup:async(t,r,n={})=>{v("deactivateMotionGroup","cell",t),v("deactivateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listMotionGroups:async(t,r={})=>{v("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},eo=function(e){const t=nE(e);return{async activateAllMotionGroups(r,n,a){var l,c;const o=await t.activateAllMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async activateMotionGroup(r,n,a){var l,c;const o=await t.activateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupApi.activateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deactivateMotionGroup(r,n,a){var l,c;const o=await t.deactivateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listMotionGroups(r,n){var i,l;const a=await t.listMotionGroups(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["MotionGroupApi.listMotionGroups"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)}}};class aE extends Ve{activateAllMotionGroups(t,r,n){return eo(this.configuration).activateAllMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}activateMotionGroup(t,r,n){return eo(this.configuration).activateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}deactivateMotionGroup(t,r,n){return eo(this.configuration).deactivateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}listMotionGroups(t,r){return eo(this.configuration).listMotionGroups(t,r).then(n=>n(this.axios,this.basePath))}}const oE=function(e){return{getActivePayload:async(t,r,n={})=>{v("getActivePayload","cell",t),v("getActivePayload","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getActiveTcp:async(t,r,n,a={})=>{v("getActiveTcp","cell",t),v("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.rotation_type=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getCurrentMotionGroupState:async(t,r,n,a,o={})=>{v("getCurrentMotionGroupState","cell",t),v("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};j(c,e),await k(u,e),n!==void 0&&(d.tcp=n),a!==void 0&&(d.response_coordinate_system=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getInfoCapabilities:async(t,r,n={})=>{v("getInfoCapabilities","cell",t),v("getInfoCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMotionGroupSpecification:async(t,r,n={})=>{v("getMotionGroupSpecification","cell",t),v("getMotionGroupSpecification","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMounting:async(t,r,n={})=>{v("getMounting","cell",t),v("getMounting","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getOptimizerConfiguration:async(t,r,n,a={})=>{v("getOptimizerConfiguration","cell",t),v("getOptimizerConfiguration","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.tcp=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getSafetySetup:async(t,r,n={})=>{v("getSafetySetup","cell",t),v("getSafetySetup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listPayloads:async(t,r,n={})=>{v("listPayloads","cell",t),v("listPayloads","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listTcps:async(t,r,n,a={})=>{v("listTcps","cell",t),v("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.rotation_type=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamMotionGroupState:async(t,r,n,a,o,s={})=>{v("streamMotionGroupState","cell",t),v("streamMotionGroupState","motionGroup",r);const i="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(i,$);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...s},d={},h={};j(u,e),await k(d,e),n!==void 0&&(h.response_rate=n),a!==void 0&&(h.response_coordinate_system=a),o!==void 0&&(h.tcp=o),U(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...s.headers},{url:L(l),options:u}}}},bt=function(e){const t=oE(e);return{async getActivePayload(r,n,a){var l,c;const o=await t.getActivePayload(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getActiveTcp(r,n,a,o){var c,u;const s=await t.getActiveTcp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getCurrentMotionGroupState(r,n,a,o,s){var u,d;const i=await t.getCurrentMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async getInfoCapabilities(r,n,a){var l,c;const o=await t.getInfoCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getMotionGroupSpecification(r,n,a){var l,c;const o=await t.getMotionGroupSpecification(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getMounting(r,n,a){var l,c;const o=await t.getMounting(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getMounting"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getOptimizerConfiguration(r,n,a,o){var c,u;const s=await t.getOptimizerConfiguration(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getSafetySetup(r,n,a){var l,c;const o=await t.getSafetySetup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listPayloads(r,n,a){var l,c;const o=await t.listPayloads(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupInfosApi.listPayloads"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listTcps(r,n,a,o){var c,u;const s=await t.listTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupInfosApi.listTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async streamMotionGroupState(r,n,a,o,s,i){var d,h;const l=await t.streamMotionGroupState(r,n,a,o,s,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=M["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>D(l,R,I,e)(p,u||f)}}};class sE extends Ve{getActivePayload(t,r,n){return bt(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return bt(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return bt(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return bt(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return bt(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return bt(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return bt(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return bt(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return bt(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return bt(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return bt(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const iE=function(e){return{directionJogging:async(t,r,n={})=>{v("directionJogging","cell",t),v("directionJogging","directionJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},getJoggingCapabilities:async(t,r,n={})=>{v("getJoggingCapabilities","cell",t),v("getJoggingCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},jointJogging:async(t,r,n={})=>{v("jointJogging","cell",t),v("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},stopJogging:async(t,r,n={})=>{v("stopJogging","cell",t),v("stopJogging","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},to=function(e){const t=iE(e);return{async directionJogging(r,n,a){var l,c;const o=await t.directionJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getJoggingCapabilities(r,n,a){var l,c;const o=await t.getJoggingCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async jointJogging(r,n,a){var l,c;const o=await t.jointJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async stopJogging(r,n,a){var l,c;const o=await t.stopJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)}}};class lE extends Ve{directionJogging(t,r,n){return to(this.configuration).directionJogging(t,r,n).then(a=>a(this.axios,this.basePath))}getJoggingCapabilities(t,r,n){return to(this.configuration).getJoggingCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}jointJogging(t,r,n){return to(this.configuration).jointJogging(t,r,n).then(a=>a(this.axios,this.basePath))}stopJogging(t,r,n){return to(this.configuration).stopJogging(t,r,n).then(a=>a(this.axios,this.basePath))}}const cE=function(e){return{calculateAllInverseKinematic:async(t,r,n,a={})=>{v("calculateAllInverseKinematic","cell",t),v("calculateAllInverseKinematic","motionGroup",r),v("calculateAllInverseKinematic","allJointPositionsRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},calculateForwardKinematic:async(t,r,n,a={})=>{v("calculateForwardKinematic","cell",t),v("calculateForwardKinematic","motionGroup",r),v("calculateForwardKinematic","tcpPoseRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{v("calculateInverseKinematic","cell",t),v("calculateInverseKinematic","motionGroup",r),v("calculateInverseKinematic","jointPositionRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},getKinematicCapabilities:async(t,r,n={})=>{v("getKinematicCapabilities","cell",t),v("getKinematicCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},ro=function(e){const t=cE(e);return{async calculateAllInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateAllInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async calculateForwardKinematic(r,n,a,o){var c,u;const s=await t.calculateForwardKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async calculateInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getKinematicCapabilities(r,n,a){var l,c;const o=await t.getKinematicCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)}}};class uE extends Ve{calculateAllInverseKinematic(t,r,n,a){return ro(this.configuration).calculateAllInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,n,a){return ro(this.configuration).calculateForwardKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,n,a){return ro(this.configuration).calculateInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,n){return ro(this.configuration).getKinematicCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}}const dE=function(e){return{createProgramRunner:async(t,r,n={})=>{v("createProgramRunner","cell",t),v("createProgramRunner","request",r);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="text/plain",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},executeProgram:async(t,r,n={})=>{v("executeProgram","cell",t),v("executeProgram","codeWithArguments",r);const a="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},getProgramRunner:async(t,r,n={})=>{v("getProgramRunner","cell",t),v("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramRunners:async(t,r={})=>{v("listProgramRunners","cell",t);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},migrateProgram:async(t,r,n={})=>{v("migrateProgram","cell",t),v("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="text/plain",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},planProgram:async(t,r,n,a={})=>{v("planProgram","cell",t),v("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.identifier=n),c["Content-Type"]="text/plain",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:L(s),options:l}},stopAllProgramRunner:async(t,r={})=>{v("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},stopProgramRunner:async(t,r,n={})=>{v("stopProgramRunner","cell",t),v("stopProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},Xt=function(e){const t=dE(e);return{async createProgramRunner(r,n,a){var l,c;const o=await t.createProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.createProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async executeProgram(r,n,a){var l,c;const o=await t.executeProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.executeProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getProgramRunner(r,n,a){var l,c;const o=await t.getProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.getProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listProgramRunners(r,n){var i,l;const a=await t.listProgramRunners(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramApi.listProgramRunners"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async migrateProgram(r,n,a){var l,c;const o=await t.migrateProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.migrateProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async planProgram(r,n,a,o){var c,u;const s=await t.planProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ProgramApi.planProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async stopAllProgramRunner(r,n){var i,l;const a=await t.stopAllProgramRunner(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramApi.stopAllProgramRunner"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async stopProgramRunner(r,n,a){var l,c;const o=await t.stopProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramApi.stopProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)}}};class hE extends Ve{createProgramRunner(t,r,n){return Xt(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return Xt(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return Xt(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return Xt(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return Xt(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return Xt(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return Xt(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return Xt(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const pE=function(e){return{clearProgramsValues:async(t,r={})=>{v("clearProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},createProgramsValue:async(t,r,n={})=>{v("createProgramsValue","cell",t),v("createProgramsValue","requestBody",r);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};j(i,e),await k(l,e),l["Content-Type"]="application/json",U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:L(o),options:i}},deleteProgramValue:async(t,r,n={})=>{v("deleteProgramValue","cell",t),v("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getProgramValue:async(t,r,n={})=>{v("getProgramValue","cell",t),v("getProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramsValues:async(t,r={})=>{v("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},updateProgramValue:async(t,r,n,a={})=>{v("updateProgramValue","cell",t),v("updateProgramValue","key",r),v("updateProgramValue","value",n);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},Wr=function(e){const t=pE(e);return{async clearProgramsValues(r,n){var i,l;const a=await t.clearProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async createProgramsValue(r,n,a){var l,c;const o=await t.createProgramsValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramValuesApi.createProgramsValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteProgramValue(r,n,a){var l,c;const o=await t.deleteProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getProgramValue(r,n,a){var l,c;const o=await t.getProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["ProgramValuesApi.getProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listProgramsValues(r,n){var i,l;const a=await t.listProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["ProgramValuesApi.listProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async updateProgramValue(r,n,a,o){var c,u;const s=await t.updateProgramValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["ProgramValuesApi.updateProgramValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class mE extends Ve{clearProgramsValues(t,r){return Wr(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return Wr(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return Wr(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return Wr(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return Wr(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return Wr(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const fE=function(e){return{deleteStoredCollider:async(t,r,n={})=>{v("deleteStoredCollider","cell",t),v("deleteStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{v("deleteStoredCollisionLinkChain","cell",t),v("deleteStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{v("deleteStoredCollisionTool","cell",t),v("deleteStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getDefaultLinkChain:async(t,r,n={})=>{v("getDefaultLinkChain","cell",t),v("getDefaultLinkChain","motionGroupModel",r);const a="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollider:async(t,r,n={})=>{v("getStoredCollider","cell",t),v("getStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{v("getStoredCollisionLinkChain","cell",t),v("getStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionTool:async(t,r,n={})=>{v("getStoredCollisionTool","cell",t),v("getStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listCollisionLinkChains:async(t,r={})=>{v("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listStoredColliders:async(t,r={})=>{v("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listStoredCollisionTools:async(t,r={})=>{v("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollider:async(t,r,n,a={})=>{v("storeCollider","cell",t),v("storeCollider","collider",r),v("storeCollider","collider2",n);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},storeCollisionLinkChain:async(t,r,n,a={})=>{v("storeCollisionLinkChain","cell",t),v("storeCollisionLinkChain","linkChain",r),v("storeCollisionLinkChain","collider",n);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{v("storeCollisionTool","cell",t),v("storeCollisionTool","tool",r),v("storeCollisionTool","requestBody",n);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},lt=function(e){const t=fE(e);return{async deleteStoredCollider(r,n,a){var l,c;const o=await t.deleteStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.deleteStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async deleteStoredCollisionTool(r,n,a){var l,c;const o=await t.deleteStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getDefaultLinkChain(r,n,a){var l,c;const o=await t.getDefaultLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getStoredCollider(r,n,a){var l,c;const o=await t.getStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.getStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getStoredCollisionTool(r,n,a){var l,c;const o=await t.getStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listCollisionLinkChains(r,n){var i,l;const a=await t.listCollisionLinkChains(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async listStoredColliders(r,n){var i,l;const a=await t.listStoredColliders(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async listStoredCollisionTools(r,n){var i,l;const a=await t.listStoredCollisionTools(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async storeCollider(r,n,a,o){var c,u;const s=await t.storeCollider(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async storeCollisionLinkChain(r,n,a,o){var c,u;const s=await t.storeCollisionLinkChain(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async storeCollisionTool(r,n,a,o){var c,u;const s=await