@wandelbots/wandelbots-js-react-components 2.33.0-pr.feature-robot-precondition-list.372.c924328 → 2.33.0-pr.feature-robot-precondition-list.372.9858a50

package/dist/index.cjs

@@ -142,14 +142,14 @@ and limitations under the License.
  * by Pedro Ladaria <pedro.ladaria@gmail.com>
  * https://github.com/pladaria/reconnecting-websocket
  * License MIT
- */var ZA=function(){if(typeof WebSocket<"u")return WebSocket},e_=function(e){return typeof e<"u"&&!!e&&e.CLOSING===2},yr={maxReconnectionDelay:1e4,minReconnectionDelay:1e3+Math.random()*4e3,minUptime:5e3,reconnectionDelayGrowFactor:1.3,connectionTimeout:4e3,maxRetries:1/0,maxEnqueuedMessages:1/0},t_=function(){function e(t,r,n){var a=this;n===void 0&&(n={}),this._listeners={error:[],message:[],open:[],close:[]},this._retryCount=-1,this._shouldReconnect=!0,this._connectLock=!1,this._binaryType="blob",this._closeCalled=!1,this._messageQueue=[],this.onclose=null,this.onerror=null,this.onmessage=null,this.onopen=null,this._handleOpen=function(o){a._debug("open event");var s=a._options.minUptime,i=s===void 0?yr.minUptime:s;clearTimeout(a._connectTimeout),a._uptimeTimeout=setTimeout(function(){return a._acceptOpen()},i),a._ws.binaryType=a._binaryType,a._messageQueue.forEach(function(l){return 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d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}}}},Zr=function(e){const t=G2(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=j["CellApi.deleteCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CellApi.deployCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CellApi.getCell"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["CellApi.getCellStatus"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["CellApi.listCells"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>B(n,V,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=j["CellApi.updateCell"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class H2 extends Ve{deleteCell(t,r,n){return Zr(this.configuration).deleteCell(t,r,n).then(a=>a(this.axios,this.basePath))}deployCell(t,r,n){return Zr(this.configuration).deployCell(t,r,n).then(a=>a(this.axios,this.basePath))}getCell(t,r){return Zr(this.configuration).getCell(t,r).then(n=>n(this.axios,this.basePath))}getCellStatus(t,r){return Zr(this.configuration).getCellStatus(t,r).then(n=>n(this.axios,this.basePath))}listCells(t){return Zr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,n,a){return Zr(this.configuration).updateCell(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const q2=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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}},clearRobotControllers:async(t,r,n={})=>{v("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getCurrentRobotControllerState:async(t,r,n={})=>{v("getCurrentRobotControllerState","cell",t),v("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRobotController:async(t,r,n={})=>{v("getRobotController","cell",t),v("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotConfiguration:async(t,r,n={})=>{v("getVirtualRobotConfiguration","cell",t),v("getVirtualRobotConfiguration","controller",r);const a="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},setDefaultMode:async(t,r,n,a={})=>{v("setDefaultMode","cell",t),v("setDefaultMode","controller",r),v("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.mode=n),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamModeChange:async(t,r,n={})=>{v("streamModeChange","cell",t),v("streamModeChange","controller",r);const a="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},updateRobotController:async(t,r,n,a,o={})=>{v("updateRobotController","cell",t),v("updateRobotController","controller",r),v("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),a!==void 0&&(d.completionTimeout=a),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(n,c,e),{url:L(i),options:c}}}},nt=function(e){const t=q2(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=j["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.clearRobotControllers"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.getMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.getRobotController"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.getSupportedModes"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.listControllers"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.streamModeChange"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.streamRobotControllerState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class W2 extends Ve{addRobotController(t,r,n,a){return nt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return nt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return nt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return nt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return nt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return nt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return nt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return nt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return nt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return nt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return nt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return nt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return nt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return nt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const J2=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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n&&(u.ios=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listIOValues:async(t,r,n,a={})=>{v("listIOValues","cell",t),v("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n&&(u.ios=n),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},streamIOValues:async(t,r,n,a={})=>{v("streamIOValues","cell",t),v("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n&&(u.ios=n),D(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,k);let d;e&&(d=e.baseOptions);const h={method:"GET",...d,...l},p={},f={};$(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),D(u,f);let m=d&&d.headers?d.headers:{};return h.headers={...p,...m,...l.headers},{url:L(u),options:h}}}},Jn=function(e){const t=J2(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=j["ControllerIOsApi.listIODescriptions"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerIOsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerIOsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerIOsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerIOsApi.waitForIOEvent"])==null?void 0:p[d])==null?void 0:f.url;return(m,y)=>B(u,V,M,e)(m,h||y)}}};class Y2 extends Ve{listIODescriptions(t,r,n,a){return Jn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return Jn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return Jn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return Jn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return Jn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const K2=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,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getCoordinateSystem:async(t,r,n,a={})=>{v("getCoordinateSystem","cell",t),v("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.rotation_type=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},transformInCoordinateSystem:async(t,r,n,a={})=>{v("transformInCoordinateSystem","cell",t),v("transformInCoordinateSystem","coordinateSystem",r),v("transformInCoordinateSystem","pose",n);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Yn=function(e){const t=K2(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=j["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class Q2 extends Ve{addCoordinateSystem(t,r,n){return Yn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Yn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Yn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Yn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Yn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const X2=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,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},createDevice:async(t,r,n={})=>{v("createDevice","cell",t),v("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getDevice:async(t,r,n={})=>{v("getDevice","cell",t),v("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},Kn=function(e){const t=X2(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=j["DeviceConfigurationApi.clearDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["DeviceConfigurationApi.createDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["DeviceConfigurationApi.getDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["DeviceConfigurationApi.listDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,M,e)(c,s||u)}}};class Z2 extends Ve{clearDevices(t,r){return Kn(this.configuration).clearDevices(t,r).then(n=>n(this.axios,this.basePath))}createDevice(t,r,n){return Kn(this.configuration).createDevice(t,r,n).then(a=>a(this.axios,this.basePath))}deleteDevice(t,r,n){return Kn(this.configuration).deleteDevice(t,r,n).then(a=>a(this.axios,this.basePath))}getDevice(t,r,n){return Kn(this.configuration).getDevice(t,r,n).then(a=>a(this.axios,this.basePath))}listDevices(t,r){return Kn(this.configuration).listDevices(t,r).then(n=>n(this.axios,this.basePath))}}const eE=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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.name=n),c["Content-Type"]="text/plain",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteProgramList:async(t,r,n={})=>{v("deleteProgramList","cell",t),v("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),r&&(c.program_ids=r),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateProgram:async(t,r,n,a={})=>{v("updateProgram","cell",t),v("updateProgram","program",r),v("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="text/plain",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Qn=function(e){const t=eE(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=j["LibraryProgramApi.createProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["LibraryProgramApi.deleteProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramApi.deleteProgramList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramApi.getProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramApi.updateProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class tE 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 rE=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramMetadata:async(t,r,n={})=>{v("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.show_hidden=r),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{v("uploadProgramMetadataImage","cell",t),v("uploadProgramMetadataImage","program",r),v("uploadProgramMetadataImage","file",n);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);$(l,e),await U(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",D(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},ao=function(e){const t=rE(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=j["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class nE extends Ve{getProgramMetadata(t,r,n){return ao(this.configuration).getProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramMetadata(t,r,n){return ao(this.configuration).listProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgramMetadata(t,r,n,a){return ao(this.configuration).updateProgramMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,n,a){return ao(this.configuration).uploadProgramMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const aE=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,k);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};$(c,e),await U(u,e),r!==void 0&&(d.program_id=r),a!