@wandelbots/wandelbots-js-react-components 2.41.0-pr.feature-seperate-timer.383.35a3a58 → 2.41.0-pr.feature-seperate-timer.383.4d0d430

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Files changed (11) hide show
  1. package/dist/components/jogging/PoseCartesianValues.d.ts +3 -5
  2. package/dist/components/jogging/PoseCartesianValues.d.ts.map +1 -1
  3. package/dist/components/jogging/PoseJointValues.d.ts +3 -5
  4. package/dist/components/jogging/PoseJointValues.d.ts.map +1 -1
  5. package/dist/index.cjs +31 -31
  6. package/dist/index.cjs.map +1 -1
  7. package/dist/index.js +1068 -1106
  8. package/dist/index.js.map +1 -1
  9. package/package.json +1 -1
  10. package/src/components/jogging/PoseCartesianValues.tsx +45 -83
  11. package/src/components/jogging/PoseJointValues.tsx +45 -84
package/package.json CHANGED
@@ -1,6 +1,6 @@
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  {
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  "name": "@wandelbots/wandelbots-js-react-components",
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- "version": "2.41.0-pr.feature-seperate-timer.383.35a3a58",
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+ "version": "2.41.0-pr.feature-seperate-timer.383.4d0d430",
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  "description": "React UI toolkit for building applications on top of the Wandelbots platform",
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  "type": "module",
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  "sideEffects": false,
package/src/components/jogging/PoseCartesianValues.tsx CHANGED
@@ -1,96 +1,58 @@
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  import { Button, Stack, Typography } from "@mui/material"
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  import { poseToWandelscriptString } from "@wandelbots/nova-js"
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- import type {
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- ConnectedMotionGroup,
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- MotionStreamConnection,
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- } from "@wandelbots/nova-js/v1"
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+ import type { TcpPose } from "@wandelbots/nova-js/v1"
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  import { observer } from "mobx-react-lite"
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- import { useRef, useState } from "react"
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+ import { useState } from "react"
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  import { externalizeComponent } from "../../externalizeComponent"
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  import { CopyableText } from "../CopyableText"
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- import { useAnimationFrame } from "../utils/hooks"
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8
 
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  export type PoseCartesianValuesProps = {
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- /** Either a MotionStreamConnection or ConnectedMotionGroup */
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- motionStream?: MotionStreamConnection
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- connectedMotionGroup?: ConnectedMotionGroup
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+ tcpPose: TcpPose
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  showCopyButton?: boolean
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  }
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  export const PoseCartesianValues = externalizeComponent(
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- observer(
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- ({
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- motionStream,
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- connectedMotionGroup,
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- showCopyButton = false,
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- }: PoseCartesianValuesProps) => {
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- const poseHolderRef = useRef<HTMLDivElement>(null)
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- const [copyMessage, setCopyMessage] = useState("")
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-
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- if (!motionStream && !connectedMotionGroup) {
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- throw new Error(
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- "PoseCartesianValues requires either motionStream or connectedMotionGroup prop",
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- )
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+ observer(({ tcpPose, showCopyButton = false }: PoseCartesianValuesProps) => {
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+ const [copyMessage, setCopyMessage] = useState("")
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+ const poseString = poseToWandelscriptString(tcpPose)
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+
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+ const handleCopy = async () => {
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+ try {
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+ await navigator.clipboard.writeText(poseString)
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+ setCopyMessage("Copied!")
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+ setTimeout(() => setCopyMessage(""), 2000)
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+ } catch {
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+ setCopyMessage("Copy failed")
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+ setTimeout(() => setCopyMessage(""), 2000)
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  }
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-
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- function getCurrentPoseString() {
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- const tcpPose = motionStream
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- ? motionStream.rapidlyChangingMotionState.tcp_pose
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- : connectedMotionGroup?.rapidlyChangingMotionState.tcp_pose
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-
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- if (!tcpPose) return ""
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- return poseToWandelscriptString(tcpPose)
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- }
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-
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- const handleCopy = async () => {
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- try {
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- await navigator.clipboard.writeText(getCurrentPoseString())
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- setCopyMessage("Copied!")
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- setTimeout(() => setCopyMessage(""), 2000)
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- } catch {
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- setCopyMessage("Copy failed")
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- setTimeout(() => setCopyMessage(""), 2000)
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- }
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- }
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-
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- useAnimationFrame(() => {
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- if (!poseHolderRef.current) {
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- return
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- }
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- const newPoseContent = getCurrentPoseString()
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- if (poseHolderRef.current.textContent === newPoseContent) {
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- return
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- }
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-
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- poseHolderRef.current.textContent = newPoseContent
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- })
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-
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- return (
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- <Stack
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- direction="row"
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- alignItems="center"
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- spacing={1}
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- sx={{ flexGrow: 1, minWidth: 0, overflow: "hidden" }}
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- >
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- <CopyableText value={getCurrentPoseString()} ref={poseHolderRef} />
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- {showCopyButton && (
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- <Button
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- variant="contained"
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- color="secondary"
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- size="small"
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- onClick={handleCopy}
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- sx={{ flexShrink: 0 }}
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- >
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- Copy
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- </Button>
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- )}
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- {copyMessage && (
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- <Typography variant="caption" color="success.main">
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- {copyMessage}
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- </Typography>
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- )}
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- </Stack>
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- )
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- },
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- ),
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+ }
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+
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+ return (
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+ <Stack
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+ direction="row"
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+ alignItems="center"
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+ spacing={1}
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+ sx={{ flexGrow: 1, minWidth: 0, overflow: "hidden" }}
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+ data-testid="pose-cartesian-values"
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+ >
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+ <CopyableText value={poseString} />
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+ {showCopyButton && (
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+ <Button
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+ variant="contained"
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+ color="secondary"
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+ size="small"
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+ onClick={handleCopy}
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+ sx={{ flexShrink: 0 }}
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+ >
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+ Copy
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+ </Button>
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+ )}
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+ {copyMessage && (
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+ <Typography variant="caption" color="success.main">
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+ {copyMessage}
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+ </Typography>
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+ )}
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+ </Stack>
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+ )
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+ }),
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  )
package/src/components/jogging/PoseJointValues.tsx CHANGED
@@ -1,96 +1,57 @@
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  import { Button, Stack, Typography } from "@mui/material"
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- import type {
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- ConnectedMotionGroup,
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- MotionStreamConnection,
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- } from "@wandelbots/nova-js/v1"
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+ import type { Joints } from "@wandelbots/nova-api/v1"
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  import { observer } from "mobx-react-lite"
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- import { useRef, useState } from "react"
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+ import { useState } from "react"
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  import { externalizeComponent } from "../../externalizeComponent"
9
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  import { CopyableText } from "../CopyableText"
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- import { useAnimationFrame } from "../utils/hooks"
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7
 