t.storeCollisionTool(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class gE extends Ve{deleteStoredCollider(t,r,n){return lt(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return lt(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return lt(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return lt(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return lt(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return lt(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return lt(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return lt(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return lt(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return lt(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return lt(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return lt(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return lt(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const yE=function(e){return{deleteStoredCollisionScene:async(t,r,n={})=>{v("deleteStoredCollisionScene","cell",t),v("deleteStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionScene:async(t,r,n={})=>{v("getStoredCollisionScene","cell",t),v("getStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listStoredCollisionScenes:async(t,r={})=>{v("listStoredCollisionScenes","cell",t);const n="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollisionScene:async(t,r,n,a={})=>{v("storeCollisionScene","cell",t),v("storeCollisionScene","scene",r),v("storeCollisionScene","collisionSceneAssembly",n);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}}}},no=function(e){const t=yE(e);return{async deleteStoredCollisionScene(r,n,a){var l,c;const o=await t.deleteStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getStoredCollisionScene(r,n,a){var l,c;const o=await t.getStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listStoredCollisionScenes(r,n){var i,l;const a=await t.listStoredCollisionScenes(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async storeCollisionScene(r,n,a,o){var c,u;const s=await t.storeCollisionScene(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class bE extends Ve{deleteStoredCollisionScene(t,r,n){return no(this.configuration).deleteStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionScene(t,r,n){return no(this.configuration).getStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return no(this.configuration).listStoredCollisionScenes(t,r).then(n=>n(this.axios,this.basePath))}storeCollisionScene(t,r,n,a){return no(this.configuration).storeCollisionScene(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const vE=function(e){return{clearAllObjects:async(t,r={})=>{v("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},deleteObject:async(t,r,n={})=>{v("deleteObject","cell",t),v("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getObject:async(t,r,n={})=>{v("getObject","cell",t),v("getObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getObjectMetadata:async(t,r,n={})=>{v("getObjectMetadata","cell",t),v("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listAllObjectKeys:async(t,r={})=>{v("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeObject:async(t,r,n,a,o={})=>{v("storeObject","cell",t),v("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={},h=new(e&&e.formDataCtor||FormData);j(c,e),await k(u,e),a!==void 0&&h.append("AnyValue",new Blob([JSON.stringify(a)],{type:"application/json"})),u["Content-Type"]="multipart/form-data",n!=null&&(u["X-Metadata"]=typeof n=="string"?n:JSON.stringify(n)),U(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...o.headers},c.data=h,{url:L(i),options:c}}}},Yr=function(e){const t=vE(e);return{async clearAllObjects(r,n){var i,l;const a=await t.clearAllObjects(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreObjectApi.clearAllObjects"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async deleteObject(r,n,a){var l,c;const o=await t.deleteObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreObjectApi.deleteObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getObject(r,n,a){var l,c;const o=await t.getObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreObjectApi.getObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getObjectMetadata(r,n,a){var l,c;const o=await t.getObjectMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["StoreObjectApi.getObjectMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listAllObjectKeys(r,n){var i,l;const a=await t.listAllObjectKeys(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async storeObject(r,n,a,o,s){var u,d;const i=await t.storeObject(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)}}};class SE extends Ve{clearAllObjects(t,r){return Yr(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return Yr(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return Yr(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return Yr(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return Yr(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return Yr(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const xE=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{v("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};j(s,e),await k(i,e),t!==void 0&&(l.channel=t),U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};j(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};j(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};j(o,e),await k(s,e),U(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},updateNovaVersion:async(t,r={})=>{v("updateNovaVersion","updateNovaVersionRequest",t);const n="/system/update",a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};j(s,e),await k(i,e),i["Content-Type"]="application/json",U(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=ue(t,s,e),{url:L(a),options:s}}}},Wn=function(e){const t=xE(e);return{async checkNovaVersionUpdate(r,n){var i,l;const a=await t.checkNovaVersionUpdate(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)},async getDiagnosePackage(r){var s,i;const n=await t.getDiagnosePackage(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["SystemApi.getDiagnosePackage"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>D(n,R,I,e)(l,o||c)},async getSystemStatus(r){var s,i;const n=await t.getSystemStatus(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["SystemApi.getSystemStatus"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>D(n,R,I,e)(l,o||c)},async getSystemVersion(r){var s,i;const n=await t.getSystemVersion(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=M["SystemApi.getSystemVersion"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>D(n,R,I,e)(l,o||c)},async updateNovaVersion(r,n){var i,l;const a=await t.updateNovaVersion(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=M["SystemApi.updateNovaVersion"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>D(a,R,I,e)(c,s||u)}}};class OE extends Ve{checkNovaVersionUpdate(t,r){return Wn(this.configuration).checkNovaVersionUpdate(t,r).then(n=>n(this.axios,this.basePath))}getDiagnosePackage(t){return Wn(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Wn(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Wn(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Wn(this.configuration).updateNovaVersion(t,r).then(n=>n(this.axios,this.basePath))}}const wE=function(e){return{getMotionGroupState:async(t,r,n,a={})=>{v("getMotionGroupState","cell",t),v("getMotionGroupState","controller",r),v("getMotionGroupState","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getMotionGroups:async(t,r,n={})=>{v("getMotionGroups","cell",t),v("getMotionGroups","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotIOValue:async(t,r,n,a={})=>{v("getVirtualRobotIOValue","cell",t),v("getVirtualRobotIOValue","controller",r),v("getVirtualRobotIOValue","io",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listIOs:async(t,r,n={})=>{v("listIOs","cell",t),v("listIOs","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setMotionGroupState:async(t,r,n,a,o={})=>{v("setMotionGroupState","cell",t),v("setMotionGroupState","controller",r),v("setMotionGroupState","id",n),v("setMotionGroupState","motionGroupJoints",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:L(i),options:c}},setVirtualRobotIOValue:async(t,r,n,a,o,s,i={})=>{v("setVirtualRobotIOValue","cell",t),v("setVirtualRobotIOValue","controller",r),v("setVirtualRobotIOValue","io",n);const l="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"PUT",...u,...i},h={},p={};j(d,e),await k(h,e),a!==void 0&&(p.bool=a),o!==void 0&&(p.integer=o),s!==void 0&&(p.double=s),U(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}}}},Kr=function(e){const t=wE(e);return{async getMotionGroupState(r,n,a,o){var c,u;const s=await t.getMotionGroupState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getMotionGroups(r,n,a){var l,c;const o=await t.getMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotApi.getMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getVirtualRobotIOValue(r,n,a,o){var c,u;const s=await t.getVirtualRobotIOValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async listIOs(r,n,a){var l,c;const o=await t.listIOs(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotApi.listIOs"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async setMotionGroupState(r,n,a,o,s){var u,d;const i=await t.setMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async setVirtualRobotIOValue(r,n,a,o,s,i,l){var h,p;const c=await t.setVirtualRobotIOValue(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=M["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>D(c,R,I,e)(f,d||m)}}};class CE extends Ve{getMotionGroupState(t,r,n,a){return Kr(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return Kr(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return Kr(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return Kr(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return Kr(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return Kr(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const PE=function(e){return{externalJointsStream:async(t,r,n,a={})=>{v("externalJointsStream","cell",t),v("externalJointsStream","controller",r),v("externalJointsStream","externalJointStreamDatapoint",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},getMotionGroupBehavior:async(t,r,n,a={})=>{v("getMotionGroupBehavior","cell",t),v("getMotionGroupBehavior","controller",r),v("getMotionGroupBehavior","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setMotionGroupBehavior:async(t,r,n,a,o={})=>{v("setMotionGroupBehavior","cell",t),v("setMotionGroupBehavior","controller",r),v("setMotionGroupBehavior","id",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),a!==void 0&&(d.behavior=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}}}},Vi=function(e){const t=PE(e);return{async externalJointsStream(r,n,a,o){var c,u;const s=await t.externalJointsStream(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async getMotionGroupBehavior(r,n,a,o){var c,u;const s=await t.getMotionGroupBehavior(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async setMotionGroupBehavior(r,n,a,o,s){var u,d;const i=await t.setMotionGroupBehavior(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)}}};class TE extends Ve{externalJointsStream(t,r,n,a){return Vi(this.configuration).externalJointsStream(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,n,a){return Vi(this.configuration).getMotionGroupBehavior(t,r,n,a).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,n,a,o){return Vi(this.configuration).setMotionGroupBehavior(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const AE=function(e){return{getCycleTime:async(t,r,n={})=>{v("getCycleTime","cell",t),v("getCycleTime","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getEStop:async(t,r,n={})=>{v("getEStop","cell",t),v("getEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getOperationMode:async(t,r,n={})=>{v("getOperationMode","cell",t),v("getOperationMode","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},pushEStop:async(t,r,n={})=>{v("pushEStop","cell",t),v("pushEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},releaseEStop:async(t,r,n={})=>{v("releaseEStop","cell",t),v("releaseEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setOperationMode:async(t,r,n,a={})=>{v("setOperationMode","cell",t),v("setOperationMode","controller",r),v("setOperationMode","mode",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),n!==void 0&&(u.mode=n),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}}}},Qr=function(e){const t=AE(e);return{async getCycleTime(r,n,a){var l,c;const o=await t.getCycleTime(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getEStop(r,n,a){var l,c;const o=await t.getEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.getEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async getOperationMode(r,n,a){var l,c;const o=await t.getOperationMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async pushEStop(r,n,a){var l,c;const o=await t.pushEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.pushEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async releaseEStop(r,n,a){var l,c;const o=await t.releaseEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async setOperationMode(r,n,a,o){var c,u;const s=await t.setOperationMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)}}};class RE extends Ve{getCycleTime(t,r,n){return Qr(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return Qr(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return Qr(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return Qr(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return Qr(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return Qr(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const VE=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{v("addVirtualRobotCoordinateSystem","cell",t),v("addVirtualRobotCoordinateSystem","controller",r),v("addVirtualRobotCoordinateSystem","coordinateSystem",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};j(l,e),await k(c,e),c["Content-Type"]="application/json",U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:L(s),options:l}},addVirtualRobotTcp:async(t,r,n,a,o={})=>{v("addVirtualRobotTcp","cell",t),v("addVirtualRobotTcp","controller",r),v("addVirtualRobotTcp","id",n),v("addVirtualRobotTcp","robotTcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:L(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{v("deleteVirtualRobotCoordinateSystem","cell",t),v("deleteVirtualRobotCoordinateSystem","controller",r),v("deleteVirtualRobotCoordinateSystem","coordinateSystem",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};j(c,e),await k(u,e),a!==void 0&&(d.delete_dependent=a),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},deleteVirtualRobotTcp:async(t,r,n,a,o={})=>{v("deleteVirtualRobotTcp","cell",t),v("deleteVirtualRobotTcp","controller",r),v("deleteVirtualRobotTcp","id",n),v("deleteVirtualRobotTcp","tcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(a))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};j(c,e),await k(u,e),U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{v("getVirtualRobotMounting","cell",t),v("getVirtualRobotMounting","controller",r),v("getVirtualRobotMounting","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listVirtualRobotCoordinateSystems:async(t,r,n={})=>{v("listVirtualRobotCoordinateSystems","cell",t),v("listVirtualRobotCoordinateSystems","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};j(i,e),await k(l,e),U(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{v("listVirtualRobotTcps","cell",t),v("listVirtualRobotTcps","controller",r),v("listVirtualRobotTcps","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};j(l,e),await k(c,e),U(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setVirtualRobotMounting:async(t,r,n,a,o={})=>{v("setVirtualRobotMounting","cell",t),v("setVirtualRobotMounting","controller",r),v("setVirtualRobotMounting","id",n),v("setVirtualRobotMounting","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};j(c,e),await k(u,e),u["Content-Type"]="application/json",U(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:L(i),options:c}}}},Zt=function(e){const t=VE(e);return{async addVirtualRobotCoordinateSystem(r,n,a,o){var c,u;const s=await t.addVirtualRobotCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async addVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.addVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async deleteVirtualRobotCoordinateSystem(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotCoordinateSystem(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async deleteVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)},async getVirtualRobotMounting(r,n,a,o){var c,u;const s=await t.getVirtualRobotMounting(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async listVirtualRobotCoordinateSystems(r,n,a){var l,c;const o=await t.listVirtualRobotCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=M["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>D(o,R,I,e)(u,i||d)},async listVirtualRobotTcps(r,n,a,o){var c,u;const s=await t.listVirtualRobotTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=M["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>D(s,R,I,e)(d,l||h)},async setVirtualRobotMounting(r,n,a,o,s){var u,d;const i=await t.setVirtualRobotMounting(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=M["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>D(i,R,I,e)(h,c||p)}}};class _E extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return Zt(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return Zt(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return Zt(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return Zt(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return Zt(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return Zt(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return Zt(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return Zt(this.configuration).setVirtualRobotMounting(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}function Ut(e,t,r){return Math.max(t,Math.min(r,e))}class EE{constructor(t=0,r=0,n=0,a=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=n,this._w=a}static slerpFlat(t,r,n,a,o,s,i){let l=n[a+0],c=n[a+1],u=n[a+2],d=n[a+3];const h=o[s+0],p=o[s+1],f=o[s+2],m=o[s+3];if(i===0){t[r+0]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d;return}if(i===1){t[r+0]=h,t[r+1]=p,t[r+2]=f,t[r+3]=m;return}if(d!