@wandelbots/wandelbots-js-react-components 2.35.0 → 2.36.0-pr.feature-design-pass.378.e01a6c5

package/dist/index.cjs

@@ -20,7 +20,7 @@
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mm","Jogging.Cartesian.MotionType.lb":"Bewegungstyp","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Gelenkwerte","Jogging.Increment.Continuous.dd":"Fortlaufend","Jogging.Cartesian.Orientation.lb":"Orientierung","Jogging.JointLimitsReached.lb":"Gelenkgrenzen für Gelenk {{jointNumbers}} erreicht","Jogging.Orientation.coordsys":"Roboterbasis","Jogging.Orientation.tool":"Werkzeug","SafetyBar.ActivationToggle.Activate.bt":"Aktivieren","SafetyBar.ActivationToggle.Activated.bt":"Aktiviert","SafetyBar.ActivationToggle.Activating.bt":"Wird aktiviert…","SafetyBar.ActivationToggle.Deactivating.bt":"Wird deaktiviert…","SafetyBar.ControllerType.Physical.lb":"Physisch","SafetyBar.ControllerType.Virtual.lb":"Virtuell","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> ist ein physische Robotersteuerung. 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It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully.","SafetyBar.OperationMode.Manual.lb":"Manual","SafetyBar.OperationMode.ti":"Operation mode","SafetyBar.SafetyState.Error.Explanation.lb":"The robot controller has entered an unexpected safety state.","SafetyBar.SafetyState.Error.lb":"Error","SafetyBar.SafetyState.Estop.lb":"E-Stop","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"The robot controller has entered a safety state requiring manual action to resolve.","SafetyBar.SafetyState.ManualActionRequired.lb":"Action required","SafetyBar.SafetyState.Normal.Explanation.lb":"The robot controller is in a safe state. Robot movement is enabled.","SafetyBar.SafetyState.Normal.lb":"Safe","SafetyBar.SafetyState.Stop.Explanation.lb":"The robot controller has entered a stop state. 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@@ -151,5 +151,5 @@ and limitations under the License.
   `,h);const f=(yield t.api.controller.getRobotController(l.controller)).configuration.kind==="VirtualController",m=yield Ve(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(C){return console.error(`Error fetching mounting for ${c.motion_group}`,C),null}}),b=t.openReconnectingWebsocket(`/controllers/${l.controller}/state-stream?response_rate=1000`),S=yield b.firstMessage(),E=(a=lr(S.data))==null?void 0:a.result;if(!E)throw new Error(`Unable to parse initial controller state message ${S.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
   `,E);const{tcps:O}=yield t.api.motionGroupInfos.listTcps(r),w=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),A=yield t.api.motionGroupInfos.getSafetySetup(r);return new Sf(t,l,c,h,u,f,O,w,A,m,E,b)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}get dhParameters(){return this.motionGroupSpecification.dh_parameters}get safetyZones(){return this.safetySetup.safety_zones}get mountingPosition(){return this.mounting?[this.mounting.pose.position.x/1e3,this.mounting.pose.position.y/1e3,this.mounting.pose.position.z/1e3]:[0,0,0]}get mountingQuaternion(){var t,r,n,o,a,s;const i=new Be.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((o=(n=this.mounting)==null?void 0:n.pose.orientation)==null?void 0:o.y)||0,((s=(a=this.mounting)==null?void 0:a.pose.orientation)==null?void 0:s.z)||0),l=i.length(),c=i.normalize();return new Be.Quaternion().setFromAxisAngle(c,l)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return Ve(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}$e.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),$e.runInAction(()=>{this.activationState="inactive"})}catch(t){throw $e.runInAction(()=>{this.activationState="active"}),t}})}activate(){return Ve(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}$e.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),$e.runInAction(()=>{this.activationState="active"})}catch(t){throw $e.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 Ve(this,arguments,function*(n,o,a={}){const s=yield n.connectMotionStream(o);return new Of(s,a)})}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 Ve(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 o=lr(n.data);if(o&&"error"in o)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 o=lr(n.data);if(o&&"error"in o)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)}))}startJointRotation(t){return Ve(this,arguments,function*({joint:r,direction:n,velocityRadsPerSec:o}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const a=new Array(this.numJoints).fill(0);a[r]=n==="-"?