==void 0&&(d.name=a),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(n,c,e),{url:L(i),options:c}},deleteRecipe:async(t,r,n={})=>{v("deleteRecipe","cell",t),v("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),r&&(c.recipe_ids=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRecipe:async(t,r,n={})=>{v("getRecipe","cell",t),v("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Xn=function(e){const t=aE(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=j["LibraryRecipeApi.createRecipe"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryRecipeApi.getRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryRecipeApi.updateRecipe"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class oE extends Ve{createRecipe(t,r,n,a,o){return Xn(this.configuration).createRecipe(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,n){return Xn(this.configuration).deleteRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRecipeList(t,r,n){return Xn(this.configuration).deleteRecipeList(t,r,n).then(a=>a(this.axios,this.basePath))}getRecipe(t,r,n){return Xn(this.configuration).getRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}updateRecipe(t,r,n,a){return Xn(this.configuration).updateRecipe(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const sE=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},updateRecipeMetadata:async(t,r,n,a={})=>{v("updateRecipeMetadata","cell",t),v("updateRecipeMetadata","recipe",r),v("updateRecipeMetadata","updateRecipeMetadataRequest",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);$(l,e),await U(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",D(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},oo=function(e){const t=sE(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=j["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class iE extends Ve{getRecipeMetadata(t,r,n){return oo(this.configuration).getRecipeMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listRecipeMetadata(t,r){return oo(this.configuration).listRecipeMetadata(t,r).then(n=>n(this.axios,this.basePath))}updateRecipeMetadata(t,r,n,a){return oo(this.configuration).updateRecipeMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,n,a){return oo(this.configuration).uploadRecipeMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const lE=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,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},executeTrajectory:async(t,r,n={})=>{v("executeTrajectory","cell",t),v("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await U(u,e),n!==void 0&&(d.sample_time=n),a!==void 0&&(d.responses_coordinate_system=a),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getMotionTrajectorySample:async(t,r,n,a,o={})=>{v("getMotionTrajectorySample","cell",t),v("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await U(u,e),n!==void 0&&(d.location_on_trajectory=n),a!==void 0&&(d.response_coordinate_system=a),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.sample_time=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{v("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},loadPlannedMotion:async(t,r,n={})=>{v("loadPlannedMotion","cell",t),v("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},planMotion:async(t,r,n={})=>{v("planMotion","cell",t),v("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},stopExecution:async(t,r,n={})=>{v("stopExecution","cell",t),v("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{v("streamMoveBackward","cell",t),v("streamMoveBackward","motion",r),v("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,k);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};$(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),D(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,k);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};$(d,e),await U(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),D(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}},streamMoveToTrajectoryViaJointPTP:async(t,r,n,a,o,s,i,l,c,u,d={})=>{v("streamMoveToTrajectoryViaJointPTP","cell",t),v("streamMoveToTrajectoryViaJointPTP","motion",r),v("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,k);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},y={},S={};$(m,e),await U(y,e),n!==void 0&&(S.location_on_trajectory=n),a&&(S["limit_override.joint_velocity_limits.joints"]=a),o&&(S["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(S["limit_override.tcp_velocity_limit"]=s),i!==void 0&&(S["limit_override.tcp_acceleration_limit"]=i),l!==void 0&&(S["limit_override.tcp_orientation_velocity_limit"]=l),c!==void 0&&(S["limit_override.tcp_orientation_acceleration_limit"]=c),u!==void 0&&(S.responses_coordinate_system=u),D(p,S);let E=f&&f.headers?f.headers:{};return m.headers={...y,...E,...d.headers},{url:L(p),options:m}}}},Ye=function(e){const t=lE(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=j["MotionApi.deleteAllMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["MotionApi.deleteMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.executeTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.getMotionTrajectory"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["MotionApi.getMotionTrajectorySample"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["MotionApi.getPlannedMotion"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["MotionApi.listMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["MotionApi.loadPlannedMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.planCollisionFreePTP"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.planMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.planTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.stopExecution"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.streamMove"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.streamMoveBackward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>B(c,V,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=j["MotionApi.streamMoveForward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>B(c,V,M,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var y,S;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=(S=(y=j["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:y[f])==null?void 0:S.url;return(E,O)=>B(p,V,M,e)(E,m||O)}}};class cE 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 uE=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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.controller=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},activateMotionGroup:async(t,r,n={})=>{v("activateMotionGroup","cell",t),v("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.motion_group=r),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listMotionGroups:async(t,r={})=>{v("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},so=function(e){const t=uE(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=j["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupApi.activateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupApi.listMotionGroups"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,M,e)(c,s||u)}}};class dE extends Ve{activateAllMotionGroups(t,r,n){return so(this.configuration).activateAllMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}activateMotionGroup(t,r,n){return so(this.configuration).activateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}deactivateMotionGroup(t,r,n){return so(this.configuration).deactivateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}listMotionGroups(t,r){return so(this.configuration).listMotionGroups(t,r).then(n=>n(this.axios,this.basePath))}}const hE=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getActiveTcp:async(t,r,n,a={})=>{v("getActiveTcp","cell",t),v("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),D(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,k);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await U(u,e),n!==void 0&&(d.tcp=n),a!==void 0&&(d.response_coordinate_system=a),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getInfoCapabilities:async(t,r,n={})=>{v("getInfoCapabilities","cell",t),v("getInfoCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMounting:async(t,r,n={})=>{v("getMounting","cell",t),v("getMounting","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.tcp=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getSafetySetup:async(t,r,n={})=>{v("getSafetySetup","cell",t),v("getSafetySetup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listTcps:async(t,r,n,a={})=>{v("listTcps","cell",t),v("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),D(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,k);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...s},d={},h={};$(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),D(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...s.headers},{url:L(l),options:u}}}},St=function(e){const t=hE(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=j["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.getMounting"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.listPayloads"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.listTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>B(l,V,M,e)(p,u||f)}}};class pE extends Ve{getActivePayload(t,r,n){return St(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return St(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return St(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return St(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return St(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return St(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return St(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return St(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return St(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return St(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return St(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const mE=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},jointJogging:async(t,r,n={})=>{v("jointJogging","cell",t),v("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},io=function(e){const t=mE(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=j["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)}}};class fE extends Ve{directionJogging(t,r,n){return io(this.configuration).directionJogging(t,r,n).then(a=>a(this.axios,this.basePath))}getJoggingCapabilities(t,r,n){return io(this.configuration).getJoggingCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}jointJogging(t,r,n){return io(this.configuration).jointJogging(t,r,n).then(a=>a(this.axios,this.basePath))}stopJogging(t,r,n){return io(this.configuration).stopJogging(t,r,n).then(a=>a(this.axios,this.basePath))}}const gE=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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{v("calculateInverseKinematic","cell",t),v("calculateInverseKinematic","motionGroup",r),v("calculateInverseKinematic","jointPositionRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},lo=function(e){const t=gE(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=j["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)}}};class yE extends Ve{calculateAllInverseKinematic(t,r,n,a){return lo(this.configuration).calculateAllInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,n,a){return lo(this.configuration).calculateForwardKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,n,a){return lo(this.configuration).calculateInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,n){return lo(this.configuration).getKinematicCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}}const bE=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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="text/plain",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},getProgramRunner:async(t,r,n={})=>{v("getProgramRunner","cell",t),v("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},migrateProgram:async(t,r,n={})=>{v("migrateProgram","cell",t),v("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="text/plain",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.identifier=n),c["Content-Type"]="text/plain",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}},stopAllProgramRunner:async(t,r={})=>{v("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},nr=function(e){const t=bE(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=j["ProgramApi.createProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramApi.executeProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramApi.getProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramApi.listProgramRunners"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ProgramApi.migrateProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramApi.planProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ProgramApi.stopAllProgramRunner"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ProgramApi.stopProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)}}};class xE extends Ve{createProgramRunner(t,r,n){return