==m||l!==h||c!==p||u!==f){let b=1-i;const x=l*h+c*p+u*f+d*m,V=x>=0?1:-1,O=1-x*x;if(O>Number.EPSILON){const P=Math.sqrt(O),w=Math.atan2(P,x*V);b=Math.sin(b*w)/P,i=Math.sin(i*w)/P}const C=i*V;if(l=l*b+h*C,c=c*b+p*C,u=u*b+f*C,d=d*b+m*C,b===1-i){const P=1/Math.sqrt(l*l+c*c+u*u+d*d);l*=P,c*=P,u*=P,d*=P}}t[r]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d}static multiplyQuaternionsFlat(t,r,n,a,o,s){const i=n[a],l=n[a+1],c=n[a+2],u=n[a+3],d=o[s],h=o[s+1],p=o[s+2],f=o[s+3];return t[r]=i*f+u*d+l*p-c*h,t[r+1]=l*f+u*h+c*d-i*p,t[r+2]=c*f+u*p+i*h-l*d,t[r+3]=u*f-i*d-l*h-c*p,t}get x(){return this._x}set x(t){this._x=t,this._onChangeCallback()}get y(){return this._y}set y(t){this._y=t,this._onChangeCallback()}get z(){return this._z}set z(t){this._z=t,this._onChangeCallback()}get w(){return this._w}set w(t){this._w=t,this._onChangeCallback()}set(t,r,n,a){return this._x=t,this._y=r,this._z=n,this._w=a,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._w)}copy(t){return this._x=t.x,this._y=t.y,this._z=t.z,this._w=t.w,this._onChangeCallback(),this}setFromEuler(t,r=!0){const n=t._x,a=t._y,o=t._z,s=t._order,i=Math.cos,l=Math.sin,c=i(n/2),u=i(a/2),d=i(o/2),h=l(n/2),p=l(a/2),f=l(o/2);switch(s){case"XYZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"YXZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"ZXY":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"ZYX":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"YZX":this._x=h*u*d+c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d-h*p*f;break;case"XZY":this._x=h*u*d-c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d+h*p*f;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const n=r/2,a=Math.sin(n);return this._x=t.x*a,this._y=t.y*a,this._z=t.z*a,this._w=Math.cos(n),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,n=r[0],a=r[4],o=r[8],s=r[1],i=r[5],l=r[9],c=r[2],u=r[6],d=r[10],h=n+i+d;if(h>0){const p=.5/Math.sqrt(h+1);this._w=.25/p,this._x=(u-l)*p,this._y=(o-c)*p,this._z=(s-a)*p}else if(n>i&&n>d){const p=2*Math.sqrt(1+n-i-d);this._w=(u-l)/p,this._x=.25*p,this._y=(a+s)/p,this._z=(o+c)/p}else if(i>d){const p=2*Math.sqrt(1+i-n-d);this._w=(o-c)/p,this._x=(a+s)/p,this._y=.25*p,this._z=(l+u)/p}else{const p=2*Math.sqrt(1+d-n-i);this._w=(s-a)/p,this._x=(o+c)/p,this._y=(l+u)/p,this._z=.25*p}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let n=t.dot(r)+1;return n<Number.EPSILON?(n=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=n):(this._x=0,this._y=-t.z,this._z=t.y,this._w=n)):(this._x=t.y*r.z-t.z*r.y,this._y=t.z*r.x-t.x*r.z,this._z=t.x*r.y-t.y*r.x,this._w=n),this.normalize()}angleTo(t){return 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this.set(a*Math.sin(t),a*Math.cos(t),o*Math.sin(r),o*Math.cos(r))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,r=0){return this._x=t[r],this._y=t[r+1],this._z=t[r+2],this._w=t[r+3],this._onChangeCallback(),this}toArray(t=[],r=0){return t[r]=this._x,t[r+1]=this._y,t[r+2]=this._z,t[r+3]=this._w,t}fromBufferAttribute(t,r){return this._x=t.getX(r),this._y=t.getY(r),this._z=t.getZ(r),this._w=t.getW(r),this._onChangeCallback(),this}toJSON(){return this.toArray()}_onChange(t){return this._onChangeCallback=t,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._w}}class ln{constructor(t=0,r=0,n=0){ln.prototype.isVector3=!0,this.x=t,this.y=r,this.z=n}set(t,r,n){return n===void 0&&(n=this.z),this.x=t,this.y=r,this.z=n,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,r){switch(t){case 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this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,n=this.y,a=this.z,o=t.elements;return this.x=o[0]*r+o[4]*n+o[8]*a,this.y=o[1]*r+o[5]*n+o[9]*a,this.z=o[2]*r+o[6]*n+o[10]*a,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,r){return this.x=Ut(this.x,t.x,r.x),this.y=Ut(this.y,t.y,r.y),this.z=Ut(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=Ut(this.x,t,r),this.y=Ut(this.y,t,r),this.z=Ut(this.z,t,r),this}clampLength(t,r){const n=this.length();return this.divideScalar(n||1).multiplyScalar(Ut(n,t,r))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this}round(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this}roundToZero(){return this.x=Math.trunc(this.x),this.y=Math.trunc(this.y),this.z=Math.trunc(this.z),this}negate(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}dot(t){return this.x*t.x+this.y*t.y+this.z*t.z}lengthSq(){return this.x*this.x+this.y*this.y+this.z*this.z}length(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)}manhattanLength(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)}normalize(){return this.divideScalar(this.length()||1)}setLength(t){return this.normalize().multiplyScalar(t)}lerp(t,r){return this.x+=(t.x-this.x)*r,this.y+=(t.y-this.y)*r,this.z+=(t.z-this.z)*r,this}lerpVectors(t,r,n){return this.x=t.x+(r.x-t.x)*n,this.y=t.y+(r.y-t.y)*n,this.z=t.z+(r.z-t.z)*n,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,r){const 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E.length<2?A.length<2?`[^${i(A+E)}]`:`(?:(?!${i(A)})[^${i(E)}])`:A.length<2?`(?:(?!${i(E)})[^${i(A)}])`:`(?:(?!${i(E)}|${i(A)})[\\s\\S])`}function C(A){return A.tokens.map(function E(F,y,T){if(F.type==="text")return s(F.value);if(F.type==="group")return`{${F.tokens.map(E).join("")}}`;const _=P(F.name)&&w(T[y+1])?F.name:JSON.stringify(F.name);if(F.type==="param")return`:${_}`;if(F.type==="wildcard")return`*${_}`;throw new TypeError(`Unexpected token: ${F}`)}).join("")}function P(A){const[E,...F]=A;return r.test(E)?F.every(y=>n.test(y)):!1}function w(A){return(A==null?void 0:A.type)!=="text"?!0:!n.test(A.value[0])}return Rt}var $E=ME();function pf(e,t,r){if(t.length!==e.length)return!0;for(let n=0;n<t.length;n++)if(Math.abs(t[n]-e[n])>r)return!1;return!0}function mf(e,t,r){if(e===void 0&&t||e&&t===void 0)return!1;if(e===void 0||t===void 0)return!0;let n=0;return n+=Math.abs(e.orientation.x-t.orientation.x),n+=Math.abs(e.orientation.y-t.orientation.y),n+=Math.abs(e.orientation.z-t.orientation.z),n+=Math.abs(e.position.x-t.position.x),n+=Math.abs(e.position.y-t.position.y),n+=Math.abs(e.position.z-t.position.z),n>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var Kd=1e-4,jE=class ff{constructor(t,r,n,a,o,s,i,l,c,u,d,h){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.isVirtual=s,this.tcps=i,this.motionGroupSpecification=l,this.safetySetup=c,this.mounting=u,this.initialControllerState=d,this.controllerStateSocket=h,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=a,this.controllerState=d,h.addEventListener("message",p=>{var f;const m=(f=nr(p.data))==null?void 0:f.result;m&&Be.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=nr(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);pf(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,Kd)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),mf(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,Kd)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),Be.makeAutoObservable(this)}static connect(t,r,n){return Re(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(w=>w.controller===i),c=l==null?void 0:l.physical_motion_groups.find(w=>w.motion_group===r);if(!l||!c)throw new Error(`Controller ${i} or motion group ${r} not found`);const u=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield u.firstMessage(),h=(a=nr(d.data))==null?void 0:a.result;if(!h)throw new Error(`Unable to parse initial motion state message ${d.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
-  `,h);const f=(yield t.api.controller.getRobotController(l.controller)).configuration.kind==="VirtualController",m=yield Re(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(w){return console.error(`Error fetching mounting for ${c.motion_group}`,w),null}}),b=t.openReconnectingWebsocket(`/controllers/${l.controller}/state-stream?response_rate=1000`),x=yield b.firstMessage(),V=(o=nr(x.data))==null?void 0:o.result;if(!V)throw new Error(`Unable to parse initial controller state message ${x.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
-  `,V);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),C=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),P=yield t.api.motionGroupInfos.getSafetySetup(r);return new ff(t,l,c,h,u,f,O,C,P,m,V,b)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}get dhParameters(){return this.motionGroupSpecification.dh_parameters}get safetyZones(){return this.safetySetup.safety_zones}get mountingPosition(){return this.mounting?[this.mounting.pose.position.x/1e3,this.mounting.pose.position.y/1e3,this.mounting.pose.position.z/1e3]:[0,0,0]}get mountingQuaternion(){var t,r,n,a,o,s;const i=new ke.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((a=(n=this.mounting)==null?void 0:n.pose.orientation)==null?void 0:a.y)||0,((s=(o=this.mounting)==null?void 0:o.pose.orientation)==null?void 0:s.z)||0),l=i.length(),c=i.normalize();return new ke.Quaternion().setFromAxisAngle(c,l)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return Re(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Be.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Be.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Be.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Re(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Be.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Be.runInAction(()=>{this.activationState="active"})}catch(t){throw Be.runInAction(()=>{this.activationState="inactive"}),t}})}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingCartesianSocket&&this.connectedJoggingCartesianSocket.close(),this.connectedJoggingJointsSocket&&this.connectedJoggingJointsSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}},kE=class gf{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return Re(this,arguments,function*(n,a,o={}){const s=yield n.connectMotionStream(a);return new gf(s,o)})}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}get activeJoggingMode(){return this.cartesianWebsocket?"cartesian":this.jointWebsocket?"joint":"increment"}get activeWebsocket(){return this.cartesianWebsocket||this.jointWebsocket}stop(){return Re(this,null,function*(){this.cartesianWebsocket&&this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:{x:0,y:0,z:0},rotation_direction:{x:0,y:0,z:0},position_velocity:0,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId}),this.jointWebsocket&&this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:new Array(this.numJoints).fill(0)})})}dispose(){this.cartesianWebsocket&&this.cartesianWebsocket.dispose(),this.jointWebsocket&&this.jointWebsocket.dispose()}setJoggingMode(t,r){console.log("Setting jogging mode to",t),r&&(BR(this.cartesianJoggingOpts,r)||this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),this.cartesianJoggingOpts=r),t!=="cartesian"&&this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),t!=="joint"&&this.jointWebsocket&&(this.jointWebsocket.dispose(),this.jointWebsocket=null),t==="cartesian"&&!this.cartesianWebsocket&&(this.cartesianWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-tcp"),this.cartesianWebsocket.addEventListener("message",n=>{const a=nr(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)})),t==="joint"&&!this.jointWebsocket&&(this.jointWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-joint"),this.jointWebsocket.addEventListener("message",n=>{const a=nr(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)}))}startJointRotation(t){return Re(this,arguments,function*({joint:r,direction:n,velocityRadsPerSec:a}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const o=new Array(this.numJoints).fill(0);o[r]=n==="-"?-a:a,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:o})})}startTCPTranslation(t){return Re(this,arguments,function*({axis:r,direction:n,velocityMmPerSec:a}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:o,position_velocity:a,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return Re(this,arguments,function*({axis:r,direction:n,velocityRadsPerSec:a}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:o,rotation_direction:s,position_velocity:0,rotation_velocity:a,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return Re(this,arguments,function*({currentTcpPose:r,currentJoints:n,coordSystemId:a,velocityInRelevantUnits:o,axis:s,direction:i,motion:l}){var c;const u=[];if(!rV(r.coordinate_system,a))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${a}`);if(l.type==="translate"){const p=Object.assign({},r.position);p[s]+=l.distanceMm*(i==="-"?-1:1),u.push({settings:{limits_override:{tcp_velocity_limit:o}},line:{position:p,orientation:r.orientation,coordinate_system:a}})}else if(l.type==="rotate"){const p=new ln(r.orientation.x,r.orientation.y,r.orientation.z),f=p.length(),m=p.clone().normalize(),b=l.distanceRads*(i==="-"?-1:1),x=new ln(0,0,0);x[s]=1;const V=Math.cos(.5*b)*Math.cos(.5*f),O=Math.sin(.5*b)*Math.sin(.5*f),C=Math.sin(.5*b)*Math.cos(.5*f),P=Math.cos(.5*b)*Math.sin(.5*f),w=x.dot(m),A=x.clone().cross(m),E=2*Math.acos(V-O*w),F=E/Math.sin(.5*E),y=new ln().addScaledVector(A,O).addScaledVector(x,C).addScaledVector(m,P).multiplyScalar(F);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:y,coordinate_system:a}})}const d=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,tcp:this.cartesianJoggingOpts.tcpId,commands:u}),h=(c=d.plan_successful_response)==null?void 0:c.motion;if(!h)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(d)}`);yield this.nova.api.motion.streamMoveForward(h,100,void 0,void 0,void 0,{timeout:1e3*60})})}runIncrementalJointRotation(t){return Re(this,arguments,function*({joint:r,currentJoints:n,velocityRadsPerSec:a,direction:o,distanceRads:s}){var i;const l=[...n.joints];l[r]+=s*(o==="-"?-1:1);const c=new Array(n.joints.length).fill(a),u=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,commands:[{settings:{limits_override:{joint_velocity_limits:{joints:c}}},joint_ptp:{joints:l}}]}),d=(i=u.plan_successful_response)==null?void 0:i.motion;if(!d){console.error("Failed to plan jogging increment motion",u);return}yield this.nova.api.motion.streamMoveForward(d,100,void 0,void 0,void 0,{timeout:1e3*60})})}},Qd=1e-4;function UE(e,t){const r=new vt.Vector3(t.x,t.y,t.z),n=new vt.Vector3(e.x,e.y,e.z),a=r.length(),o=r.normalize();let s=n.length(),i=n.normalize();i.dot(o)<0&&(s=-s,i=i.multiplyScalar(-1));let l=s-a;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),s=a+l,i.multiplyScalar(s)}var LE=class yf{constructor(t,r,n,a,o){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.rapidlyChangingMotionState=a,o.addEventListener("message",s=>{var i;const l=(i=nr(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);pf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,Qd)||Be.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),mf(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,Qd)||Be.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:UE(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),Be.makeAutoObservable(this)}static open(t,r){return Re(this,null,function*(){var n;const{instances:a}=yield t.api.controller.listControllers(),[o,s]=r.split("@"),i=a.find(h=>h.controller===s),l=i==null?void 0:i.physical_motion_groups.find(h=>h.motion_group===r);if(!i||!l)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),u=yield c.firstMessage();console.log("got first message",u);const d=(n=nr(u.data))==null?void 0:n.result;if(!d)throw new Error(`Unable to parse initial motion state message ${u.data}`);return console.log(`Connected motion state websocket to motion group ${l.motion_group}. Initial state:
-  `,d),new yf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},DE=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(OE),this.cell=this.withUnwrappedResponsesOnly(L_),this.deviceConfig=this.withCellId(q_),this.motionGroup=this.withCellId(aE),this.motionGroupInfos=this.withCellId(sE),this.controller=this.withCellId(B_),this.program=this.withCellId(hE),this.programValues=this.withCellId(mE),this.controllerIOs=this.withCellId(F_),this.motionGroupKinematic=this.withCellId(uE),this.motion=this.withCellId(rE),this.coordinateSystems=this.withCellId(G_),this.application=this.withCellId(Jd),this.applicationGlobal=this.withUnwrappedResponsesOnly(Jd),this.motionGroupJogging=this.withCellId(lE),this.virtualRobot=this.withCellId(CE),this.virtualRobotSetup=this.withCellId(_E),this.virtualRobotMode=this.withCellId(RE),this.virtualRobotBehavior=this.withCellId(TE),this.libraryProgramMetadata=this.withCellId(K_),this.libraryProgram=this.withCellId(W_),this.libraryRecipeMetadata=this.withCellId(eE),this.libraryRecipe=this.withCellId(X_),this.storeObject=this.withCellId(SE),this.storeCollisionComponents=this.withCellId(gE),this.storeCollisionScenes=this.withCellId(bE)}withCellId(e){var t,r;const n=new e(ol(rn({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:R.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,[this.cellId,...s]).then(i=>i.data)}return n}withUnwrappedResponsesOnly(e){var t,r;const n=new e(ol(rn({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:R.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,s).then(i=>i.data)}return n}},BE=class{constructor(){this.connections=[]}handleAPIRequest(e){return Re(this,null,function*(){var t,r,n;const a=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return{instances:[{controller:"mock-ur5e",model_name:"UniversalRobots::Controller",host:"mock-ur5e",allow_software_install_on_controller:!0,physical_motion_groups:[{motion_group:"0@mock-ur5e",name_from_controller:"UR5e",active:!1,model_from_controller:"UniversalRobots_UR5e"}],has_error:!1,error_details:""}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{kind:"VirtualController",manufacturer:"universalrobots",position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/specification",handle(){return{dh_parameters:[{alpha:1.5707963267948966,theta:0,a:0,d:162.25,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-425,d:0,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-392.2,d:0,reverse_rotation_direction:!1},{alpha:1.5707963267948966,theta:0,a:0,d:133.3,reverse_rotation_direction:!1},{alpha:-1.5707963267948966,theta:0,a:0,d:99.7,reverse_rotation_direction:!1},{alpha:0,theta:0,a:0,d:99.6,reverse_rotation_direction:!1}],mechanical_joint_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/safety-setup",handle(){return{safety_settings:[{safety_state:"SAFETY_NORMAL",settings:{joint_position_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-2.96705961227417,upper_limit:2.96705961227417,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-1.7453292608261108,upper_limit:2.7925267219543457,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-3.3161256313323975,upper_limit:.40142571926116943,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-3.4906585216522217,upper_limit:3.4906585216522217,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-2.4434609413146973,upper_limit:2.4434609413146973,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-4.71238899230957,upper_limit:4.71238899230957,unlimited:!1}],joint_velocity_limits:[{joint:"JOINTNAME_AXIS_1",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_2",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_3",limit:3.4906585216522217},{joint:"JOINTNAME_AXIS_4",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_5",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_6",limit:6.981317043304443}],joint_acceleration_limits:[],joint_torque_limits:[],tcp_velocity_limit:1800}}],safety_zones:[{id:1,priority:0,geometry:{compound:{child_geometries:[{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820},{x:-800,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:-1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:-800,y:1330,z:-1820},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500},{x:1650,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:1650,y:-1330,z:1500},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Cell workzone"},motion_group_uid:1},{id:2,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-1850},{x:865,y:1330,z:-1850},{x:865,y:-720,z:-1850},{x:1650,y:-720,z:-1850},{x:1650,y:1330,z:-920},{x:865,y:1330,z:-920},{x:865,y:-720,z:-920},{x:1650,y:-720,z:-920}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Transport"},motion_group_uid:1},{id:3,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-600},{x:865,y:1330,z:-600},{x:865,y:430,z:-600},{x:1650,y:430,z:-600},{x:1650,y:1330,z:-1250},{x:865,y:1330,z:-1250},{x:865,y:430,z:-1250},{x:1650,y:430,z:-1250}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Tunel"},motion_group_uid:1},{id:4,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:-760,z:-440},{x:900,y:-760,z:-440},{x:900,y:-1330,z:-440},{x:1650,y:-1330,z:-440},{x:1650,y:-760,z:-1800},{x:900,y:-760,z:-1800},{x:900,y:-1330,z:-1800},{x:1650,y:-1330,z:-1800}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Fanuc controller"},motion_group_uid:1},{id:6,priority:0,geometry:{convex_hull:{vertices:[{x:-200,y:-200,z:-1900},{x:200,y:-200,z:-1900},{x:200,y:200,z:-1900},{x:-200,y:200,z:-1900},{x:-200,y:-200,z:-350},{x:200,y:-200,z:-350},{x:200,y:200,z:-350},{x:-200,y:200,z:-350}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Robot base"},motion_group_uid:1}],robot_model_geometries:[{link_index:1,geometry:{sphere:{radius:270},init_pose:{position:{x:-70,y:-70,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link1_sphere"}},{link_index:2,geometry:{capsule:{radius:160,cylinder_height:800},init_pose:{position:{x:-450,y:40,z:170},orientation:{x:0,y:-.7071067811865475,z:0,w:.7071067811865476}},id:"link2_capsule"}},{link_index:3,geometry:{sphere:{radius:270},init_pose:{position:{x:-110,y:10,z:-100},orientation:{x:0,y:0,z:0,w:1}},id:"link3_sphere"}},{link_index:4,geometry:{capsule:{radius:110,cylinder_height:600},init_pose:{position:{x:0,y:300,z:40},orientation:{x:-.7071067811865475,y:0,z:0,w:.7071067811865476}},id:"link4_capsule"}},{link_index:5,geometry:{sphere:{radius:75},init_pose:{position:{x:0,y:0,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link5_sphere"}}],tool_geometries:[]}}},{method:"GET",path:"/cells/:cellId/coordinate-systems",handle(){return{coordinatesystems:[{coordinate_system:"",name:"world",reference_uid:"",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0],type:"ROTATION_VECTOR"}}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/tcps",handle(){return{tcps:[{id:"Flange",readable_name:"Default-Flange",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0,0],type:"ROTATION_VECTOR"}},{id:"complex-tcp-position",readable_name:"Complex TCP Position",position:{x:-200,y:300,z:150},rotation:{angles:[-.12139440409113832,-.06356210998212003,-.2023240068185639,0],type:"ROTATION_VECTOR"}}]}}}],o=((t=e.method)==null?void 0:t.toUpperCase())||"GET",s="/cells"+((n=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:n.split("?")[0]);for(const i of a){const l=$E.match(i.path)(s||"");if(o===i.method&&l){const c=i.handle();return{status:200,statusText:"Success",data:JSON.stringify(c),headers:{},config:e,request:{responseURL:e.url}}}}throw new hl(`No mock handler matched this request: ${o} ${s}`,"404",e)})}handleWebsocketConnection(e){this.connections.push(e),setTimeout(()=>{e.dispatchEvent(new Event("open")),console.log("Websocket connection opened from",e.url),e.url.includes("/state-stream")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify(NE)})),e.url.includes("/move-joint")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:48:26.096266444Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3492152690887451,-1.5659207105636597,1.6653711795806885,-1.0991662740707397,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:""},tcp_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"671259"}],sequence_number:"671259"},movement_state:"MOVEMENT_STATE_MOVING"}})})),e.url.includes("/move-tcp")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:43:12.188335774Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3352527618408203,-1.5659207105636597,1.6653711795806885,-1.110615611076355,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:""},tcp_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"627897"}],sequence_number:"627897"},movement_state:"MOVEMENT_STATE_MOVING"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}},NE={result:{state:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",joint_position:{joints:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:""},tcp_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"1"},tcp_pose:{position:{x:302.90748476115556,y:-152.87065869452337,z:424.0454619321661},orientation:{x:2.3403056115045353,y:-1.1706836379431356,z:.9772511964246311},coordinate_system:"",tcp:"Flange"}}},FE=class{constructor(e){this.authPromise=null,this.accessToken=null;var 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Promise.reject(i)}else((s=a.response)==null?void 0:s.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(a)})),this.api=new DE(r,ol(rn({},e),{basePath:Ei(this.config.instanceUrl,"/api/v1"),isJsonMime:a=>a==="application/json",baseOptions:rn(rn({},this.mock?{adapter:a=>this.mock.handleAPIRequest(a)}:{}),e.baseOptions),axiosInstance:n}))}renewAuthentication(){return Re(this,null,function*(){if(!this.authPromise){this.authPromise=aV(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?Ci.setString("wbjs.access_token",this.accessToken):Ci.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL(Ei(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return 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0:e.serverIndex)??0,c=(d=(u=$["ApplicationApi.updateApp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)}}};class Wd extends Ve{addApp(t,r,n,a){return qr(this.configuration).addApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearApps(t,r,n){return qr(this.configuration).clearApps(t,r,n).then(a=>a(this.axios,this.basePath))}deleteApp(t,r,n,a){return qr(this.configuration).deleteApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getApp(t,r,n){return qr(this.configuration).getApp(t,r,n).then(a=>a(this.axios,this.basePath))}listApps(t,r){return qr(this.configuration).listApps(t,r).then(n=>n(this.axios,this.basePath))}updateApp(t,r,n,a,o){return qr(this.configuration).updateApp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const DE=function(e){return{deleteCell:async(t,r,n={})=>{v("deleteCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deployCell:async(t,r,n={})=>{v("deployCell","cell",t);const a="/cells",o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(t,i,e),{url:D(o),options:i}},getCell:async(t,r={})=>{v("getCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},getCellStatus:async(t,r={})=>{v("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listCells:async(t={})=>{const r="/cells",n=new URL(r,j);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},updateCell:async(t,r,n,a={})=>{v("updateCell","cell",t),v("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:D(s),options:l}}}},Jr=function(e){const t=DE(e);return{async deleteCell(r,n,a){var l,c;const o=await t.deleteCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["CellApi.deleteCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deployCell(r,n,a){var l,c;const o=await t.deployCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["CellApi.deployCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getCell(r,n){var i,l;const a=await t.getCell(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["CellApi.getCell"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async getCellStatus(r,n){var i,l;const a=await t.getCellStatus(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["CellApi.getCellStatus"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async listCells(r){var s,i;const n=await t.listCells(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=$["CellApi.listCells"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>N(n,A,M,e)(l,o||c)},async updateCell(r,n,a,o){var c,u;const s=await t.updateCell(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["CellApi.updateCell"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class NE extends Ve{deleteCell(t,r,n){return Jr(this.configuration).deleteCell(t,r,n).then(a=>a(this.axios,this.basePath))}deployCell(t,r,n){return Jr(this.configuration).deployCell(t,r,n).then(a=>a(this.axios,this.basePath))}getCell(t,r){return Jr(this.configuration).getCell(t,r).then(n=>n(this.axios,this.basePath))}getCellStatus(t,r){return Jr(this.configuration).getCellStatus(t,r).then(n=>n(this.axios,this.basePath))}listCells(t){return Jr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,n,a){return Jr(this.configuration).updateCell(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const BE=function(e){return{addRobotController:async(t,r,n,a={})=>{v("addRobotController","cell",t),v("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:D(s),options:l}},clearRobotControllers:async(t,r,n={})=>{v("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteRobotController:async(t,r,n,a={})=>{v("deleteRobotController","cell",t),v("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getCurrentRobotControllerState:async(t,r,n={})=>{v("getCurrentRobotControllerState","cell",t),v("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMode:async(t,r,n={})=>{v("getMode","cell",t),v("getMode","controller",r);const a="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getRobotController:async(t,r,n={})=>{v("getRobotController","cell",t),v("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getSupportedModes:async(t,r,n={})=>{v("getSupportedModes","cell",t),v("getSupportedModes","controller",r);const a="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getVirtualRobotConfiguration:async(t,r,n={})=>{v("getVirtualRobotConfiguration","cell",t),v("getVirtualRobotConfiguration","controller",r);const a="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listControllers:async(t,r={})=>{v("listControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},setDefaultMode:async(t,r,n,a={})=>{v("setDefaultMode","cell",t),v("setDefaultMode","controller",r),v("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.mode=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamFreeDrive:async(t,r,n,a={})=>{v("streamFreeDrive","cell",t),v("streamFreeDrive","controller",r);const o="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamModeChange:async(t,r,n={})=>{v("streamModeChange","cell",t),v("streamModeChange","controller",r);const a="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},streamRobotControllerState:async(t,r,n,a={})=>{v("streamRobotControllerState","cell",t),v("streamRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},updateRobotController:async(t,r,n,a,o={})=>{v("updateRobotController","cell",t),v("updateRobotController","controller",r),v("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),a!==void 0&&(d.completionTimeout=a),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:D(i),options:c}}}},rt=function(e){const t=BE(e);return{async addRobotController(r,n,a,o){var c,u;const s=await t.addRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async clearRobotControllers(r,n,a){var l,c;const o=await t.clearRobotControllers(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ControllerApi.clearRobotControllers"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deleteRobotController(r,n,a,o){var c,u;const s=await t.deleteRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async getCurrentRobotControllerState(r,n,a){var l,c;const o=await t.getCurrentRobotControllerState(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getMode(r,n,a){var l,c;const o=await t.getMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ControllerApi.getMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getRobotController(r,n,a){var l,c;const o=await t.getRobotController(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ControllerApi.getRobotController"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getSupportedModes(r,n,a){var l,c;const o=await t.getSupportedModes(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ControllerApi.getSupportedModes"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getVirtualRobotConfiguration(r,n,a){var l,c;const o=await t.getVirtualRobotConfiguration(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listControllers(r,n){var i,l;const a=await t.listControllers(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["ControllerApi.listControllers"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async setDefaultMode(r,n,a,o){var c,u;const s=await t.setDefaultMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async streamFreeDrive(r,n,a,o){var c,u;const s=await t.streamFreeDrive(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async streamModeChange(r,n,a){var l,c;const o=await t.streamModeChange(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ControllerApi.streamModeChange"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async streamRobotControllerState(r,n,a,o){var c,u;const s=await t.streamRobotControllerState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ControllerApi.streamRobotControllerState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async updateRobotController(r,n,a,o,s){var u,d;const i=await t.updateRobotController(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)}}};class FE extends Ve{addRobotController(t,r,n,a){return rt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return rt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return rt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return rt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return rt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return rt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return rt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return rt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return rt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return rt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return rt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return rt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return rt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return rt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const zE=function(e){return{listIODescriptions:async(t,r,n,a={})=>{v("listIODescriptions","cell",t),v("listIODescriptions","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listIOValues:async(t,r,n,a={})=>{v("listIOValues","cell",t),v("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setOutputValues:async(t,r,n,a={})=>{v("setOutputValues","cell",t),v("setOutputValues","controller",r),v("setOutputValues","iOValue",n);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},streamIOValues:async(t,r,n,a={})=>{v("streamIOValues","cell",t),v("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},waitForIOEvent:async(t,r,n,a,o,s,i,l={})=>{v("waitForIOEvent","cell",t),v("waitForIOEvent","controller",r),v("waitForIOEvent","io",n),v("waitForIOEvent","comparisonType",a);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),u=new URL(c,j);let d;e&&(d=e.baseOptions);const h={method:"GET",...d,...l},p={},f={};k(h,e),await U(p,e),n!==void 0&&(f.io=n),a!==void 0&&(f.comparison_type=a),o!==void 0&&(f.boolean_value=o),s!==void 0&&(f.integer_value=s),i!