-o:o,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:a})})}startTCPTranslation(t){return Ve(this,arguments,function*({axis:r,direction:n,velocityMmPerSec:o}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const a={x:0,y:0,z:0},s=Object.assign({},a);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:a,position_velocity:o,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return Ve(this,arguments,function*({axis:r,direction:n,velocityRadsPerSec:o}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const a={x:0,y:0,z:0},s=Object.assign({},a);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:a,rotation_direction:s,position_velocity:0,rotation_velocity:o,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return Ve(this,arguments,function*({currentTcpPose:r,currentJoints:n,coordSystemId:o,velocityInRelevantUnits:a,axis:s,direction:i,motion:l}){var c;const u=[];if(!c_(r.coordinate_system,o))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${o}`);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:a}},line:{position:p,orientation:r.orientation,coordinate_system:o}})}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(),b=l.distanceRads*(i==="-"?-1:1),S=new pn(0,0,0);S[s]=1;const E=Math.cos(.5*b)*Math.cos(.5*f),O=Math.sin(.5*b)*Math.sin(.5*f),w=Math.sin(.5*b)*Math.cos(.5*f),A=Math.cos(.5*b)*Math.sin(.5*f),C=S.dot(m),T=S.clone().cross(m),V=2*Math.acos(E-O*C),j=V/Math.sin(.5*V),y=new pn().addScaledVector(T,O).addScaledVector(S,w).addScaledVector(m,A).multiplyScalar(j);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:a}},line:{position:r.position,orientation:y,coordinate_system:o}})}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 Ve(this,arguments,function*({joint:r,currentJoints:n,velocityRadsPerSec:o,direction:a,distanceRads:s}){var i;const l=[...n.joints];l[r]+=s*(a==="-"?-1:1);const c=new Array(n.joints.length).fill(o),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),o=r.length(),a=r.normalize();let s=n.length(),i=n.normalize();i.dot(a)<0&&(s=-s,i=i.multiplyScalar(-1));let l=s-o;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),s=o+l,i.multiplyScalar(s)}var H2=class wf{constructor(t,r,n,o,a){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=o,this.motionStateSocket=a,this.rapidlyChangingMotionState=o,a.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}: ${s.data}`);xf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,sh)||$e.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),vf(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,sh)||$e.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:G2(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),$e.makeAutoObservable(this)}static open(t,r){return Ve(this,null,function*(){var n;const{instances:o}=yield t.api.controller.listControllers(),[a,s]=r.split("@"),i=o.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(I2),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(a2),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:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:_.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(o!=="constructor"&&typeof n[o]=="function"){const a=n[o];n[o]=(...s)=>a.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:o=>o==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:_.create());for(const o of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(o!=="constructor"&&typeof n[o]=="function"){const a=n[o];n[o]=(...s)=>a.apply(n,s).then(i=>i.data)}return n}},W2=class{constructor(){this.connections=[]}handleAPIRequest(e){return Ve(this,null,function*(){var t,r,n;const o=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return{instances:[{controller:"mock-ur5e",model_name:"UniversalRobots::Controller",host:"mock-ur5e",allow_software_install_on_controller:!0,physical_motion_groups:[{motion_group:"0@mock-ur5e",name_from_controller:"UR5e",active:!1,model_from_controller:"UniversalRobots_UR5e"}],has_error:!1,error_details:""}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{kind:"VirtualController",manufacturer:"universalrobots",position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/specification",handle(){return{dh_parameters:[{alpha:1.5707963267948966,theta:0,a:0,d:162.25,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-425,d:0,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-392.2,d:0,reverse_rotation_direction:!1},{alpha:1.5707963267948966,theta:0,a:0,d:133.3,reverse_rotation_direction:!1},{alpha:-1.5707963267948966,theta:0,a:0,d:99.7,reverse_rotation_direction:!1},{alpha:0,theta:0,a:0,d:99.6,reverse_rotation_direction:!1}],mechanical_joint_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/safety-setup",handle(){return{safety_settings:[{safety_state:"SAFETY_NORMAL",settings:{joint_position_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-2.96705961227417,upper_limit:2.96705961227417,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-1.7453292608261108,upper_limit:2.7925267219543457,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-3.3161256313323975,upper_limit:.40142571926116943,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-3.4906585216522217,upper_limit:3.4906585216522217,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-2.4434609413146973,upper_limit:2.4434609413146973,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-4.71238899230957,upper_limit:4.71238899230957,unlimited:!1}],joint_velocity_limits:[{joint:"JOINTNAME_AXIS_1",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