@wandelbots/wandelbots-js-react-components 2.54.5-pr.feat-upgrade-jogging-to-v2.404.50fa670 → 2.54.5-pr.feat-upgrade-robot-motions-to-v2.407.56c347d

package/dist/index.cjs

@@ -147,7 +147,7 @@ and limitations under the License.
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i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),r&&(c.ios=r),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getProfinetDescription:async(t,r={})=>{C("getProfinetDescription","cell",t);const n="/cells/{cell}/bus-ios/profinet/description".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},getProfinetIOsFromFile:async(t,r,n,o={})=>{C("getProfinetIOsFromFile","cell",t);const s="/cells/{cell}/bus-ios/profinet/iofile".replace("{cell}",encodeURIComponent(String(t))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),r!==void 0&&(u.input_offset=r),n!==void 0&&(u.output_offset=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},listBusIODescriptions:async(t,r={})=>{C("listBusIODescriptions","cell",t);const n="/cells/{cell}/bus-ios/ios/description".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listModbusIOs:async(t,r={})=>{C("listModbusIOs","cell",t);const n="/cells/{cell}/bus-ios/modbus/ios".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listProfinetIOs:async(t,r={})=>{C("listProfinetIOs","cell",t);const n="/cells/{cell}/bus-ios/profinet/ios".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},setBusIOValues:async(t,r,n={})=>{C("setBusIOValues","cell",t),C("setBusIOValues","iOValue",r);const o="/cells/{cell}/bus-ios/ios/values".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"PUT",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}},setProfinetIOsFromFile:async(t,r,n={})=>{C("setProfinetIOsFromFile","cell",t),C("setProfinetIOsFromFile","profinetInputOutputConfig",r);const o="/cells/{cell}/bus-ios/profinet/iofile".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"PUT",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}}}},Ye=function(e){const t=vT(e);return{async addBusIOService(r,n,o,s){var c,u;const a=await t.addBusIOService(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["BUSInputsOutputsApi.addBusIOService"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async addModbusIO(r,n,o,s){var c,u;const a=await t.addModbusIO(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["BUSInputsOutputsApi.addModbusIO"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async addProfinetIO(r,n,o,s){var c,u;const a=await t.addProfinetIO(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["BUSInputsOutputsApi.addProfinetIO"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async clearBusIOService(r,n,o){var l,c;const s=await t.clearBusIOService(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["BUSInputsOutputsApi.clearBusIOService"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteModbusIO(r,n,o){var l,c;const s=await t.deleteModbusIO(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["BUSInputsOutputsApi.deleteModbusIO"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteProfinetIO(r,n,o){var l,c;const s=await t.deleteProfinetIO(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["BUSInputsOutputsApi.deleteProfinetIO"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getBusIOService(r,n){var i,l;const o=await t.getBusIOService(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.getBusIOService"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getBusIOState(r,n){var i,l;const o=await t.getBusIOState(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.getBusIOState"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getBusIOValues(r,n,o){var l,c;const s=await t.getBusIOValues(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["BUSInputsOutputsApi.getBusIOValues"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getProfinetDescription(r,n){var i,l;const o=await t.getProfinetDescription(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.getProfinetDescription"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getProfinetIOsFromFile(r,n,o,s){var c,u;const a=await t.getProfinetIOsFromFile(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["BUSInputsOutputsApi.getProfinetIOsFromFile"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listBusIODescriptions(r,n){var i,l;const o=await t.listBusIODescriptions(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.listBusIODescriptions"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listModbusIOs(r,n){var i,l;const o=await t.listModbusIOs(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.listModbusIOs"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listProfinetIOs(r,n){var i,l;const o=await t.listProfinetIOs(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.listProfinetIOs"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async