nr(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return nr(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return nr(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return nr(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return nr(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return nr(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return nr(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return nr(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const vE=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,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},deleteProgramValue:async(t,r,n={})=>{v("deleteProgramValue","cell",t),v("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramsValues:async(t,r={})=>{v("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},en=function(e){const t=vE(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=j["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ProgramValuesApi.createProgramsValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramValuesApi.getProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramValuesApi.listProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ProgramValuesApi.updateProgramValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class SE extends Ve{clearProgramsValues(t,r){return en(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return en(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return en(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return en(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return en(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return en(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const OE=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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{v("deleteStoredCollisionTool","cell",t),v("deleteStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollider:async(t,r,n={})=>{v("getStoredCollider","cell",t),v("getStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionTool:async(t,r,n={})=>{v("getStoredCollisionTool","cell",t),v("getStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listStoredColliders:async(t,r={})=>{v("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollider:async(t,r,n,a={})=>{v("storeCollider","cell",t),v("storeCollider","collider",r),v("storeCollider","collider2",n);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{v("storeCollisionTool","cell",t),v("storeCollisionTool","tool",r),v("storeCollisionTool","requestBody",n);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},ct=function(e){const t=OE(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=j["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class wE extends Ve{deleteStoredCollider(t,r,n){return ct(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return ct(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return ct(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return ct(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return ct(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return ct(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return ct(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ct(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return ct(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ct(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return ct(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return ct(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return ct(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const CE=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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionScene:async(t,r,n={})=>{v("getStoredCollisionScene","cell",t),v("getStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollisionScene:async(t,r,n,a={})=>{v("storeCollisionScene","cell",t),v("storeCollisionScene","scene",r),v("storeCollisionScene","collisionSceneAssembly",n);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},co=function(e){const t=CE(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=j["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class PE extends Ve{deleteStoredCollisionScene(t,r,n){return co(this.configuration).deleteStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionScene(t,r,n){return co(this.configuration).getStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return co(this.configuration).listStoredCollisionScenes(t,r).then(n=>n(this.axios,this.basePath))}storeCollisionScene(t,r,n,a){return co(this.configuration).storeCollisionScene(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const TE=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,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},deleteObject:async(t,r,n={})=>{v("deleteObject","cell",t),v("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getObjectMetadata:async(t,r,n={})=>{v("getObjectMetadata","cell",t),v("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeObject:async(t,r,n,a,o={})=>{v("storeObject","cell",t),v("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={},h=new(e&&e.formDataCtor||FormData);$(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)),D(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...o.headers},c.data=h,{url:L(i),options:c}}}},tn=function(e){const t=TE(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=j["StoreObjectApi.clearAllObjects"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreObjectApi.deleteObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreObjectApi.getObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreObjectApi.getObjectMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class RE extends Ve{clearAllObjects(t,r){return tn(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return tn(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return tn(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return tn(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return tn(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return tn(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const AE=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{v("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),t!==void 0&&(l.channel=t),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",n=new URL(r,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await U(s,e),D(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,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await U(s,e),D(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",n=new URL(r,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await U(s,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};$(s,e),await U(i,e),i["Content-Type"]="application/json",D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=de(t,s,e),{url:L(a),options:s}}}},Zn=function(e){const t=AE(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=j["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["SystemApi.getDiagnosePackage"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>B(n,V,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=j["SystemApi.getSystemStatus"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>B(n,V,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=j["SystemApi.getSystemVersion"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>B(n,V,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=j["SystemApi.updateNovaVersion"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,M,e)(c,s||u)}}};class _E extends Ve{checkNovaVersionUpdate(t,r){return Zn(this.configuration).checkNovaVersionUpdate(t,r).then(n=>n(this.axios,this.basePath))}getDiagnosePackage(t){return Zn(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Zn(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Zn(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Zn(this.configuration).updateNovaVersion(t,r).then(n=>n(this.axios,this.basePath))}}const EE=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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotIOValue:async(t,r,n,a={})=>{v("getVirtualRobotIOValue","cell",t),v("getVirtualRobotIOValue","controller",r),v("getVirtualRobotIOValue","io",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setMotionGroupState:async(t,r,n,a,o={})=>{v("setMotionGroupState","cell",t),v("setMotionGroupState","controller",r),v("setMotionGroupState","id",n),v("setMotionGroupState","motionGroupJoints",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(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,k);let u;e&&(u=e.baseOptions);const d={method:"PUT",...u,...i},h={},p={};$(d,e),await U(h,e),a!==void 0&&(p.bool=a),o!==void 0&&(p.integer=o),s!==void 0&&(p.double=s),D(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}}}},rn=function(e){const t=EE(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=j["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotApi.getMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotApi.listIOs"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>B(c,V,M,e)(f,d||m)}}};class VE extends Ve{getMotionGroupState(t,r,n,a){return rn(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return rn(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return rn(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return rn(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return rn(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return rn(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const IE=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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setMotionGroupBehavior:async(t,r,n,a,o={})=>{v("setMotionGroupBehavior","cell",t),v("setMotionGroupBehavior","controller",r),v("setMotionGroupBehavior","id",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),a!==void 0&&(d.behavior=a),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}}}},ji=function(e){const t=IE(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=j["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class ME extends Ve{externalJointsStream(t,r,n,a){return ji(this.configuration).externalJointsStream(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,n,a){return ji(this.configuration).getMotionGroupBehavior(t,r,n,a).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,n,a,o){return ji(this.configuration).setMotionGroupBehavior(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const jE=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getEStop:async(t,r,n={})=>{v("getEStop","cell",t),v("getEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},pushEStop:async(t,r,n={})=>{v("pushEStop","cell",t),v("pushEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setOperationMode:async(t,r,n,a={})=>{v("setOperationMode","cell",t),v("setOperationMode","controller",r),v("setOperationMode","mode",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.mode=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}}}},nn=function(e){const t=jE(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=j["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.getEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.pushEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class kE extends Ve{getCycleTime(t,r,n){return nn(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return nn(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return nn(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return nn(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return nn(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return nn(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const $E=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{v("addVirtualRobotCoordinateSystem","cell",t),v("addVirtualRobotCoordinateSystem","controller",r),v("addVirtualRobotCoordinateSystem","coordinateSystem",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:L(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{v("deleteVirtualRobotCoordinateSystem","cell",t),v("deleteVirtualRobotCoordinateSystem","controller",r),v("deleteVirtualRobotCoordinateSystem","coordinateSystem",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};$(c,e),await U(u,e),a!