_2",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_3",limit:3.4906585216522217},{joint:"JOINTNAME_AXIS_4",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_5",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_6",limit:6.981317043304443}],joint_acceleration_limits:[],joint_torque_limits:[],tcp_velocity_limit:1800}}],safety_zones:[{id:1,priority:0,geometry:{compound:{child_geometries:[{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820},{x:-800,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:-1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:-800,y:1330,z:-1820},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500},{x:1650,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:1650,y:-1330,z:1500},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Cell workzone"},motion_group_uid:1},{id:2,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-1850},{x:865,y:1330,z:-1850},{x:865,y:-720,z:-1850},{x:1650,y:-720,z:-1850},{x:1650,y:1330,z:-920},{x:865,y:1330,z:-920},{x:865,y:-720,z:-920},{x:1650,y:-720,z:-920}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Transport"},motion_group_uid:1},{id:3,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-600},{x:865,y:1330,z:-600},{x:865,y:430,z:-600},{x:1650,y:430,z:-600},{x:1650,y:1330,z:-1250},{x:865,y:1330,z:-1250},{x:865,y:430,z:-1250},{x:1650,y:430,z:-1250}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Tunel"},motion_group_uid:1},{id:4,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:-760,z:-440},{x:900,y:-760,z:-440},{x:900,y:-1330,z:-440},{x:1650,y:-1330,z:-440},{x:1650,y:-760,z:-1800},{x:900,y:-760,z:-1800},{x:900,y:-1330,z:-1800},{x:1650,y:-1330,z:-1800}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Fanuc controller"},motion_group_uid:1},{id:6,priority:0,geometry:{convex_hull:{vertices:[{x:-200,y:-200,z:-1900},{x:200,y:-200,z:-1900},{x:200,y:200,z:-1900},{x:-200,y:200,z:-1900},{x:-200,y:-200,z:-350},{x:200,y:-200,z:-350},{x:200,y:200,z:-350},{x:-200,y:200,z:-350}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Robot base"},motion_group_uid:1}],robot_model_geometries:[{link_index:1,geometry:{sphere:{radius:270},init_pose:{position:{x:-70,y:-70,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link1_sphere"}},{link_index:2,geometry:{capsule:{radius:160,cylinder_height:800},init_pose:{position:{x:-450,y:40,z:170},orientation:{x:0,y:-.7071067811865475,z:0,w:.7071067811865476}},id:"link2_capsule"}},{link_index:3,geometry:{sphere:{radius:270},init_pose:{position:{x:-110,y:10,z:-100},orientation:{x:0,y:0,z:0,w:1}},id:"link3_sphere"}},{link_index:4,geometry:{capsule:{radius:110,cylinder_height:600},init_pose:{position:{x:0,y:300,z:40},orientation:{x:-.7071067811865475,y:0,z:0,w:.7071067811865476}},id:"link4_capsule"}},{link_index:5,geometry:{sphere:{radius:75},init_pose:{position:{x:0,y:0,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link5_sphere"}}],tool_geometries:[]}}},{method:"GET",path:"/cells/:cellId/coordinate-systems",handle(){return{coordinatesystems:[{coordinate_system:"",name:"world",reference_uid:"",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0],type:"ROTATION_VECTOR"}}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/tcps",handle(){return{tcps:[{id:"Flange",readable_name:"Default-Flange",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0,0],type:"ROTATION_VECTOR"}},{id:"complex-tcp-position",readable_name:"Complex TCP Position",position:{x:-200,y:300,z:150},rotation:{angles:[-.12139440409113832,-.06356210998212003,-.2023240068185639,0],type:"ROTATION_VECTOR"}}]}}}],a=((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 o){const l=N2.match(i.path)(s||"");if(a===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: ${a} ${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(J2)})),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 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0:i[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function lj(){const e=og();return e.palette.mode="light",e}function cj(e){var n,o,a,s;let t=!0;((n=e.palette)==null?void 0:n.mode)==="light"?t=!1:((o=e.palette)==null?void 0:o.mode)!=="dark"&&(t=!(typeof window<"u"&&((s=(a=window.matchMedia)==null?void 0:a.call(window,"(prefers-color-scheme: light)"))==null?void 0:s.matches)));const r=t?og():lj();return np(r,e)}exports.AppHeader=Mg;exports.CycleTimer=Tm;exports.JoggingCartesianAxisControl=ol;exports.JoggingJointRotationControl=Vm;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=Vc;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=o3;exports.createErrorMessage=i3;exports.createInfoMessage=a3;exports.createLogMessage=Uo;exports.createNovaMuiTheme=cj;exports.createWarningMessage=s3;exports.defaultAxisConfig=A3;exports.defaultGetModel=Ic;exports.extractManufacturer=ng;exports.getDefaultHomeConfig=_3;exports.i18n=_l;exports.useAnimationFrame=Rn;exports.useAutorun=Am;exports.useInterpolation=Pm;exports.useMounted=Is;exports.useReaction=_m;
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