==void 0&&(f.floating_value=i),L(u,f);let m=d&&d.headers?d.headers:{};return h.headers={...p,...m,...l.headers},{url:D(u),options:h}}}},zn=function(e){const t=zE(e);return{async listIODescriptions(r,n,a,o){var c,u;const s=await t.listIODescriptions(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ControllerIOsApi.listIODescriptions"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async listIOValues(r,n,a,o){var c,u;const s=await t.listIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ControllerIOsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async setOutputValues(r,n,a,o){var c,u;const s=await t.setOutputValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ControllerIOsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async streamIOValues(r,n,a,o){var c,u;const s=await t.streamIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ControllerIOsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async waitForIOEvent(r,n,a,o,s,i,l,c){var p,f;const u=await t.waitForIOEvent(r,n,a,o,s,i,l,c),d=(e==null?void 0:e.serverIndex)??0,h=(f=(p=$["ControllerIOsApi.waitForIOEvent"])==null?void 0:p[d])==null?void 0:f.url;return(m,b)=>N(u,A,M,e)(m,h||b)}}};class GE extends Ve{listIODescriptions(t,r,n,a){return zn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return zn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return zn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return zn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return zn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const HE=function(e){return{addCoordinateSystem:async(t,r,n={})=>{v("addCoordinateSystem","cell",t),v("addCoordinateSystem","addRequest",r);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},deleteCoordinateSystem:async(t,r,n={})=>{v("deleteCoordinateSystem","cell",t),v("deleteCoordinateSystem","coordinateSystem",r);const a="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getCoordinateSystem:async(t,r,n,a={})=>{v("getCoordinateSystem","cell",t),v("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listCoordinateSystems:async(t,r,n={})=>{v("listCoordinateSystems","cell",t);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.rotation_type=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},transformInCoordinateSystem:async(t,r,n,a={})=>{v("transformInCoordinateSystem","cell",t),v("transformInCoordinateSystem","coordinateSystem",r),v("transformInCoordinateSystem","pose",n);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},Gn=function(e){const t=HE(e);return{async addCoordinateSystem(r,n,a){var l,c;const o=await t.addCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deleteCoordinateSystem(r,n,a){var l,c;const o=await t.deleteCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getCoordinateSystem(r,n,a,o){var c,u;const s=await t.getCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async listCoordinateSystems(r,n,a){var l,c;const o=await t.listCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async transformInCoordinateSystem(r,n,a,o){var c,u;const s=await t.transformInCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class qE extends Ve{addCoordinateSystem(t,r,n){return Gn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Gn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Gn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Gn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Gn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const JE=function(e){return{clearDevices:async(t,r={})=>{v("clearDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},createDevice:async(t,r,n={})=>{v("createDevice","cell",t),v("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},deleteDevice:async(t,r,n={})=>{v("deleteDevice","cell",t),v("deleteDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getDevice:async(t,r,n={})=>{v("getDevice","cell",t),v("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listDevices:async(t,r={})=>{v("listDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}}}},Hn=function(e){const t=JE(e);return{async clearDevices(r,n){var i,l;const a=await t.clearDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["DeviceConfigurationApi.clearDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async createDevice(r,n,a){var l,c;const o=await t.createDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["DeviceConfigurationApi.createDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deleteDevice(r,n,a){var l,c;const o=await t.deleteDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getDevice(r,n,a){var l,c;const o=await t.getDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["DeviceConfigurationApi.getDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listDevices(r,n){var i,l;const a=await t.listDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["DeviceConfigurationApi.listDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)}}};class WE extends Ve{clearDevices(t,r){return Hn(this.configuration).clearDevices(t,r).then(n=>n(this.axios,this.basePath))}createDevice(t,r,n){return Hn(this.configuration).createDevice(t,r,n).then(a=>a(this.axios,this.basePath))}deleteDevice(t,r,n){return Hn(this.configuration).deleteDevice(t,r,n).then(a=>a(this.axios,this.basePath))}getDevice(t,r,n){return Hn(this.configuration).getDevice(t,r,n).then(a=>a(this.axios,this.basePath))}listDevices(t,r){return Hn(this.configuration).listDevices(t,r).then(n=>n(this.axios,this.basePath))}}const YE=function(e){return{createProgram:async(t,r,n,a={})=>{v("createProgram","cell",t),v("createProgram","body",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.name=n),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:D(s),options:l}},deleteProgram:async(t,r,n={})=>{v("deleteProgram","cell",t),v("deleteProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteProgramList:async(t,r,n={})=>{v("deleteProgramList","cell",t),v("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r&&(c.program_ids=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getProgram:async(t,r,n={})=>{v("getProgram","cell",t),v("getProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateProgram:async(t,r,n,a={})=>{v("updateProgram","cell",t),v("updateProgram","program",r),v("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},qn=function(e){const t=YE(e);return{async createProgram(r,n,a,o){var c,u;const s=await t.createProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["LibraryProgramApi.createProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async deleteProgram(r,n,a){var l,c;const o=await t.deleteProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["LibraryProgramApi.deleteProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deleteProgramList(r,n,a){var l,c;const o=await t.deleteProgramList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["LibraryProgramApi.deleteProgramList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getProgram(r,n,a){var l,c;const o=await t.getProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["LibraryProgramApi.getProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async updateProgram(r,n,a,o){var c,u;const s=await t.updateProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["LibraryProgramApi.updateProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class KE extends Ve{createProgram(t,r,n,a){return qn(this.configuration).createProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}deleteProgram(t,r,n){return qn(this.configuration).deleteProgram(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramList(t,r,n){return qn(this.configuration).deleteProgramList(t,r,n).then(a=>a(this.axios,this.basePath))}getProgram(t,r,n){return qn(this.configuration).getProgram(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgram(t,r,n,a){return qn(this.configuration).updateProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const QE=function(e){return{getProgramMetadata:async(t,r,n={})=>{v("getProgramMetadata","cell",t),v("getProgramMetadata","program",r);const a="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramMetadata:async(t,r,n={})=>{v("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.show_hidden=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateProgramMetadata:async(t,r,n,a={})=>{v("updateProgramMetadata","cell",t),v("updateProgramMetadata","program",r),v("updateProgramMetadata","updateProgramMetadataRequest",n);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{v("uploadProgramMetadataImage","cell",t),v("uploadProgramMetadataImage","program",r),v("uploadProgramMetadataImage","file",n);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);k(l,e),await U(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",L(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:D(s),options:l}}}},Za=function(e){const t=QE(e);return{async getProgramMetadata(r,n,a){var l,c;const o=await t.getProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listProgramMetadata(r,n,a){var l,c;const o=await t.listProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async updateProgramMetadata(r,n,a,o){var c,u;const s=await t.updateProgramMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async uploadProgramMetadataImage(r,n,a,o){var c,u;const s=await t.uploadProgramMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class XE extends Ve{getProgramMetadata(t,r,n){return Za(this.configuration).getProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramMetadata(t,r,n){return Za(this.configuration).listProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgramMetadata(t,r,n,a){return Za(this.configuration).updateProgramMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,n,a){return Za(this.configuration).uploadProgramMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const ZE=function(e){return{createRecipe:async(t,r,n,a,o={})=>{v("createRecipe","cell",t),v("createRecipe","programId",r),v("createRecipe","body",n);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};k(c,e),await U(u,e),r!==void 0&&(d.program_id=r),a!==void 0&&(d.name=a),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:D(i),options:c}},deleteRecipe:async(t,r,n={})=>{v("deleteRecipe","cell",t),v("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteRecipeList:async(t,r,n={})=>{v("deleteRecipeList","cell",t),v("deleteRecipeList","recipeIds",r);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),r&&(c.recipe_ids=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getRecipe:async(t,r,n={})=>{v("getRecipe","cell",t),v("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},updateRecipe:async(t,r,n,a={})=>{v("updateRecipe","cell",t),v("updateRecipe","recipe",r),v("updateRecipe","body",n);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},Jn=function(e){const t=ZE(e);return{async createRecipe(r,n,a,o,s){var u,d;const i=await t.createRecipe(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["LibraryRecipeApi.createRecipe"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)},async deleteRecipe(r,n,a){var l,c;const o=await t.deleteRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deleteRecipeList(r,n,a){var l,c;const o=await t.deleteRecipeList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getRecipe(r,n,a){var l,c;const o=await t.getRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["LibraryRecipeApi.getRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async updateRecipe(r,n,a,o){var c,u;const s=await t.updateRecipe(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["LibraryRecipeApi.updateRecipe"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class eV extends Ve{createRecipe(t,r,n,a,o){return Jn(this.configuration).createRecipe(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,n){return Jn(this.configuration).deleteRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRecipeList(t,r,n){return Jn(this.configuration).deleteRecipeList(t,r,n).then(a=>a(this.axios,this.basePath))}getRecipe(t,r,n){return Jn(this.configuration).getRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}updateRecipe(t,r,n,a){return Jn(this.configuration).updateRecipe(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const tV=function(e){return{getRecipeMetadata:async(t,r,n={})=>{v("getRecipeMetadata","cell",t),v("getRecipeMetadata","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listRecipeMetadata:async(t,r={})=>{v("listRecipeMetadata","cell",t);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},updateRecipeMetadata:async(t,r,n,a={})=>{v("updateRecipeMetadata","cell",t),v("updateRecipeMetadata","recipe",r),v("updateRecipeMetadata","updateRecipeMetadataRequest",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},uploadRecipeMetadataImage:async(t,r,n,a={})=>{v("uploadRecipeMetadataImage","cell",t),v("uploadRecipeMetadataImage","recipe",r),v("uploadRecipeMetadataImage","file",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);k(l,e),await U(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",L(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:D(s),options:l}}}},eo=function(e){const t=tV(e);return{async getRecipeMetadata(r,n,a){var l,c;const o=await t.getRecipeMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listRecipeMetadata(r,n){var i,l;const a=await t.listRecipeMetadata(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async updateRecipeMetadata(r,n,a,o){var c,u;const s=await t.updateRecipeMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async uploadRecipeMetadataImage(r,n,a,o){var c,u;const s=await t.uploadRecipeMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class rV extends Ve{getRecipeMetadata(t,r,n){return eo(this.configuration).getRecipeMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listRecipeMetadata(t,r){return eo(this.configuration).listRecipeMetadata(t,r).then(n=>n(this.axios,this.basePath))}updateRecipeMetadata(t,r,n,a){return eo(this.configuration).updateRecipeMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,n,a){return eo(this.configuration).uploadRecipeMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const nV=function(e){return{deleteAllMotions:async(t,r={})=>{v("deleteAllMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},deleteMotion:async(t,r,n={})=>{v("deleteMotion","cell",t),v("deleteMotion","motion",r);const a="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},executeTrajectory:async(t,r,n={})=>{v("executeTrajectory","cell",t),v("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},getMotionTrajectory:async(t,r,n,a,o={})=>{v("getMotionTrajectory","cell",t),v("getMotionTrajectory","motion",r),v("getMotionTrajectory","sampleTime",n);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};k(c,e),await U(u,e),n!==void 0&&(d.sample_time=n),a!==void 0&&(d.responses_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getMotionTrajectorySample:async(t,r,n,a,o={})=>{v("getMotionTrajectorySample","cell",t),v("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};k(c,e),await U(u,e),n!==void 0&&(d.location_on_trajectory=n),a!==void 0&&(d.response_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getPlannedMotion:async(t,r,n,a={})=>{v("getPlannedMotion","cell",t),v("getPlannedMotion","motion",r);const o="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.sample_time=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{v("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listMotions:async(t,r={})=>{v("listMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},loadPlannedMotion:async(t,r,n={})=>{v("loadPlannedMotion","cell",t),v("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},planCollisionFreePTP:async(t,r,n={})=>{v("planCollisionFreePTP","cell",t);const a="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},planMotion:async(t,r,n={})=>{v("planMotion","cell",t),v("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},planTrajectory:async(t,r,n={})=>{v("planTrajectory","cell",t);const a="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},stopExecution:async(t,r,n={})=>{v("stopExecution","cell",t),v("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},streamMove:async(t,r,n={})=>{v("streamMove","cell",t),v("streamMove","streamMoveRequest",r);const a="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{v("streamMoveBackward","cell",t),v("streamMoveBackward","motion",r),v("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,j);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};k(d,e),await U(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}},streamMoveForward:async(t,r,n,a,o,s,i={})=>{v("streamMoveForward","cell",t),v("streamMoveForward","motion",r),v("streamMoveForward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,j);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};k(d,e),await U(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}},streamMoveToTrajectoryViaJointPTP:async(t,r,n,a,o,s,i,l,c,u,d={})=>{v("streamMoveToTrajectoryViaJointPTP","cell",t),v("streamMoveToTrajectoryViaJointPTP","motion",r),v("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,j);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},b={},x={};k(m,e),await U(b,e),n!==void 0&&(x.location_on_trajectory=n),a&&(x["limit_override.joint_velocity_limits.joints"]=a),o&&(x["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(x["limit_override.tcp_velocity_limit"]=s),i!==void 0&&(x["limit_override.tcp_acceleration_limit"]=i),l!==void 0&&(x["limit_override.tcp_orientation_velocity_limit"]=l),c!==void 0&&(x["limit_override.tcp_orientation_acceleration_limit"]=c),u!