==void 0&&(d.delete_dependent=a),D(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,k);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};$(c,e),await U(u,e),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{v("getVirtualRobotMounting","cell",t),v("getVirtualRobotMounting","controller",r),v("getVirtualRobotMounting","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{v("listVirtualRobotTcps","cell",t),v("listVirtualRobotTcps","controller",r),v("listVirtualRobotTcps","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(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,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:L(i),options:c}}}},ar=function(e){const t=$E(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=j["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class UE extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return ar(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return ar(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return ar(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return ar(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return ar(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return ar(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return ar(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return ar(this.configuration).setVirtualRobotMounting(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}function Nt(e,t,r){return Math.max(t,Math.min(r,e))}class DE{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 y=1-i;const S=l*h+c*p+u*f+d*m,E=S>=0?1:-1,O=1-S*S;if(O>Number.EPSILON){const P=Math.sqrt(O),C=Math.atan2(P,S*E);y=Math.sin(y*C)/P,i=Math.sin(i*C)/P}const w=i*E;if(l=l*y+h*w,c=c*y+p*w,u=u*y+f*w,d=d*y+m*w,y===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(Nt(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 pn{constructor(t=0,r=0,n=0){pn.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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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 oh=1e-4,FE=class Sf{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=lr(p.data))==null?void 0:f.result;m&&je.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=lr(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);xf(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,oh)||je.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),vf(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,oh)||je.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),je.makeAutoObservable(this)}static connect(t,r,n){return Ee(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(C=>C.controller===i),c=l==null?void 0:l.physical_motion_groups.find(C=>C.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=lr(d.data))==null?void 0:a.result;if(!h)throw new Error(`Unable to parse initial motion state message ${d.data}`);console.log(`Connected motion state websocket to motion 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s.headers={...i,...c,...r.headers},{url:L(a),options:s}},getCellStatus:async(t,r={})=>{v("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await U(s,e),D(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},updateCell:async(t,r,n,a={})=>{v("updateCell","cell",t),v("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}}}},Zr=function(e){const t=GE(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=j["CellApi.deleteCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CellApi.deployCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CellApi.getCell"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["CellApi.getCellStatus"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["CellApi.listCells"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>B(n,V,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=j["CellApi.updateCell"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class HE extends Ve{deleteCell(t,r,n){return Zr(this.configuration).deleteCell(t,r,n).then(a=>a(this.axios,this.basePath))}deployCell(t,r,n){return Zr(this.configuration).deployCell(t,r,n).then(a=>a(this.axios,this.basePath))}getCell(t,r){return Zr(this.configuration).getCell(t,r).then(n=>n(this.axios,this.basePath))}getCellStatus(t,r){return Zr(this.configuration).getCellStatus(t,r).then(n=>n(this.axios,this.basePath))}listCells(t){return Zr(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,n,a){return Zr(this.configuration).updateCell(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const qE=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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}},clearRobotControllers:async(t,r,n={})=>{v("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.completionTimeout=r),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.completionTimeout=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getCurrentRobotControllerState:async(t,r,n={})=>{v("getCurrentRobotControllerState","cell",t),v("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRobotController:async(t,r,n={})=>{v("getRobotController","cell",t),v("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotConfiguration:async(t,r,n={})=>{v("getVirtualRobotConfiguration","cell",t),v("getVirtualRobotConfiguration","controller",r);const a="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},setDefaultMode:async(t,r,n,a={})=>{v("setDefaultMode","cell",t),v("setDefaultMode","controller",r),v("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.mode=n),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},streamModeChange:async(t,r,n={})=>{v("streamModeChange","cell",t),v("streamModeChange","controller",r);const a="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.response_rate=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},updateRobotController:async(t,r,n,a,o={})=>{v("updateRobotController","cell",t),v("updateRobotController","controller",r),v("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),a!==void 0&&(d.completionTimeout=a),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(n,c,e),{url:L(i),options:c}}}},nt=function(e){const t=qE(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=j["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.clearRobotControllers"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.getMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.getRobotController"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.getSupportedModes"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.listControllers"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.streamModeChange"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ControllerApi.streamRobotControllerState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class WE extends Ve{addRobotController(t,r,n,a){return nt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return nt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return nt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return nt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return nt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return nt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return nt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return nt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return nt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return nt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return nt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return nt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return nt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return nt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const JE=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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n&&(u.ios=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},listIOValues:async(t,r,n,a={})=>{v("listIOValues","cell",t),v("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n&&(u.ios=n),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},streamIOValues:async(t,r,n,a={})=>{v("streamIOValues","cell",t),v("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n&&(u.ios=n),D(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,k);let d;e&&(d=e.baseOptions);const h={method:"GET",...d,...l},p={},f={};$(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),D(u,f);let m=d&&d.headers?d.headers:{};return h.headers={...p,...m,...l.headers},{url:L(u),options:h}}}},Jn=function(e){const t=JE(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=j["ControllerIOsApi.listIODescriptions"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerIOsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerIOsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerIOsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ControllerIOsApi.waitForIOEvent"])==null?void 0:p[d])==null?void 0:f.url;return(m,y)=>B(u,V,M,e)(m,h||y)}}};class YE extends Ve{listIODescriptions(t,r,n,a){return Jn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return Jn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return Jn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return Jn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return Jn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const KE=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,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getCoordinateSystem:async(t,r,n,a={})=>{v("getCoordinateSystem","cell",t),v("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.rotation_type=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},transformInCoordinateSystem:async(t,r,n,a={})=>{v("transformInCoordinateSystem","cell",t),v("transformInCoordinateSystem","coordinateSystem",r),v("transformInCoordinateSystem","pose",n);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Yn=function(e){const t=KE(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=j["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class QE extends Ve{addCoordinateSystem(t,r,n){return Yn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Yn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Yn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Yn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Yn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const XE=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,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},createDevice:async(t,r,n={})=>{v("createDevice","cell",t),v("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getDevice:async(t,r,n={})=>{v("getDevice","cell",t),v("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},Kn=function(e){const t=XE(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=j["DeviceConfigurationApi.clearDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["DeviceConfigurationApi.createDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["DeviceConfigurationApi.getDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["DeviceConfigurationApi.listDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,M,e)(c,s||u)}}};class ZE extends Ve{clearDevices(t,r){return Kn(this.configuration).clearDevices(t,r).then(n=>n(this.axios,this.basePath))}createDevice(t,r,n){return Kn(this.configuration).createDevice(t,r,n).then(a=>a(this.axios,this.basePath))}deleteDevice(t,r,n){return Kn(this.configuration).deleteDevice(t,r,n).then(a=>a(this.axios,this.basePath))}getDevice(t,r,n){return Kn(this.configuration).getDevice(t,r,n).then(a=>a(this.axios,this.basePath))}listDevices(t,r){return Kn(this.configuration).listDevices(t,r).then(n=>n(this.axios,this.basePath))}}const e2=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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.name=n),c["Content-Type"]="text/plain",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteProgramList:async(t,r,n={})=>{v("deleteProgramList","cell",t),v("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),r&&(c.program_ids=r),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},updateProgram:async(t,r,n,a={})=>{v("updateProgram","cell",t),v("updateProgram","program",r),v("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="text/plain",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Qn=function(e){const t=e2(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=j["LibraryProgramApi.createProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["LibraryProgramApi.deleteProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramApi.deleteProgramList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramApi.getProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramApi.updateProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class t2 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 r2=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramMetadata:async(t,r,n={})=>{v("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.show_hidden=r),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{v("uploadProgramMetadataImage","cell",t),v("uploadProgramMetadataImage","program",r),v("uploadProgramMetadataImage","file",n);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);$(l,e),await U(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",D(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},ao=function(e){const t=r2(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=j["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class n2 extends Ve{getProgramMetadata(t,r,n){return ao(this.configuration).getProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramMetadata(t,r,n){return ao(this.configuration).listProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgramMetadata(t,r,n,a){return ao(this.configuration).updateProgramMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,n,a){return ao(this.configuration).uploadProgramMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const a2=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,k);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};$(c,e),await U(u,e),r!