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  export type PoseJointValuesProps = {
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- /** Either a MotionStreamConnection or ConnectedMotionGroup */
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- motionStream?: MotionStreamConnection
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- connectedMotionGroup?: ConnectedMotionGroup
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+ joints: Joints
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  showCopyButton?: boolean
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  }
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12
 
19
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  export const PoseJointValues = externalizeComponent(
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- observer(
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- ({
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- motionStream,
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- connectedMotionGroup,
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- showCopyButton = false,
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- }: PoseJointValuesProps) => {
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- const poseHolderRef = useRef<HTMLDivElement>(null)
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- const [copyMessage, setCopyMessage] = useState("")
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-
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- if (!motionStream && !connectedMotionGroup) {
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- throw new Error(
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- "PoseJointValues requires either motionStream or connectedMotionGroup prop",
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- )
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+ observer(({ joints, showCopyButton = false }: PoseJointValuesProps) => {
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+ const [copyMessage, setCopyMessage] = useState("")
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+ const poseString = `[${joints.joints.map((j: number) => parseFloat(j.toFixed(4))).join(", ")}]`
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+
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+ const handleCopy = async () => {
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+ try {
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+ await navigator.clipboard.writeText(poseString)
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+ setCopyMessage("Copied!")
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+ setTimeout(() => setCopyMessage(""), 2000)
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+ } catch {
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+ setCopyMessage("Copy failed")
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+ setTimeout(() => setCopyMessage(""), 2000)
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  }
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-
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- function getCurrentPoseString() {
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- const joints = motionStream
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- ? motionStream.rapidlyChangingMotionState.state.joint_position.joints
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- : connectedMotionGroup?.rapidlyChangingMotionState.state
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- .joint_position.joints
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-
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- if (!joints) return ""
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- return `[${joints.map((j: number) => parseFloat(j.toFixed(4))).join(", ")}]`
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- }
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-
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- const handleCopy = async () => {
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- try {
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- await navigator.clipboard.writeText(getCurrentPoseString())
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- setCopyMessage("Copied!")
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- setTimeout(() => setCopyMessage(""), 2000)
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- } catch {
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- setCopyMessage("Copy failed")
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- setTimeout(() => setCopyMessage(""), 2000)
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- }
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- }
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-
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- useAnimationFrame(() => {
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- if (!poseHolderRef.current) {
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- return
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- }
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- const newPoseContent = getCurrentPoseString()
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- if (poseHolderRef.current.textContent === newPoseContent) {
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- return
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- }
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-
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- poseHolderRef.current.textContent = newPoseContent
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- })
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-
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- return (
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- <Stack
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- direction="row"
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- alignItems="center"
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- spacing={1}
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- sx={{ flexGrow: 1, minWidth: 0, overflow: "hidden" }}
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- >
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- <CopyableText value={getCurrentPoseString()} ref={poseHolderRef} />
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- {showCopyButton && (
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- <Button
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- variant="contained"
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- color="secondary"
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- size="small"
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- onClick={handleCopy}
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- sx={{ flexShrink: 0 }}
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- >
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- Copy
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- </Button>
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- )}
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- {copyMessage && (
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- <Typography variant="caption" color="success.main">
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- {copyMessage}
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- </Typography>
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- )}
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- </Stack>
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- )
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- },
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- ),
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+ }
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+
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+ return (
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+ <Stack
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+ direction="row"
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+ alignItems="center"
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+ spacing={1}
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+ sx={{ flexGrow: 1, minWidth: 0, overflow: "hidden" }}
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+ data-testid="pose-joint-values"
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+ >
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+ <CopyableText value={poseString} />
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+ {showCopyButton && (
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+ <Button
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+ variant="contained"
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+ color="secondary"
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+ size="small"
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+ onClick={handleCopy}
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+ sx={{ flexShrink: 0 }}
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+ >
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+ Copy
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+ </Button>
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+ )}
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+ {copyMessage && (
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+ <Typography variant="caption" color="success.main">
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+ {copyMessage}
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+ </Typography>
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+ )}
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+ </Stack>
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+ )
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+ }),
96
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  )