==void 0&&(x.responses_coordinate_system=u),L(p,x);let _=f&&f.headers?f.headers:{};return m.headers={...b,..._,...d.headers},{url:D(p),options:m}}}},Ye=function(e){const t=nV(e);return{async deleteAllMotions(r,n){var i,l;const a=await t.deleteAllMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["MotionApi.deleteAllMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async deleteMotion(r,n,a){var l,c;const o=await t.deleteMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionApi.deleteMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async executeTrajectory(r,n,a){var l,c;const o=await t.executeTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionApi.executeTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getMotionTrajectory(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectory(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["MotionApi.getMotionTrajectory"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)},async getMotionTrajectorySample(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectorySample(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["MotionApi.getMotionTrajectorySample"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)},async getPlannedMotion(r,n,a,o){var c,u;const s=await t.getPlannedMotion(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["MotionApi.getPlannedMotion"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async getPlanningMotionGroupModels(r,n){var i,l;const a=await t.getPlanningMotionGroupModels(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async listMotions(r,n){var i,l;const a=await t.listMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["MotionApi.listMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async loadPlannedMotion(r,n,a){var l,c;const o=await t.loadPlannedMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionApi.loadPlannedMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async planCollisionFreePTP(r,n,a){var l,c;const o=await t.planCollisionFreePTP(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionApi.planCollisionFreePTP"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async planMotion(r,n,a){var l,c;const o=await t.planMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionApi.planMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async planTrajectory(r,n,a){var l,c;const o=await t.planTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionApi.planTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async stopExecution(r,n,a){var l,c;const o=await t.stopExecution(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionApi.stopExecution"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async streamMove(r,n,a){var l,c;const o=await t.streamMove(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionApi.streamMove"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async streamMoveBackward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveBackward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=$["MotionApi.streamMoveBackward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>N(c,A,M,e)(f,d||m)},async streamMoveForward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveForward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=$["MotionApi.streamMoveForward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>N(c,A,M,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var b,x;const p=await t.streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h),f=(e==null?void 0:e.serverIndex)??0,m=(x=(b=$["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:b[f])==null?void 0:x.url;return(_,O)=>N(p,A,M,e)(_,m||O)}}};class aV extends Ve{deleteAllMotions(t,r){return Ye(this.configuration).deleteAllMotions(t,r).then(n=>n(this.axios,this.basePath))}deleteMotion(t,r,n){return Ye(this.configuration).deleteMotion(t,r,n).then(a=>a(this.axios,this.basePath))}executeTrajectory(t,r,n){return Ye(this.configuration).executeTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionTrajectory(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectory(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,n,a,o){return Ye(this.configuration).getMotionTrajectorySample(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,n,a){return Ye(this.configuration).getPlannedMotion(t,r,n,a).then(o=>o(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ye(this.configuration).getPlanningMotionGroupModels(t,r).then(n=>n(this.axios,this.basePath))}listMotions(t,r){return Ye(this.configuration).listMotions(t,r).then(n=>n(this.axios,this.basePath))}loadPlannedMotion(t,r,n){return Ye(this.configuration).loadPlannedMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planCollisionFreePTP(t,r,n){return Ye(this.configuration).planCollisionFreePTP(t,r,n).then(a=>a(this.axios,this.basePath))}planMotion(t,r,n){return Ye(this.configuration).planMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planTrajectory(t,r,n){return Ye(this.configuration).planTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}stopExecution(t,r,n){return Ye(this.configuration).stopExecution(t,r,n).then(a=>a(this.axios,this.basePath))}streamMove(t,r,n){return Ye(this.configuration).streamMove(t,r,n).then(a=>a(this.axios,this.basePath))}streamMoveBackward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveBackward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveForward(t,r,n,a,o,s,i){return Ye(this.configuration).streamMoveForward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d){return Ye(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d).then(h=>h(this.axios,this.basePath))}}const oV=function(e){return{activateAllMotionGroups:async(t,r,n={})=>{v("activateAllMotionGroups","cell",t),v("activateAllMotionGroups","controller",r);const a="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.controller=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},activateMotionGroup:async(t,r,n={})=>{v("activateMotionGroup","cell",t),v("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),r!==void 0&&(c.motion_group=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deactivateMotionGroup:async(t,r,n={})=>{v("deactivateMotionGroup","cell",t),v("deactivateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listMotionGroups:async(t,r={})=>{v("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}}}},to=function(e){const t=oV(e);return{async activateAllMotionGroups(r,n,a){var l,c;const o=await t.activateAllMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async activateMotionGroup(r,n,a){var l,c;const o=await t.activateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupApi.activateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deactivateMotionGroup(r,n,a){var l,c;const o=await t.deactivateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listMotionGroups(r,n){var i,l;const a=await t.listMotionGroups(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["MotionGroupApi.listMotionGroups"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)}}};class sV extends Ve{activateAllMotionGroups(t,r,n){return to(this.configuration).activateAllMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}activateMotionGroup(t,r,n){return to(this.configuration).activateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}deactivateMotionGroup(t,r,n){return to(this.configuration).deactivateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}listMotionGroups(t,r){return to(this.configuration).listMotionGroups(t,r).then(n=>n(this.axios,this.basePath))}}const iV=function(e){return{getActivePayload:async(t,r,n={})=>{v("getActivePayload","cell",t),v("getActivePayload","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getActiveTcp:async(t,r,n,a={})=>{v("getActiveTcp","cell",t),v("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getCurrentMotionGroupState:async(t,r,n,a,o={})=>{v("getCurrentMotionGroupState","cell",t),v("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};k(c,e),await U(u,e),n!==void 0&&(d.tcp=n),a!==void 0&&(d.response_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getInfoCapabilities:async(t,r,n={})=>{v("getInfoCapabilities","cell",t),v("getInfoCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMotionGroupSpecification:async(t,r,n={})=>{v("getMotionGroupSpecification","cell",t),v("getMotionGroupSpecification","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getMounting:async(t,r,n={})=>{v("getMounting","cell",t),v("getMounting","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getOptimizerConfiguration:async(t,r,n,a={})=>{v("getOptimizerConfiguration","cell",t),v("getOptimizerConfiguration","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.tcp=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getSafetySetup:async(t,r,n={})=>{v("getSafetySetup","cell",t),v("getSafetySetup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listPayloads:async(t,r,n={})=>{v("listPayloads","cell",t),v("listPayloads","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listTcps:async(t,r,n,a={})=>{v("listTcps","cell",t),v("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},streamMotionGroupState:async(t,r,n,a,o,s={})=>{v("streamMotionGroupState","cell",t),v("streamMotionGroupState","motionGroup",r);const i="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(i,j);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...s},d={},h={};k(u,e),await U(d,e),n!==void 0&&(h.response_rate=n),a!==void 0&&(h.response_coordinate_system=a),o!==void 0&&(h.tcp=o),L(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...s.headers},{url:D(l),options:u}}}},bt=function(e){const t=iV(e);return{async getActivePayload(r,n,a){var l,c;const o=await t.getActivePayload(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getActiveTcp(r,n,a,o){var c,u;const s=await t.getActiveTcp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async getCurrentMotionGroupState(r,n,a,o,s){var u,d;const i=await t.getCurrentMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)},async getInfoCapabilities(r,n,a){var l,c;const o=await t.getInfoCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getMotionGroupSpecification(r,n,a){var l,c;const o=await t.getMotionGroupSpecification(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getMounting(r,n,a){var l,c;const o=await t.getMounting(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupInfosApi.getMounting"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getOptimizerConfiguration(r,n,a,o){var c,u;const s=await t.getOptimizerConfiguration(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async getSafetySetup(r,n,a){var l,c;const o=await t.getSafetySetup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listPayloads(r,n,a){var l,c;const o=await t.listPayloads(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupInfosApi.listPayloads"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listTcps(r,n,a,o){var c,u;const s=await t.listTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["MotionGroupInfosApi.listTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async streamMotionGroupState(r,n,a,o,s,i){var d,h;const l=await t.streamMotionGroupState(r,n,a,o,s,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=$["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>N(l,A,M,e)(p,u||f)}}};class lV extends Ve{getActivePayload(t,r,n){return bt(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return bt(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return bt(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return bt(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return bt(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return bt(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return bt(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return bt(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return bt(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return bt(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return bt(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const cV=function(e){return{directionJogging:async(t,r,n={})=>{v("directionJogging","cell",t),v("directionJogging","directionJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},getJoggingCapabilities:async(t,r,n={})=>{v("getJoggingCapabilities","cell",t),v("getJoggingCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},jointJogging:async(t,r,n={})=>{v("jointJogging","cell",t),v("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},stopJogging:async(t,r,n={})=>{v("stopJogging","cell",t),v("stopJogging","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}}}},ro=function(e){const t=cV(e);return{async directionJogging(r,n,a){var l,c;const o=await t.directionJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getJoggingCapabilities(r,n,a){var l,c;const o=await t.getJoggingCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async jointJogging(r,n,a){var l,c;const o=await t.jointJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async stopJogging(r,n,a){var l,c;const o=await t.stopJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)}}};class uV extends Ve{directionJogging(t,r,n){return ro(this.configuration).directionJogging(t,r,n).then(a=>a(this.axios,this.basePath))}getJoggingCapabilities(t,r,n){return ro(this.configuration).getJoggingCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}jointJogging(t,r,n){return ro(this.configuration).jointJogging(t,r,n).then(a=>a(this.axios,this.basePath))}stopJogging(t,r,n){return ro(this.configuration).stopJogging(t,r,n).then(a=>a(this.axios,this.basePath))}}const dV=function(e){return{calculateAllInverseKinematic:async(t,r,n,a={})=>{v("calculateAllInverseKinematic","cell",t),v("calculateAllInverseKinematic","motionGroup",r),v("calculateAllInverseKinematic","allJointPositionsRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},calculateForwardKinematic:async(t,r,n,a={})=>{v("calculateForwardKinematic","cell",t),v("calculateForwardKinematic","motionGroup",r),v("calculateForwardKinematic","tcpPoseRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{v("calculateInverseKinematic","cell",t),v("calculateInverseKinematic","motionGroup",r),v("calculateInverseKinematic","jointPositionRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},getKinematicCapabilities:async(t,r,n={})=>{v("getKinematicCapabilities","cell",t),v("getKinematicCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}}}},no=function(e){const t=dV(e);return{async calculateAllInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateAllInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async calculateForwardKinematic(r,n,a,o){var c,u;const s=await t.calculateForwardKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async calculateInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async getKinematicCapabilities(r,n,a){var l,c;const o=await t.getKinematicCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)}}};class hV extends Ve{calculateAllInverseKinematic(t,r,n,a){return no(this.configuration).calculateAllInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,n,a){return no(this.configuration).calculateForwardKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,n,a){return no(this.configuration).calculateInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,n){return no(this.configuration).getKinematicCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}}const pV=function(e){return{createProgramRunner:async(t,r,n={})=>{v("createProgramRunner","cell",t),v("createProgramRunner","request",r);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="text/plain",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},executeProgram:async(t,r,n={})=>{v("executeProgram","cell",t),v("executeProgram","codeWithArguments",r);const a="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},getProgramRunner:async(t,r,n={})=>{v("getProgramRunner","cell",t),v("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramRunners:async(t,r={})=>{v("listProgramRunners","cell",t);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},migrateProgram:async(t,r,n={})=>{v("migrateProgram","cell",t),v("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="text/plain",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},planProgram:async(t,r,n,a={})=>{v("planProgram","cell",t),v("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.identifier=n),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:D(s),options:l}},stopAllProgramRunner:async(t,r={})=>{v("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},stopProgramRunner:async(t,r,n={})=>{v("stopProgramRunner","cell",t),v("stopProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}}}},Zt=function(e){const t=pV(e);return{async createProgramRunner(r,n,a){var l,c;const o=await t.createProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ProgramApi.createProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async executeProgram(r,n,a){var l,c;const o=await t.executeProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ProgramApi.executeProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getProgramRunner(r,n,a){var l,c;const o=await t.getProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ProgramApi.getProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listProgramRunners(r,n){var i,l;const a=await t.listProgramRunners(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["ProgramApi.listProgramRunners"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async migrateProgram(r,n,a){var l,c;const o=await t.migrateProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ProgramApi.migrateProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async planProgram(r,n,a,o){var c,u;const s=await t.planProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ProgramApi.planProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async stopAllProgramRunner(r,n){var i,l;const a=await t.stopAllProgramRunner(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["ProgramApi.stopAllProgramRunner"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async stopProgramRunner(r,n,a){var l,c;const o=await t.stopProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ProgramApi.stopProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)}}};class mV extends Ve{createProgramRunner(t,r,n){return Zt(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return Zt(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return Zt(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return Zt(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return Zt(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return Zt(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return Zt(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return Zt(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const fV=function(e){return{clearProgramsValues:async(t,r={})=>{v("clearProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},createProgramsValue:async(t,r,n={})=>{v("createProgramsValue","cell",t),v("createProgramsValue","requestBody",r);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};k(i,e),await U(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:D(o),options:i}},deleteProgramValue:async(t,r,n={})=>{v("deleteProgramValue","cell",t),v("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getProgramValue:async(t,r,n={})=>{v("getProgramValue","cell",t),v("getProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listProgramsValues:async(t,r={})=>{v("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},updateProgramValue:async(t,r,n,a={})=>{v("updateProgramValue","cell",t),v("updateProgramValue","key",r),v("updateProgramValue","value",n);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},Wr=function(e){const t=fV(e);return{async clearProgramsValues(r,n){var i,l;const a=await t.clearProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async createProgramsValue(r,n,a){var l,c;const o=await t.createProgramsValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ProgramValuesApi.createProgramsValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deleteProgramValue(r,n,a){var l,c;const o=await t.deleteProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getProgramValue(r,n,a){var l,c;const o=await t.getProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["ProgramValuesApi.getProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listProgramsValues(r,n){var i,l;const a=await t.listProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["ProgramValuesApi.listProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async updateProgramValue(r,n,a,o){var c,u;const s=await