==void 0&&(d.program_id=r),a!==void 0&&(d.name=a),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(n,c,e),{url:L(i),options:c}},deleteRecipe:async(t,r,n={})=>{v("deleteRecipe","cell",t),v("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),r&&(c.recipe_ids=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getRecipe:async(t,r,n={})=>{v("getRecipe","cell",t),v("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},Xn=function(e){const t=a2(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=j["LibraryRecipeApi.createRecipe"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryRecipeApi.getRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryRecipeApi.updateRecipe"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class o2 extends Ve{createRecipe(t,r,n,a,o){return Xn(this.configuration).createRecipe(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,n){return Xn(this.configuration).deleteRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRecipeList(t,r,n){return Xn(this.configuration).deleteRecipeList(t,r,n).then(a=>a(this.axios,this.basePath))}getRecipe(t,r,n){return Xn(this.configuration).getRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}updateRecipe(t,r,n,a){return Xn(this.configuration).updateRecipe(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const s2=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},updateRecipeMetadata:async(t,r,n,a={})=>{v("updateRecipeMetadata","cell",t),v("updateRecipeMetadata","recipe",r),v("updateRecipeMetadata","updateRecipeMetadataRequest",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);$(l,e),await U(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",D(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:L(s),options:l}}}},oo=function(e){const t=s2(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=j["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class i2 extends Ve{getRecipeMetadata(t,r,n){return oo(this.configuration).getRecipeMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listRecipeMetadata(t,r){return oo(this.configuration).listRecipeMetadata(t,r).then(n=>n(this.axios,this.basePath))}updateRecipeMetadata(t,r,n,a){return oo(this.configuration).updateRecipeMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,n,a){return oo(this.configuration).uploadRecipeMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const l2=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,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},executeTrajectory:async(t,r,n={})=>{v("executeTrajectory","cell",t),v("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await U(u,e),n!==void 0&&(d.sample_time=n),a!==void 0&&(d.responses_coordinate_system=a),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getMotionTrajectorySample:async(t,r,n,a,o={})=>{v("getMotionTrajectorySample","cell",t),v("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await U(u,e),n!==void 0&&(d.location_on_trajectory=n),a!==void 0&&(d.response_coordinate_system=a),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.sample_time=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{v("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},loadPlannedMotion:async(t,r,n={})=>{v("loadPlannedMotion","cell",t),v("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},planMotion:async(t,r,n={})=>{v("planMotion","cell",t),v("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},stopExecution:async(t,r,n={})=>{v("stopExecution","cell",t),v("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{v("streamMoveBackward","cell",t),v("streamMoveBackward","motion",r),v("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,k);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};$(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),D(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,k);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};$(d,e),await U(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),D(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}},streamMoveToTrajectoryViaJointPTP:async(t,r,n,a,o,s,i,l,c,u,d={})=>{v("streamMoveToTrajectoryViaJointPTP","cell",t),v("streamMoveToTrajectoryViaJointPTP","motion",r),v("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,k);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},y={},S={};$(m,e),await U(y,e),n!==void 0&&(S.location_on_trajectory=n),a&&(S["limit_override.joint_velocity_limits.joints"]=a),o&&(S["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(S["limit_override.tcp_velocity_limit"]=s),i!==void 0&&(S["limit_override.tcp_acceleration_limit"]=i),l!==void 0&&(S["limit_override.tcp_orientation_velocity_limit"]=l),c!==void 0&&(S["limit_override.tcp_orientation_acceleration_limit"]=c),u!==void 0&&(S.responses_coordinate_system=u),D(p,S);let E=f&&f.headers?f.headers:{};return m.headers={...y,...E,...d.headers},{url:L(p),options:m}}}},Ye=function(e){const t=l2(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=j["MotionApi.deleteAllMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["MotionApi.deleteMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.executeTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.getMotionTrajectory"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["MotionApi.getMotionTrajectorySample"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["MotionApi.getPlannedMotion"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["MotionApi.listMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["MotionApi.loadPlannedMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.planCollisionFreePTP"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.planMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.planTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.stopExecution"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.streamMove"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionApi.streamMoveBackward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>B(c,V,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=j["MotionApi.streamMoveForward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>B(c,V,M,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var y,S;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=(S=(y=j["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:y[f])==null?void 0:S.url;return(E,O)=>B(p,V,M,e)(E,m||O)}}};class c2 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 u2=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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.controller=r),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},activateMotionGroup:async(t,r,n={})=>{v("activateMotionGroup","cell",t),v("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),r!==void 0&&(c.motion_group=r),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listMotionGroups:async(t,r={})=>{v("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}}}},so=function(e){const t=u2(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=j["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupApi.activateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupApi.listMotionGroups"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,M,e)(c,s||u)}}};class d2 extends Ve{activateAllMotionGroups(t,r,n){return so(this.configuration).activateAllMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}activateMotionGroup(t,r,n){return so(this.configuration).activateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}deactivateMotionGroup(t,r,n){return so(this.configuration).deactivateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}listMotionGroups(t,r){return so(this.configuration).listMotionGroups(t,r).then(n=>n(this.axios,this.basePath))}}const h2=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getActiveTcp:async(t,r,n,a={})=>{v("getActiveTcp","cell",t),v("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),D(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,k);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};$(c,e),await U(u,e),n!==void 0&&(d.tcp=n),a!==void 0&&(d.response_coordinate_system=a),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getInfoCapabilities:async(t,r,n={})=>{v("getInfoCapabilities","cell",t),v("getInfoCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getMounting:async(t,r,n={})=>{v("getMounting","cell",t),v("getMounting","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.tcp=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},getSafetySetup:async(t,r,n={})=>{v("getSafetySetup","cell",t),v("getSafetySetup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listTcps:async(t,r,n,a={})=>{v("listTcps","cell",t),v("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.rotation_type=n),D(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,k);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...s},d={},h={};$(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),D(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...s.headers},{url:L(l),options:u}}}},St=function(e){const t=h2(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=j["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.getMounting"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.listPayloads"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupInfosApi.listTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>B(l,V,M,e)(p,u||f)}}};class p2 extends Ve{getActivePayload(t,r,n){return St(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return St(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return St(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return St(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return St(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return St(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return St(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return St(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return St(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return St(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return St(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const m2=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},jointJogging:async(t,r,n={})=>{v("jointJogging","cell",t),v("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},io=function(e){const t=m2(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=j["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)}}};class f2 extends Ve{directionJogging(t,r,n){return io(this.configuration).directionJogging(t,r,n).then(a=>a(this.axios,this.basePath))}getJoggingCapabilities(t,r,n){return io(this.configuration).getJoggingCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}jointJogging(t,r,n){return io(this.configuration).jointJogging(t,r,n).then(a=>a(this.axios,this.basePath))}stopJogging(t,r,n){return io(this.configuration).stopJogging(t,r,n).then(a=>a(this.axios,this.basePath))}}const g2=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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{v("calculateInverseKinematic","cell",t),v("calculateInverseKinematic","motionGroup",r),v("calculateInverseKinematic","jointPositionRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},lo=function(e){const