t.updateProgramValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["ProgramValuesApi.updateProgramValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class gV extends Ve{clearProgramsValues(t,r){return Wr(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return Wr(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return Wr(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return Wr(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return Wr(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return Wr(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const yV=function(e){return{deleteStoredCollider:async(t,r,n={})=>{v("deleteStoredCollider","cell",t),v("deleteStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{v("deleteStoredCollisionLinkChain","cell",t),v("deleteStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{v("deleteStoredCollisionTool","cell",t),v("deleteStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getDefaultLinkChain:async(t,r,n={})=>{v("getDefaultLinkChain","cell",t),v("getDefaultLinkChain","motionGroupModel",r);const a="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollider:async(t,r,n={})=>{v("getStoredCollider","cell",t),v("getStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{v("getStoredCollisionLinkChain","cell",t),v("getStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionTool:async(t,r,n={})=>{v("getStoredCollisionTool","cell",t),v("getStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listCollisionLinkChains:async(t,r={})=>{v("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listStoredColliders:async(t,r={})=>{v("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},listStoredCollisionTools:async(t,r={})=>{v("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},storeCollider:async(t,r,n,a={})=>{v("storeCollider","cell",t),v("storeCollider","collider",r),v("storeCollider","collider2",n);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},storeCollisionLinkChain:async(t,r,n,a={})=>{v("storeCollisionLinkChain","cell",t),v("storeCollisionLinkChain","linkChain",r),v("storeCollisionLinkChain","collider",n);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{v("storeCollisionTool","cell",t),v("storeCollisionTool","tool",r),v("storeCollisionTool","requestBody",n);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},lt=function(e){const t=yV(e);return{async deleteStoredCollider(r,n,a){var l,c;const o=await t.deleteStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deleteStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.deleteStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async deleteStoredCollisionTool(r,n,a){var l,c;const o=await t.deleteStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getDefaultLinkChain(r,n,a){var l,c;const o=await t.getDefaultLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getStoredCollider(r,n,a){var l,c;const o=await t.getStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.getStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getStoredCollisionTool(r,n,a){var l,c;const o=await t.getStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listCollisionLinkChains(r,n){var i,l;const a=await t.listCollisionLinkChains(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async listStoredColliders(r,n){var i,l;const a=await t.listStoredColliders(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async listStoredCollisionTools(r,n){var i,l;const a=await t.listStoredCollisionTools(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async storeCollider(r,n,a,o){var c,u;const s=await t.storeCollider(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async storeCollisionLinkChain(r,n,a,o){var c,u;const s=await t.storeCollisionLinkChain(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async storeCollisionTool(r,n,a,o){var c,u;const s=await t.storeCollisionTool(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class bV extends Ve{deleteStoredCollider(t,r,n){return lt(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return lt(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return lt(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return lt(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return lt(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return lt(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return lt(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return lt(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return lt(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return lt(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return lt(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return lt(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return lt(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const vV=function(e){return{deleteStoredCollisionScene:async(t,r,n={})=>{v("deleteStoredCollisionScene","cell",t),v("deleteStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getStoredCollisionScene:async(t,r,n={})=>{v("getStoredCollisionScene","cell",t),v("getStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listStoredCollisionScenes:async(t,r={})=>{v("listStoredCollisionScenes","cell",t);const n="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},storeCollisionScene:async(t,r,n,a={})=>{v("storeCollisionScene","cell",t),v("storeCollisionScene","scene",r),v("storeCollisionScene","collisionSceneAssembly",n);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}}}},ao=function(e){const t=vV(e);return{async deleteStoredCollisionScene(r,n,a){var l,c;const o=await t.deleteStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getStoredCollisionScene(r,n,a){var l,c;const o=await t.getStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listStoredCollisionScenes(r,n){var i,l;const a=await t.listStoredCollisionScenes(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async storeCollisionScene(r,n,a,o){var c,u;const s=await t.storeCollisionScene(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class SV extends Ve{deleteStoredCollisionScene(t,r,n){return ao(this.configuration).deleteStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionScene(t,r,n){return ao(this.configuration).getStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return ao(this.configuration).listStoredCollisionScenes(t,r).then(n=>n(this.axios,this.basePath))}storeCollisionScene(t,r,n,a){return ao(this.configuration).storeCollisionScene(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const xV=function(e){return{clearAllObjects:async(t,r={})=>{v("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},deleteObject:async(t,r,n={})=>{v("deleteObject","cell",t),v("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getObject:async(t,r,n={})=>{v("getObject","cell",t),v("getObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getObjectMetadata:async(t,r,n={})=>{v("getObjectMetadata","cell",t),v("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listAllObjectKeys:async(t,r={})=>{v("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},storeObject:async(t,r,n,a,o={})=>{v("storeObject","cell",t),v("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={},h=new(e&&e.formDataCtor||FormData);k(c,e),await U(u,e),a!==void 0&&h.append("AnyValue",new Blob([JSON.stringify(a)],{type:"application/json"})),u["Content-Type"]="multipart/form-data",n!=null&&(u["X-Metadata"]=typeof n=="string"?n:JSON.stringify(n)),L(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...o.headers},c.data=h,{url:D(i),options:c}}}},Yr=function(e){const t=xV(e);return{async clearAllObjects(r,n){var i,l;const a=await t.clearAllObjects(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["StoreObjectApi.clearAllObjects"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async deleteObject(r,n,a){var l,c;const o=await t.deleteObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreObjectApi.deleteObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getObject(r,n,a){var l,c;const o=await t.getObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreObjectApi.getObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getObjectMetadata(r,n,a){var l,c;const o=await t.getObjectMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["StoreObjectApi.getObjectMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listAllObjectKeys(r,n){var i,l;const a=await t.listAllObjectKeys(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async storeObject(r,n,a,o,s){var u,d;const i=await t.storeObject(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)}}};class OV extends Ve{clearAllObjects(t,r){return Yr(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return Yr(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return Yr(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return Yr(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return Yr(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return Yr(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const wV=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{v("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};k(s,e),await U(i,e),t!==void 0&&(l.channel=t),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:D(a),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",n=new URL(r,j);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",n=new URL(r,j);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",n=new URL(r,j);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};k(o,e),await U(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:D(n),options:o}},updateNovaVersion:async(t,r={})=>{v("updateNovaVersion","updateNovaVersionRequest",t);const n="/system/update",a=new URL(n,j);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};k(s,e),await U(i,e),i["Content-Type"]="application/json",L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=ue(t,s,e),{url:D(a),options:s}}}},Wn=function(e){const t=wV(e);return{async checkNovaVersionUpdate(r,n){var i,l;const a=await t.checkNovaVersionUpdate(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)},async getDiagnosePackage(r){var s,i;const n=await t.getDiagnosePackage(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=$["SystemApi.getDiagnosePackage"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>N(n,A,M,e)(l,o||c)},async getSystemStatus(r){var s,i;const n=await t.getSystemStatus(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=$["SystemApi.getSystemStatus"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>N(n,A,M,e)(l,o||c)},async getSystemVersion(r){var s,i;const n=await t.getSystemVersion(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=$["SystemApi.getSystemVersion"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>N(n,A,M,e)(l,o||c)},async updateNovaVersion(r,n){var i,l;const a=await t.updateNovaVersion(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=$["SystemApi.updateNovaVersion"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>N(a,A,M,e)(c,s||u)}}};class CV extends Ve{checkNovaVersionUpdate(t,r){return Wn(this.configuration).checkNovaVersionUpdate(t,r).then(n=>n(this.axios,this.basePath))}getDiagnosePackage(t){return Wn(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Wn(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Wn(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Wn(this.configuration).updateNovaVersion(t,r).then(n=>n(this.axios,this.basePath))}}const PV=function(e){return{getMotionGroupState:async(t,r,n,a={})=>{v("getMotionGroupState","cell",t),v("getMotionGroupState","controller",r),v("getMotionGroupState","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},getMotionGroups:async(t,r,n={})=>{v("getMotionGroups","cell",t),v("getMotionGroups","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getVirtualRobotIOValue:async(t,r,n,a={})=>{v("getVirtualRobotIOValue","cell",t),v("getVirtualRobotIOValue","controller",r),v("getVirtualRobotIOValue","io",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listIOs:async(t,r,n={})=>{v("listIOs","cell",t),v("listIOs","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},setMotionGroupState:async(t,r,n,a,o={})=>{v("setMotionGroupState","cell",t),v("setMotionGroupState","controller",r),v("setMotionGroupState","id",n),v("setMotionGroupState","motionGroupJoints",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:D(i),options:c}},setVirtualRobotIOValue:async(t,r,n,a,o,s,i={})=>{v("setVirtualRobotIOValue","cell",t),v("setVirtualRobotIOValue","controller",r),v("setVirtualRobotIOValue","io",n);const l="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),c=new URL(l,j);let u;e&&(u=e.baseOptions);const d={method:"PUT",...u,...i},h={},p={};k(d,e),await U(h,e),a!==void 0&&(p.bool=a),o!==void 0&&(p.integer=o),s!==void 0&&(p.double=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:D(c),options:d}}}},Kr=function(e){const t=PV(e);return{async getMotionGroupState(r,n,a,o){var c,u;const s=await t.getMotionGroupState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async getMotionGroups(r,n,a){var l,c;const o=await t.getMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["VirtualRobotApi.getMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getVirtualRobotIOValue(r,n,a,o){var c,u;const s=await t.getVirtualRobotIOValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async listIOs(r,n,a){var l,c;const o=await t.listIOs(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["VirtualRobotApi.listIOs"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async setMotionGroupState(r,n,a,o,s){var u,d;const i=await t.setMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["VirtualRobotApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)},async setVirtualRobotIOValue(r,n,a,o,s,i,l){var h,p;const c=await t.setVirtualRobotIOValue(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=$["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>N(c,A,M,e)(f,d||m)}}};class TV extends Ve{getMotionGroupState(t,r,n,a){return Kr(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return Kr(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return Kr(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return Kr(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return Kr(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return Kr(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const RV=function(e){return{externalJointsStream:async(t,r,n,a={})=>{v("externalJointsStream","cell",t),v("externalJointsStream","controller",r),v("externalJointsStream","externalJointStreamDatapoint",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},getMotionGroupBehavior:async(t,r,n,a={})=>{v("getMotionGroupBehavior","cell",t),v("getMotionGroupBehavior","controller",r),v("getMotionGroupBehavior","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setMotionGroupBehavior:async(t,r,n,a,o={})=>{v("setMotionGroupBehavior","cell",t),v("setMotionGroupBehavior","controller",r),v("setMotionGroupBehavior","id",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),a!==void 0&&(d.behavior=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}}}},_i=function(e){const t=RV(e);return{async externalJointsStream(r,n,a,o){var c,u;const s=await t.externalJointsStream(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async getMotionGroupBehavior(r,n,a,o){var c,u;const s=await t.getMotionGroupBehavior(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async setMotionGroupBehavior(r,n,a,o,s){var u,d;const i=await t.setMotionGroupBehavior(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)}}};class AV extends Ve{externalJointsStream(t,r,n,a){return _i(this.configuration).externalJointsStream(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,n,a){return _i(this.configuration).getMotionGroupBehavior(t,r,n,a).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,n,a,o){return _i(this.configuration).setMotionGroupBehavior(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const _V=function(e){return{getCycleTime:async(t,r,n={})=>{v("getCycleTime","cell",t),v("getCycleTime","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getEStop:async(t,r,n={})=>{v("getEStop","cell",t),v("getEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},getOperationMode:async(t,r,n={})=>{v("getOperationMode","cell",t),v("getOperationMode","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},pushEStop:async(t,r,n={})=>{v("pushEStop","cell",t),v("pushEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},releaseEStop:async(t,r,n={})=>{v("releaseEStop","cell",t),v("releaseEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},setOperationMode:async(t,r,n,a={})=>{v("setOperationMode","cell",t),v("setOperationMode","controller",r),v("setOperationMode","mode",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),n!==void 0&&(u.mode=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}}}},Qr=function(e){const t=_V(e);return{async getCycleTime(r,n,a){var l,c;const o=await t.getCycleTime(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getEStop(r,n,a){var l,c;const o=await t.getEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["VirtualRobotModeApi.getEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async getOperationMode(r,n,a){var l,c;const o=await t.getOperationMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async pushEStop(r,n,a){var l,c;const o=await t.pushEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["VirtualRobotModeApi.pushEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async releaseEStop(r,n,a){var l,c;const o=await t.releaseEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async setOperationMode(r,n,a,o){var c,u;const s=await t.setOperationMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)}}};class EV extends Ve{getCycleTime(t,r,n){return Qr(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return Qr(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return Qr(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return Qr(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return Qr(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return Qr(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const VV=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{v("addVirtualRobotCoordinateSystem","cell",t),v("addVirtualRobotCoordinateSystem","controller",r),v("addVirtualRobotCoordinateSystem","coordinateSystem",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};k(l,e),await U(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:D(s),options:l}},addVirtualRobotTcp:async(t,r,n,a,o={})=>{v("addVirtualRobotTcp","cell",t),v("addVirtualRobotTcp","controller",r),v("addVirtualRobotTcp","id",n),v("addVirtualRobotTcp","robotTcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:D(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{v("deleteVirtualRobotCoordinateSystem","cell",t),v("deleteVirtualRobotCoordinateSystem","controller",r),v("deleteVirtualRobotCoordinateSystem","coordinateSystem",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};k(c,e),await U(u,e),a!==void 0&&(d.delete_dependent=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},deleteVirtualRobotTcp:async(t,r,n,a,o={})=>{v("deleteVirtualRobotTcp","cell",t),v("deleteVirtualRobotTcp","controller",r),v("deleteVirtualRobotTcp","id",n),v("deleteVirtualRobotTcp","tcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(a))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};k(c,e),await U(u,e),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:D(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{v("getVirtualRobotMounting","cell",t),v("getVirtualRobotMounting","controller",r),v("getVirtualRobotMounting","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},listVirtualRobotCoordinateSystems:async(t,r,n={})=>{v("listVirtualRobotCoordinateSystems","cell",t),v("listVirtualRobotCoordinateSystems","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,j);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};k(i,e),await U(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:D(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{v("listVirtualRobotTcps","cell",t),v("listVirtualRobotTcps","controller",r),v("listVirtualRobotTcps","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,j);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};k(l,e),await U(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:D(s),options:l}},setVirtualRobotMounting:async(t,r,n,a,o={})=>{v("setVirtualRobotMounting","cell",t),v("setVirtualRobotMounting","controller",r),v("setVirtualRobotMounting","id",n),v("setVirtualRobotMounting","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,j);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};k(c,e),await U(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:D(i),options:c}}}},er=function(e){const t=VV(e);return{async addVirtualRobotCoordinateSystem(r,n,a,o){var c,u;const s=await t.addVirtualRobotCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async addVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.addVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)},async deleteVirtualRobotCoordinateSystem(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotCoordinateSystem(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)},async deleteVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)},async getVirtualRobotMounting(r,n,a,o){var c,u;const s=await t.getVirtualRobotMounting(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async listVirtualRobotCoordinateSystems(r,n,a){var l,c;const o=await t.listVirtualRobotCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=$["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>N(o,A,M,e)(u,i||d)},async listVirtualRobotTcps(r,n,a,o){var c,u;const s=await t.listVirtualRobotTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=$["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>N(s,A,M,e)(d,l||h)},async setVirtualRobotMounting(r,n,a,o,s){var u,d;const i=await t.setVirtualRobotMounting(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=$["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>N(i,A,M,e)(h,c||p)}}};class IV extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return er(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return er(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return er(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return er(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return er(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return er(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return er(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return er(this.configuration).setVirtualRobotMounting(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}function Lt(e,t,r){return Math.max(t,Math.min(r,e))}class MV{constructor(t=0,r=0,n=0,a=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=n,this._w=a}static slerpFlat(t,r,n,a,o,s,i){let l=n[a+0],c=n[a+1],u=n[a+2],d=n[a+3];const h=o[s+0],p=o[s+1],f=o[s+2],m=o[s+3];if(i===0){t[r+0]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d;return}if(i===1){t[r+0]=h,t[r+1]=p,t[r+2]=f,t[r+3]=m;return}if(d!==m||l!==h||c!==p||u!==f){let b=1-i;const x=l*h+c*p+u*f+d*m,_=x>=0?1:-1,O=1-x*x;if(O>Number.EPSILON){const P=Math.sqrt(O),w=Math.atan2(P,x*_);b=Math.sin(b*w)/P,i=Math.sin(i*w)/P}const C=i*_;if(l=l*b+h*C,c=c*b+p*C,u=u*b+f*C,d=d*b+m*C,b===1-i){const P=1/Math.sqrt(l*l+c*c+u*u+d*d);l*=P,c*=P,u*=P,d*=P}}t[r]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d}static multiplyQuaternionsFlat(t,r,n,a,o,s){const i=n[a],l=n[a+1],c=n[a+2],u=n[a+3],d=o[s],h=o[s+1],p=o[s+2],f=o[s+3];return t[r]=i*f+u*d+l*p-c*h,t[r+1]=l*f+u*h+c*d-i*p,t[r+2]=c*f+u*p+i*h-l*d,t[r+3]=u*f-i*d-l*h-c*p,t}get x(){return this._x}set x(t){this._x=t,this._onChangeCallback()}get y(){return this._y}set y(t){this._y=t,this._onChangeCallback()}get z(){return this._z}set z(t){this._z=t,this._onChangeCallback()}get w(){return this._w}set w(t){this._w=t,this._onChangeCallback()}set(t,r,n,a){return this._x=t,this._y=r,this._z=n,this._w=a,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._w)}copy(t){return this._x=t.x,this._y=t.y,this._z=t.z,this._w=t.w,this._onChangeCallback(),this}setFromEuler(t,r=!0){const n=t._x,a=t._y,o=t._z,s=t._order,i=Math.cos,l=Math.sin,c=i(n/2),u=i(a/2),d=i(o/2),h=l(n/2),p=l(a/2),f=l(o/2);switch(s){case"XYZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"YXZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"ZXY":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"ZYX":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"YZX":this._x=h*u*d+c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d-h*p*f;break;case"XZY":this._x=h*u*d-c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d+h*p*f;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const n=r/2,a=Math.sin(n);return this._x=t.x*a,this._y=t.y*a,this._z=t.z*a,this._w=Math.cos(n),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,n=r[0],a=r[4],o=r[8],s=r[1],i=r[5],l=r[9],c=r[2],u=r[6],d=r[10],h=n+i+d;if(h>0){const p=.5/Math.sqrt(h+1);this._w=.25/p,this._x=(u-l)*p,this._y=(o-c)*p,this._z=(s-a)*p}else if(n>i&&n>d){const p=2*Math.sqrt(1+n-i-d);this._w=(u-l)/p,this._x=.25*p,this._y=(a+s)/p,this._z=(o+c)/p}else if(i>d){const p=2*Math.sqrt(1+i-n-d);this._w=(o-c)/p,this._x=(a+s)/p,this._y=.25*p,this._z=(l+u)/p}else{const p=2*Math.sqrt(1+d-n-i);this._w=(s-a)/p,this._x=(o+c)/p,this._y=(l+u)/p,this._z=.25*p}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let n=t.dot(r)+1;return n<Number.EPSILON?(n=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=n):(this._x=0,this._y=-t.z,this._z=t.y,this._w=n)):(this._x=t.y*r.z-t.z*r.y,this._y=t.z*r.x-t.x*r.z,this._z=t.x*r.y-t.y*r.x,this._w=n),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(Lt(this.dot(t),-1,1)))}rotateTowards(t,r){const n=this.angleTo(t);if(n===0)return this;const a=Math.min(1,r/n);return this.slerp(t,a),this}identity(){return this.set(0,0,0,1)}invert(){return this.conjugate()}conjugate(){return this._x*=-1,this._y*=-1,this._z*=-1,this._onChangeCallback(),this}dot(t){return this._x*t._x+this._y*t._y+this._z*t._z+this._w*t._w}lengthSq(){return this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w}length(){return Math.sqrt(this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w)}normalize(){let t=this.length();return t===0?(this._x=0,this._y=0,this._z=0,this._w=1):(t=1/t,this._x=this._x*t,this._y=this._y*t,this._z=this._z*t,this._w=this._w*t),this._onChangeCallback(),this}multiply(t){return this.multiplyQuaternions(this,t)}premultiply(t){return this.multiplyQuaternions(t,this)}multiplyQuaternions(t,r){const n=t._x,a=t._y,o=t._z,s=t._w,i=r._x,l=r._y,c=r._z,u=r._w;return this._x=n*u+s*i+a*c-o*l,this._y=a*u+s*l+o*i-n*c,this._z=o*u+s*c+n*l-a*i,this._w=s*u-n*i-a*l-o*c,this._onChangeCallback(),this}slerp(t,r){if(r===0)return this;if(r===1)return this.copy(t);const n=this._x,a=this._y,o=this._z,s=this._w;let i=s*t._w+n*t._x+a*t._y+o*t._z;if(i<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,i=-i):this.copy(t),i>=1)return this._w=s,this._x=n,this._y=a,this._z=o,this;const l=1-i*i;if(l<=Number.EPSILON){const p=1-r;return this._w=p*s+r*this._w,this._x=p*n+r*this._x,this._y=p*a+r*this._y,this._z=p*o+r*this._z,this.normalize(),this}const c=Math.sqrt(l),u=Math.atan2(c,i),d=Math.sin((1-r)*u)/c,h=Math.sin(r*u)/c;return this._w=s*d+this._w*h,this._x=n*d+this._x*h,this._y=a*d+this._y*h,this._z=o*d+this._z*h,this._onChangeCallback(),this}slerpQuaternions(t,r,n){return this.copy(t).slerp(r,n)}random(){const t=2*Math.PI*Math.random(),r=2*Math.PI*Math.random(),n=Math.random(),a=Math.sqrt(1-n),o=Math.sqrt(n);return this.set(a*Math.sin(t),a*Math.cos(t),o*Math.sin(r),o*Math.cos(r))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,r=0){return this._x=t[r],this._y=t[r+1],this._z=t[r+2],this._w=t[r+3],this._onChangeCallback(),this}toArray(t=[],r=0){return t[r]=this._x,t[r+1]=this._y,t[r+2]=this._z,t[r+3]=this._w,t}fromBufferAttribute(t,r){return this._x=t.getX(r),this._y=t.getY(r),this._z=t.getZ(r),this._w=t.getW(r),this._onChangeCallback(),this}toJSON(){return this.toArray()}_onChange(t){return this._onChangeCallback=t,this}_onChangeCallback(){}*[Symbol.iterator](){yield this._x,yield this._y,yield this._z,yield this._w}}class ln{constructor(t=0,r=0,n=0){ln.prototype.isVector3=!0,this.x=t,this.y=r,this.z=n}set(t,r,n){return n===void 0&&(n=this.z),this.x=t,this.y=r,this.z=n,this}setScalar(t){return this.x=t,this.y=t,this.z=t,this}setX(t){return this.x=t,this}setY(t){return this.y=t,this}setZ(t){return this.z=t,this}setComponent(t,r){switch(t){case 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this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,n=this.y,a=this.z,o=t.elements;return this.x=o[0]*r+o[4]*n+o[8]*a,this.y=o[1]*r+o[5]*n+o[9]*a,this.z=o[2]*r+o[6]*n+o[10]*a,this.normalize()}divide(t){return this.x/=t.x,this.y/=t.y,this.z/=t.z,this}divideScalar(t){return this.multiplyScalar(1/t)}min(t){return this.x=Math.min(this.x,t.x),this.y=Math.min(this.y,t.y),this.z=Math.min(this.z,t.z),this}max(t){return this.x=Math.max(this.x,t.x),this.y=Math.max(this.y,t.y),this.z=Math.max(this.z,t.z),this}clamp(t,r){return this.x=Lt(this.x,t.x,r.x),this.y=Lt(this.y,t.y,r.y),this.z=Lt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=Lt(this.x,t,r),this.y=Lt(this.y,t,r),this.z=Lt(this.z,t,r),this}clampLength(t,r){const n=this.length();return this.divideScalar(n||1).multiplyScalar(Lt(n,t,r))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return 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n+=Math.abs(e.orientation.x-t.orientation.x),n+=Math.abs(e.orientation.y-t.orientation.y),n+=Math.abs(e.orientation.z-t.orientation.z),n+=Math.abs(e.position.x-t.position.x),n+=Math.abs(e.position.y-t.position.y),n+=Math.abs(e.position.z-t.position.z),n>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var Qd=1e-4,UV=class gf{constructor(t,r,n,a,o,s,i,l,c,u,d,h){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.isVirtual=s,this.tcps=i,this.motionGroupSpecification=l,this.safetySetup=c,this.mounting=u,this.initialControllerState=d,this.controllerStateSocket=h,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=a,this.controllerState=d,h.addEventListener("message",p=>{var f;const m=(f=ar(p.data))==null?void 0:f.result;m&&Ne.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=ar(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);mf(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,Qd)||Ne.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),ff(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,Qd)||Ne.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),Ne.makeAutoObservable(this)}static connect(t,r,n){return Ae(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(w=>w.controller===i),c=l==null?void 0:l.physical_motion_groups.find(w=>w.motion_group===r);if(!l||!c)throw new Error(`Controller ${i} or motion group ${r} not found`);const u=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield u.firstMessage(),h=(a=ar(d.data))==null?void 0:a.result;if(!h)throw new Error(`Unable to parse initial motion state message ${d.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
+  `,h);const f=(yield t.api.controller.getRobotController(l.controller)).configuration.kind==="VirtualController",m=yield Ae(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 ${l.controller}. Initial state:
+  `,_);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),C=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),P=yield t.api.motionGroupInfos.getSafetySetup(r);return new gf(t,l,c,h,u,f,O,C,P,m,_,b)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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 Ae(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}Ne.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),Ne.runInAction(()=>{this.activationState="inactive"})}catch(t){throw Ne.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Ae(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}Ne.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),Ne.runInAction(()=>{this.activationState="active"})}catch(t){throw Ne.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}},LV=class yf{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return Ae(this,arguments,function*(n,a,o={}){const s=yield n.connectMotionStream(a);return new yf(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 Ae(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&&(FA(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 Ae(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 Ae(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 Ae(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 Ae(this,arguments,function*({currentTcpPose:r,currentJoints:n,coordSystemId:a,velocityInRelevantUnits:o,axis:s,direction:i,motion:l}){var c;const u=[];if(!a_(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),R=x.clone().cross(m),I=2*Math.acos(_-O*w),F=I/Math.sin(.5*I),y=new ln().addScaledVector(R,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 Ae(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})})}},Xd=1e-4;function DV(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 NV=class bf{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}`);mf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,Xd)||Ne.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),ff(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,Xd)||Ne.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:DV(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),Ne.makeAutoObservable(this)}static open(t,r){return Ae(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 ${l.motion_group}. Initial state:
+  `,d),new bf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},BV=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(CV),this.cell=this.withUnwrappedResponsesOnly(NE),this.deviceConfig=this.withCellId(WE),this.motionGroup=this.withCellId(sV),this.motionGroupInfos=this.withCellId(lV),this.controller=this.withCellId(FE),this.program=this.withCellId(mV),this.programValues=this.withCellId(gV),this.controllerIOs=this.withCellId(GE),this.motionGroupKinematic=this.withCellId(hV),this.motion=this.withCellId(aV),this.coordinateSystems=this.withCellId(qE),this.application=this.withCellId(Wd),this.applicationGlobal=this.withUnwrappedResponsesOnly(Wd),this.motionGroupJogging=this.withCellId(uV),this.virtualRobot=this.withCellId(TV),this.virtualRobotSetup=this.withCellId(IV),this.virtualRobotMode=this.withCellId(EV),this.virtualRobotBehavior=this.withCellId(AV),this.libraryProgramMetadata=this.withCellId(XE),this.libraryProgram=this.withCellId(KE),this.libraryRecipeMetadata=this.withCellId(rV),this.libraryRecipe=this.withCellId(eV),this.storeObject=this.withCellId(OV),this.storeCollisionComponents=this.withCellId(bV),this.storeCollisionScenes=this.withCellId(SV)}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:A.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:A.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}},FV=class{constructor(){this.connections=[]}handleAPIRequest(e){return Ae(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=kV.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(zV)})),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)}},zV={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"}}},GV=class{constructor(e){this.authPromise=null,this.accessToken=null;var 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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":q.rgbToHex(((i=e.palette.backgroundPaperElevation)==null?void 0:i[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function K3(){const e=Yf();return e.palette.mode="light",e}function Q3(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?Yf():K3();return Qh(r,e)}exports.CycleTimer=Fw;exports.JoggingCartesianAxisControl=Xi;exports.JoggingJointRotationControl=Rm;exports.JoggingPanel=Y5;exports.JoggingStore=Ns;exports.LoadingCover=fc;exports.LoadingErrorMessage=vf;exports.NoMotionGroupModal=e3;exports.PoseCartesianValues=Q5;exports.PoseJointValues=X5;exports.PresetEnvironment=gg;exports.ProgramControl=t3;exports.ProgramStateIndicator=r3;exports.Robot=v3;exports.RobotListItem=s3;exports.RobotSetupReadinessIndicator=Gf;exports.RobotSetupReadinessState=Oc;exports.SafetyBar=z3;exports.SafetyZonesRenderer=vg;exports.SelectableFab=H3;exports.SupportedRobot=Wf;exports.TrajectoryRenderer=Sg;exports.ValueInterpolator=uc;exports.VelocitySlider=Bf;exports.VelocitySliderLabel=xc;exports.WandelscriptEditor=Y3;exports.createNovaMuiTheme=Q3;exports.defaultAxisConfig=i3;exports.defaultGetModel=wc;exports.i18n=cc;exports.useAnimationFrame=xn;exports.useAutorun=Om;exports.useInterpolation=xm;exports.useMounted=Ps;exports.useReaction=wm;
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