t=g2(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=j["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)}}};class y2 extends Ve{calculateAllInverseKinematic(t,r,n,a){return lo(this.configuration).calculateAllInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,n,a){return lo(this.configuration).calculateForwardKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,n,a){return lo(this.configuration).calculateInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,n){return lo(this.configuration).getKinematicCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}}const b2=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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="text/plain",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},getProgramRunner:async(t,r,n={})=>{v("getProgramRunner","cell",t),v("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},migrateProgram:async(t,r,n={})=>{v("migrateProgram","cell",t),v("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="text/plain",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.identifier=n),c["Content-Type"]="text/plain",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(r,l,e),{url:L(s),options:l}},stopAllProgramRunner:async(t,r={})=>{v("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}}}},nr=function(e){const t=b2(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=j["ProgramApi.createProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramApi.executeProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramApi.getProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramApi.listProgramRunners"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ProgramApi.migrateProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramApi.planProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["ProgramApi.stopAllProgramRunner"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ProgramApi.stopProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,M,e)(u,i||d)}}};class x2 extends Ve{createProgramRunner(t,r,n){return nr(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return nr(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return nr(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return nr(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return nr(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return nr(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return nr(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return nr(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const v2=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,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};$(i,e),await U(l,e),l["Content-Type"]="application/json",D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=de(r,i,e),{url:L(o),options:i}},deleteProgramValue:async(t,r,n={})=>{v("deleteProgramValue","cell",t),v("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listProgramsValues:async(t,r={})=>{v("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},en=function(e){const t=v2(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=j["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ProgramValuesApi.createProgramsValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramValuesApi.getProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["ProgramValuesApi.listProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["ProgramValuesApi.updateProgramValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class S2 extends Ve{clearProgramsValues(t,r){return en(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return en(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return en(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return en(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return en(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return en(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const O2=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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{v("deleteStoredCollisionTool","cell",t),v("deleteStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollider:async(t,r,n={})=>{v("getStoredCollider","cell",t),v("getStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionTool:async(t,r,n={})=>{v("getStoredCollisionTool","cell",t),v("getStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},listStoredColliders:async(t,r={})=>{v("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollider:async(t,r,n,a={})=>{v("storeCollider","cell",t),v("storeCollider","collider",r),v("storeCollider","collider2",n);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{v("storeCollisionTool","cell",t),v("storeCollisionTool","tool",r),v("storeCollisionTool","requestBody",n);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},ct=function(e){const t=O2(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=j["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class w2 extends Ve{deleteStoredCollider(t,r,n){return ct(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return ct(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return ct(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return ct(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return ct(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return ct(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return ct(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ct(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return ct(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ct(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return ct(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return ct(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return ct(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const C2=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,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getStoredCollisionScene:async(t,r,n={})=>{v("getStoredCollisionScene","cell",t),v("getStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeCollisionScene:async(t,r,n,a={})=>{v("storeCollisionScene","cell",t),v("storeCollisionScene","scene",r),v("storeCollisionScene","collisionSceneAssembly",n);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(n,l,e),{url:L(s),options:l}}}},co=function(e){const t=C2(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=j["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class P2 extends Ve{deleteStoredCollisionScene(t,r,n){return co(this.configuration).deleteStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionScene(t,r,n){return co(this.configuration).getStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return co(this.configuration).listStoredCollisionScenes(t,r).then(n=>n(this.axios,this.basePath))}storeCollisionScene(t,r,n,a){return co(this.configuration).storeCollisionScene(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const T2=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,k);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},deleteObject:async(t,r,n={})=>{v("deleteObject","cell",t),v("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getObjectMetadata:async(t,r,n={})=>{v("getObjectMetadata","cell",t),v("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},storeObject:async(t,r,n,a,o={})=>{v("storeObject","cell",t),v("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={},h=new(e&&e.formDataCtor||FormData);$(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)),D(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...o.headers},c.data=h,{url:L(i),options:c}}}},tn=function(e){const t=T2(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=j["StoreObjectApi.clearAllObjects"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreObjectApi.deleteObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreObjectApi.getObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreObjectApi.getObjectMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class R2 extends Ve{clearAllObjects(t,r){return tn(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return tn(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return tn(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return tn(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return tn(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return tn(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const A2=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{v("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,k);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};$(s,e),await U(i,e),t!==void 0&&(l.channel=t),D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:L(a),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",n=new URL(r,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await U(s,e),D(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,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await U(s,e),D(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:L(n),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",n=new URL(r,k);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};$(o,e),await U(s,e),D(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,k);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};$(s,e),await U(i,e),i["Content-Type"]="application/json",D(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=de(t,s,e),{url:L(a),options:s}}}},Zn=function(e){const t=A2(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=j["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,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=j["SystemApi.getDiagnosePackage"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>B(n,V,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=j["SystemApi.getSystemStatus"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>B(n,V,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=j["SystemApi.getSystemVersion"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>B(n,V,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=j["SystemApi.updateNovaVersion"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>B(a,V,M,e)(c,s||u)}}};class _2 extends Ve{checkNovaVersionUpdate(t,r){return Zn(this.configuration).checkNovaVersionUpdate(t,r).then(n=>n(this.axios,this.basePath))}getDiagnosePackage(t){return Zn(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Zn(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Zn(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Zn(this.configuration).updateNovaVersion(t,r).then(n=>n(this.axios,this.basePath))}}const E2=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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getVirtualRobotIOValue:async(t,r,n,a={})=>{v("getVirtualRobotIOValue","cell",t),v("getVirtualRobotIOValue","controller",r),v("getVirtualRobotIOValue","io",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setMotionGroupState:async(t,r,n,a,o={})=>{v("setMotionGroupState","cell",t),v("setMotionGroupState","controller",r),v("setMotionGroupState","id",n),v("setMotionGroupState","motionGroupJoints",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(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,k);let u;e&&(u=e.baseOptions);const d={method:"PUT",...u,...i},h={},p={};$(d,e),await U(h,e),a!==void 0&&(p.bool=a),o!==void 0&&(p.integer=o),s!==void 0&&(p.double=s),D(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:L(c),options:d}}}},rn=function(e){const t=E2(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=j["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotApi.getMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotApi.listIOs"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>B(c,V,M,e)(f,d||m)}}};class V2 extends Ve{getMotionGroupState(t,r,n,a){return rn(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return rn(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return rn(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return rn(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return rn(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return rn(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const I2=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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}},setMotionGroupBehavior:async(t,r,n,a,o={})=>{v("setMotionGroupBehavior","cell",t),v("setMotionGroupBehavior","controller",r),v("setMotionGroupBehavior","id",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),a!==void 0&&(d.behavior=a),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}}}},ji=function(e){const t=I2(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=j["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class M2 extends Ve{externalJointsStream(t,r,n,a){return ji(this.configuration).externalJointsStream(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,n,a){return ji(this.configuration).getMotionGroupBehavior(t,r,n,a).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,n,a,o){return ji(this.configuration).setMotionGroupBehavior(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const j2=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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},getEStop:async(t,r,n={})=>{v("getEStop","cell",t),v("getEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},pushEStop:async(t,r,n={})=>{v("pushEStop","cell",t),v("pushEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},setOperationMode:async(t,r,n,a={})=>{v("setOperationMode","cell",t),v("setOperationMode","controller",r),v("setOperationMode","mode",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),n!==void 0&&(u.mode=n),D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:L(s),options:l}}}},nn=function(e){const t=j2(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=j["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.getEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.pushEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,M,e)(d,l||h)}}};class k2 extends Ve{getCycleTime(t,r,n){return nn(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return nn(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return nn(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return nn(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return nn(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return nn(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const $2=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{v("addVirtualRobotCoordinateSystem","cell",t),v("addVirtualRobotCoordinateSystem","controller",r),v("addVirtualRobotCoordinateSystem","coordinateSystem",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};$(l,e),await U(c,e),c["Content-Type"]="application/json",D(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=de(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,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:L(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{v("deleteVirtualRobotCoordinateSystem","cell",t),v("deleteVirtualRobotCoordinateSystem","controller",r),v("deleteVirtualRobotCoordinateSystem","coordinateSystem",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(s,k);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};$(c,e),await U(u,e),a!==void 0&&(d.delete_dependent=a),D(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,k);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};$(c,e),await U(u,e),D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:L(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{v("getVirtualRobotMounting","cell",t),v("getVirtualRobotMounting","controller",r),v("getVirtualRobotMounting","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(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,k);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};$(i,e),await U(l,e),D(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:L(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{v("listVirtualRobotTcps","cell",t),v("listVirtualRobotTcps","controller",r),v("listVirtualRobotTcps","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,k);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};$(l,e),await U(c,e),D(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,k);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};$(c,e),await U(u,e),u["Content-Type"]="application/json",D(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=de(a,c,e),{url:L(i),options:c}}}},ar=function(e){const t=$2(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=j["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,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=j["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>B(o,V,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=j["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>B(s,V,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=j["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>B(i,V,M,e)(h,c||p)}}};class U2 extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return ar(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return ar(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return ar(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return ar(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return ar(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return ar(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return ar(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return ar(this.configuration).setVirtualRobotMounting(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}function Nt(e,t,r){return Math.max(t,Math.min(r,e))}class D2{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 y=1-i;const S=l*h+c*p+u*f+d*m,E=S>=0?1:-1,O=1-S*S;if(O>Number.EPSILON){const P=Math.sqrt(O),C=Math.atan2(P,S*E);y=Math.sin(y*C)/P,i=Math.sin(i*C)/P}const w=i*E;if(l=l*y+h*w,c=c*y+p*w,u=u*y+f*w,d=d*y+m*w,y===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(Nt(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 pn{constructor(t=0,r=0,n=0){pn.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 0:this.x=r;break;case 1:this.y=r;break;case 2:this.z=r;break;default:throw new Error("index is out of range: "+t)}return this}getComponent(t){switch(t){case 0:return this.x;case 1:return this.y;case 2:return this.z;default:throw new Error("index is out of range: "+t)}}clone(){return new this.constructor(this.x,this.y,this.z)}copy(t){return this.x=t.x,this.y=t.y,this.z=t.z,this}add(t){return this.x+=t.x,this.y+=t.y,this.z+=t.z,this}addScalar(t){return this.x+=t,this.y+=t,this.z+=t,this}addVectors(t,r){return this.x=t.x+r.x,this.y=t.y+r.y,this.z=t.z+r.z,this}addScaledVector(t,r){return this.x+=t.x*r,this.y+=t.y*r,this.z+=t.z*r,this}sub(t){return this.x-=t.x,this.y-=t.y,this.z-=t.z,this}subScalar(t){return this.x-=t,this.y-=t,this.z-=t,this}subVectors(t,r){return this.x=t.x-r.x,this.y=t.y-r.y,this.z=t.z-r.z,this}multiply(t){return this.x*=t.x,this.y*=t.y,this.z*=t.z,this}multiplyScalar(t){return this.x*=t,this.y*=t,this.z*=t,this}multiplyVectors(t,r){return this.x=t.x*r.x,this.y=t.y*r.y,this.z=t.z*r.z,this}applyEuler(t){return this.applyQuaternion(nh.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(nh.setFromAxisAngle(t,r))}applyMatrix3(t){const r=this.x,n=this.y,a=this.z,o=t.elements;return this.x=o[0]*r+o[3]*n+o[6]*a,this.y=o[1]*r+o[4]*n+o[7]*a,this.z=o[2]*r+o[5]*n+o[8]*a,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const r=this.x,n=this.y,a=this.z,o=t.elements,s=1/(o[3]*r+o[7]*n+o[11]*a+o[15]);return this.x=(o[0]*r+o[4]*n+o[8]*a+o[12])*s,this.y=(o[1]*r+o[5]*n+o[9]*a+o[13])*s,this.z=(o[2]*r+o[6]*n+o[10]*a+o[14])*s,this}applyQuaternion(t){const r=this.x,n=this.y,a=this.z,o=t.x,s=t.y,i=t.z,l=t.w,c=2*(s*a-i*n),u=2*(i*r-o*a),d=2*(o*n-s*r);return this.x=r+l*c+s*d-i*u,this.y=n+l*u+i*c-o*d,this.z=a+l*d+o*u-s*c,this}project(t){return this.applyMatrix4(t.matrixWorldInverse).applyMatrix4(t.projectionMatrix)}unproject(t){return this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const r=this.x,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=Nt(this.x,t.x,r.x),this.y=Nt(this.y,t.y,r.y),this.z=Nt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=Nt(this.x,t,r),this.y=Nt(this.y,t,r),this.z=Nt(this.z,t,r),this}clampLength(t,r){const n=this.length();return this.divideScalar(n||1).multiplyScalar(Nt(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 n=t.x,a=t.y,o=t.z,s=r.x,i=r.y,l=r.z;return this.x=a*l-o*i,this.y=o*s-n*l,this.z=n*i-a*s,this}projectOnVector(t){const r=t.lengthSq();if(r===0)return this.set(0,0,0);const n=t.dot(this)/r;return this.copy(t).multiplyScalar(n)}projectOnPlane(t){return ki.copy(this).projectOnVector(t),this.sub(ki)}reflect(t){return this.sub(ki.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const r=Math.sqrt(this.lengthSq()*t.lengthSq());if(r===0)return Math.PI/2;const n=this.dot(t)/r;return Math.acos(Nt(n,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const r=this.x-t.x,n=this.y-t.y,a=this.z-t.z;return r*r+n*n+a*a}manhattanDistanceTo(t){return Math.abs(this.x-t.x)+Math.abs(this.y-t.y)+Math.abs(this.z-t.z)}setFromSpherical(t){return this.setFromSphericalCoords(t.radius,t.phi,t.theta)}setFromSphericalCoords(t,r,n){const a=Math.sin(r)*t;return this.x=a*Math.sin(n),this.y=Math.cos(r)*t,this.z=a*Math.cos(n),this}setFromCylindrical(t){return 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O(T,I){return I.length<2?T.length<2?`[^${i(T+I)}]`:`(?:(?!${i(T)})[^${i(I)}])`:T.length<2?`(?:(?!${i(I)})[^${i(T)}])`:`(?:(?!${i(I)}|${i(T)})[\\s\\S])`}function w(T){return T.tokens.map(function I(N,b,R){if(N.type==="text")return s(N.value);if(N.type==="group")return`{${N.tokens.map(I).join("")}}`;const _=P(N.name)&&C(R[b+1])?N.name:JSON.stringify(N.name);if(N.type==="param")return`:${_}`;if(N.type==="wildcard")return`*${_}`;throw new TypeError(`Unexpected token: ${N}`)}).join("")}function P(T){const[I,...N]=T;return r.test(I)?N.every(b=>n.test(b)):!1}function C(T){return(T==null?void 0:T.type)!=="text"?!0:!n.test(T.value[0])}return Vt}var N2=B2();function xf(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 vf(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 oh=1e-4,F2=class Sf{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=lr(p.data))==null?void 0:f.result;m&&je.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=lr(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);xf(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,oh)||je.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),vf(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,oh)||je.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),je.makeAutoObservable(this)}static connect(t,r,n){return Ee(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(C=>C.controller===i),c=l==null?void 0:l.physical_motion_groups.find(C=>C.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=lr(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 Ee(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(C){return console.error(`Error fetching mounting for ${c.motion_group}`,C),null}}),y=t.openReconnectingWebsocket(`/controllers/${l.controller}/state-stream?response_rate=1000`),S=yield y.firstMessage(),E=(o=lr(S.data))==null?void 0:o.result;if(!E)throw new Error(`Unable to parse initial controller state message ${S.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
-  `,E);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),w=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),P=yield t.api.motionGroupInfos.getSafetySetup(r);return new Sf(t,l,c,h,u,f,O,w,P,m,E,y)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${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 Ue.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 Ue.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 Ee(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}je.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),je.runInAction(()=>{this.activationState="inactive"})}catch(t){throw je.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Ee(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}je.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),je.runInAction(()=>{this.activationState="active"})}catch(t){throw je.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}},zE=class Of{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return Ee(this,arguments,function*(n,a,o={}){const s=yield n.connectMotionStream(a);return new Of(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 Ee(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&&(WA(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=lr(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=lr(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 Ee(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 Ee(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 Ee(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 Ee(this,arguments,function*({currentTcpPose:r,currentJoints:n,coordSystemId:a,velocityInRelevantUnits:o,axis:s,direction:i,motion:l}){var c;const u=[];if(!c_(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 pn(r.orientation.x,r.orientation.y,r.orientation.z),f=p.length(),m=p.clone().normalize(),y=l.distanceRads*(i==="-"?-1:1),S=new pn(0,0,0);S[s]=1;const E=Math.cos(.5*y)*Math.cos(.5*f),O=Math.sin(.5*y)*Math.sin(.5*f),w=Math.sin(.5*y)*Math.cos(.5*f),P=Math.cos(.5*y)*Math.sin(.5*f),C=S.dot(m),T=S.clone().cross(m),I=2*Math.acos(E-O*C),N=I/Math.sin(.5*I),b=new pn().addScaledVector(T,O).addScaledVector(S,w).addScaledVector(m,P).multiplyScalar(N);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:b,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 Ee(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})})}},sh=1e-4;function GE(e,t){const r=new Ot.Vector3(t.x,t.y,t.z),n=new Ot.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 HE=class wf{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=lr(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);xf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,sh)||je.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),vf(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,sh)||je.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:GE(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),je.makeAutoObservable(this)}static open(t,r){return Ee(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=lr(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 ${l.motion_group}. Initial state:
-  `,d),new wf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},qE=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(_E),this.cell=this.withUnwrappedResponsesOnly(H2),this.deviceConfig=this.withCellId(Z2),this.motionGroup=this.withCellId(dE),this.motionGroupInfos=this.withCellId(pE),this.controller=this.withCellId(W2),this.program=this.withCellId(xE),this.programValues=this.withCellId(SE),this.controllerIOs=this.withCellId(Y2),this.motionGroupKinematic=this.withCellId(yE),this.motion=this.withCellId(cE),this.coordinateSystems=this.withCellId(Q2),this.application=this.withCellId(rh),this.applicationGlobal=this.withUnwrappedResponsesOnly(rh),this.motionGroupJogging=this.withCellId(fE),this.virtualRobot=this.withCellId(VE),this.virtualRobotSetup=this.withCellId(UE),this.virtualRobotMode=this.withCellId(kE),this.virtualRobotBehavior=this.withCellId(ME),this.libraryProgramMetadata=this.withCellId(nE),this.libraryProgram=this.withCellId(tE),this.libraryRecipeMetadata=this.withCellId(iE),this.libraryRecipe=this.withCellId(oE),this.storeObject=this.withCellId(RE),this.storeCollisionComponents=this.withCellId(wE),this.storeCollisionScenes=this.withCellId(PE)}withCellId(e){var t,r;const n=new e(dl(ln({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:V.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(dl(ln({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:V.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}},WE=class{constructor(){this.connections=[]}handleAPIRequest(e){return Ee(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=NE.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 bl(`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(JE)})),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 ${e.url}`,t)}},JE={result:{state:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",joint_position:{joints:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:""},tcp_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"1"},tcp_pose:{position:{x:302.90748476115556,y:-152.87065869452337,z:424.0454619321661},orientation:{x:2.3403056115045353,y:-1.1706836379431356,z:.9772511964246311},coordinate_system:"",tcp:"Flange"}}},YE=class{constructor(e){this.authPromise=null,this.accessToken=null;var 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Promise.reject(i)}else((s=a.response)==null?void 0:s.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(a)})),this.api=new qE(r,dl(ln({},e),{basePath:$i(this.config.instanceUrl,"/api/v1"),isJsonMime:a=>a==="application/json",baseOptions:ln(ln({},this.mock?{adapter:a=>this.mock.handleAPIRequest(a)}:{}),e.baseOptions),axiosInstance:n}))}renewAuthentication(){return Ee(this,null,function*(){if(!this.authPromise){this.authPromise=d_(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?_i.setString("wbjs.access_token",this.accessToken):_i.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL($i(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return 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+  `,E);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),w=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),P=yield t.api.motionGroupInfos.getSafetySetup(r);return new Sf(t,l,c,h,u,f,O,w,P,m,E,y)})}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 Ue.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 Ue.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 Ee(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}je.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),je.runInAction(()=>{this.activationState="inactive"})}catch(t){throw je.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Ee(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}je.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),je.runInAction(()=>{this.activationState="active"})}catch(t){throw je.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}},z2=class Of{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return Ee(this,arguments,function*(n,a,o={}){const s=yield n.connectMotionStream(a);return new Of(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 Ee(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&&(WA(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=lr(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=lr(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 Ee(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 Ee(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 Ee(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 Ee(this,arguments,function*({currentTcpPose:r,currentJoints:n,coordSystemId:a,velocityInRelevantUnits:o,axis:s,direction:i,motion:l}){var c;const u=[];if(!c_(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 pn(r.orientation.x,r.orientation.y,r.orientation.z),f=p.length(),m=p.clone().normalize(),y=l.distanceRads*(i==="-"?-1:1),S=new pn(0,0,0);S[s]=1;const E=Math.cos(.5*y)*Math.cos(.5*f),O=Math.sin(.5*y)*Math.sin(.5*f),w=Math.sin(.5*y)*Math.cos(.5*f),P=Math.cos(.5*y)*Math.sin(.5*f),C=S.dot(m),T=S.clone().cross(m),I=2*Math.acos(E-O*C),N=I/Math.sin(.5*I),b=new pn().addScaledVector(T,O).addScaledVector(S,w).addScaledVector(m,P).multiplyScalar(N);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:b,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 Ee(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})})}},sh=1e-4;function G2(e,t){const r=new Ot.Vector3(t.x,t.y,t.z),n=new Ot.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 H2=class wf{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=lr(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);xf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,sh)||je.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),vf(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,sh)||je.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:G2(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),je.makeAutoObservable(this)}static open(t,r){return Ee(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=lr(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 ${l.motion_group}. Initial state:
+  `,d),new wf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},q2=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(_2),this.cell=this.withUnwrappedResponsesOnly(HE),this.deviceConfig=this.withCellId(ZE),this.motionGroup=this.withCellId(d2),this.motionGroupInfos=this.withCellId(p2),this.controller=this.withCellId(WE),this.program=this.withCellId(x2),this.programValues=this.withCellId(S2),this.controllerIOs=this.withCellId(YE),this.motionGroupKinematic=this.withCellId(y2),this.motion=this.withCellId(c2),this.coordinateSystems=this.withCellId(QE),this.application=this.withCellId(rh),this.applicationGlobal=this.withUnwrappedResponsesOnly(rh),this.motionGroupJogging=this.withCellId(f2),this.virtualRobot=this.withCellId(V2),this.virtualRobotSetup=this.withCellId(U2),this.virtualRobotMode=this.withCellId(k2),this.virtualRobotBehavior=this.withCellId(M2),this.libraryProgramMetadata=this.withCellId(n2),this.libraryProgram=this.withCellId(t2),this.libraryRecipeMetadata=this.withCellId(i2),this.libraryRecipe=this.withCellId(o2),this.storeObject=this.withCellId(R2),this.storeCollisionComponents=this.withCellId(w2),this.storeCollisionScenes=this.withCellId(P2)}withCellId(e){var t,r;const n=new e(dl(ln({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:V.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(dl(ln({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:V.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}},W2=class{constructor(){this.connections=[]}handleAPIRequest(e){return Ee(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 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0:s.id)||"",je.makeAutoObservable(this,{},{autoBind:!0}),this.loadFromLocalStorage(),this.disposers.push(je.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(t){const{nova:r}=t,[n,{coordinatesystems:a},{tcps:o}]=await Promise.all([r.api.motionGroupInfos.getMotionGroupSpecification(t.motionGroupId),r.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),r.api.motionGroupInfos.listTcps(t.motionGroupId,"ROTATION_VECTOR")]);return new qs(t,n,a||[],o||[])}dispose(){for(const t of this.disposers)t();this.jogger.dispose()}get coordSystemCountByName(){return Al.countBy(this.coordSystems,t=>t.name)}async deactivate(){const t=this.jogger.activeWebsocket;this.jogger.setJoggingMode("increment"),t&&await t.closed()}async activate(){if(this.currentTab.id==="cartesian"){const t={tcpId:this.selectedTcpId,coordSystemId:this.activeCoordSystemId};this.activeDiscreteIncrement?this.jogger.setJoggingMode("increment",t):this.jogger.setJoggingMode("cartesian",t)}else this.jogger.setJoggingMode("joint");return this.jogger}loadFromLocalStorage(){const t=Cr.tryParseJson(localStorage.getItem("joggingToolStore"));t&&(this.tabsById[t.selectedTabId]&&(this.selectedTabId=t.selectedTabId),this.coordSystemsById[t.selectedCoordSystemId]&&(this.selectedCoordSystemId=t.selectedCoordSystemId),this.tcpsById[t.selectedTcpId]&&(this.selectedTcpId=t.selectedTcpId),this.incrementOptionsById[t.selectedIncrementId]&&(this.selectedIncrementId=t.selectedIncrementId),["translate","rotate"].includes(t.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=t.selectedCartesianMotionType),["coordsys","tool"].includes(t.selectedOrientation)&&(this.selectedOrientation=t.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get 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np(r,e)}exports.AppHeader=Mg;exports.CycleTimer=Tm;exports.JoggingCartesianAxisControl=al;exports.JoggingJointRotationControl=Im;exports.JoggingPanel=e3;exports.JoggingStore=qs;exports.LoadingCover=Cc;exports.LoadingErrorMessage=Cf;exports.LogPanel=l3;exports.LogStore=Yf;exports.LogViewer=Kf;exports.MANUFACTURER_HOME_CONFIGS=Rl;exports.NoMotionGroupModal=u3;exports.PoseCartesianValues=r3;exports.PoseJointValues=n3;exports.PresetEnvironment=Ni;exports.ProgramControl=d3;exports.ProgramState=vr;exports.ProgramStateIndicator=Tl;exports.Robot=tg;exports.RobotCard=w3;exports.RobotListItem=R3;exports.RobotSetupReadinessIndicator=rg;exports.RobotSetupReadinessState=Ic;exports.SafetyBar=Z3;exports.SafetyZonesRenderer=Rg;exports.SelectableFab=tj;exports.SupportedRobot=eg;exports.TabBar=nj;exports.TrajectoryRenderer=Ag;exports.ValueInterpolator=xc;exports.VelocitySlider=qf;exports.VelocitySliderLabel=Ec;exports.WandelbotsDataGrid=Rm;exports.WandelscriptEditor=ij;exports.createDebugMessage=a3;exports.createErrorMessage=i3;exports.createInfoMessage=o3;exports.createLogMessage=$a;exports.createNovaMuiTheme=cj;exports.createWarningMessage=s3;exports.defaultAxisConfig=A3;exports.defaultGetModel=Vc;exports.extractManufacturer=ng;exports.getDefaultHomeConfig=_3;exports.i18n=_l;exports.useAnimationFrame=Rn;exports.useAutorun=Am;exports.useInterpolation=Pm;exports.useMounted=Vs;exports.useReaction=_m;
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