setBusIOValues(r,n,o){var l,c;const s=await t.setBusIOValues(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["BUSInputsOutputsApi.setBusIOValues"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async setProfinetIOsFromFile(r,n,o){var l,c;const s=await t.setProfinetIOsFromFile(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["BUSInputsOutputsApi.setProfinetIOsFromFile"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)}}};var CT=class extends $e{addBusIOService(e,t,r,n){return Ye(this.configuration).addBusIOService(e,t,r,n).then(o=>o(this.axios,this.basePath))}addModbusIO(e,t,r,n){return Ye(this.configuration).addModbusIO(e,t,r,n).then(o=>o(this.axios,this.basePath))}addProfinetIO(e,t,r,n){return Ye(this.configuration).addProfinetIO(e,t,r,n).then(o=>o(this.axios,this.basePath))}clearBusIOService(e,t,r){return Ye(this.configuration).clearBusIOService(e,t,r).then(n=>n(this.axios,this.basePath))}deleteModbusIO(e,t,r){return Ye(this.configuration).deleteModbusIO(e,t,r).then(n=>n(this.axios,this.basePath))}deleteProfinetIO(e,t,r){return Ye(this.configuration).deleteProfinetIO(e,t,r).then(n=>n(this.axios,this.basePath))}getBusIOService(e,t){return Ye(this.configuration).getBusIOService(e,t).then(r=>r(this.axios,this.basePath))}getBusIOState(e,t){return Ye(this.configuration).getBusIOState(e,t).then(r=>r(this.axios,this.basePath))}getBusIOValues(e,t,r){return Ye(this.configuration).getBusIOValues(e,t,r).then(n=>n(this.axios,this.basePath))}getProfinetDescription(e,t){return Ye(this.configuration).getProfinetDescription(e,t).then(r=>r(this.axios,this.basePath))}getProfinetIOsFromFile(e,t,r,n){return Ye(this.configuration).getProfinetIOsFromFile(e,t,r,n).then(o=>o(this.axios,this.basePath))}listBusIODescriptions(e,t){return Ye(this.configuration).listBusIODescriptions(e,t).then(r=>r(this.axios,this.basePath))}listModbusIOs(e,t){return Ye(this.configuration).listModbusIOs(e,t).then(r=>r(this.axios,this.basePath))}listProfinetIOs(e,t){return Ye(this.configuration).listProfinetIOs(e,t).then(r=>r(this.axios,this.basePath))}setBusIOValues(e,t,r){return Ye(this.configuration).setBusIOValues(e,t,r).then(n=>n(this.axios,this.basePath))}setProfinetIOsFromFile(e,t,r){return Ye(this.configuration).setProfinetIOsFromFile(e,t,r).then(n=>n(this.axios,this.basePath))}};const wT=function(e){return{deleteCell:async(t,r,n={})=>{C("deleteCell","cell",t);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),r!==void 0&&(c.completion_timeout=r),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deployCell:async(t,r,n={})=>{C("deployCell","cell",t);const o=new URL("/cells",z);let s;e&&(s=e.baseOptions);const a={method:"POST",...s,...n},i={},l={};G(a,e),await H(i,e),r!==void 0&&(l.completion_timeout=r),i["Content-Type"]="application/json",q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...n.headers},a.data=ge(t,a,e),{url:W(o),options:a}},getCell:async(t,r={})=>{C("getCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},getCellStatus:async(t,r={})=>{C("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listCells:async(t={})=>{const r=new URL("/cells",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},setCellStatus:async(t,r,n={})=>{C("setCellStatus","cell",t),C("setCellStatus","operatingState",r);const o="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"PUT",...a,...n},l={},c={};G(i,e),await H(l,e),r!==void 0&&(c.operating_state=r),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},updateCell:async(t,r,n,o={})=>{C("updateCell","cell",t),C("updateCell","cell2",r);const s="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.completion_timeout=n),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(r,l,e),{url:W(a),options:l}}}},gr=function(e){const t=wT(e);return{async deleteCell(r,n,o){var l,c;const s=await t.deleteCell(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["CellApi.deleteCell"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deployCell(r,n,o){var l,c;const s=await t.deployCell(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["CellApi.deployCell"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getCell(r,n){var i,l;const o=await t.getCell(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["CellApi.getCell"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getCellStatus(r,n){var i,l;const o=await t.getCellStatus(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["CellApi.getCellStatus"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listCells(r){var a,i;const n=await t.listCells(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["CellApi.listCells"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async setCellStatus(r,n,o){var l,c;const s=await t.setCellStatus(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["CellApi.setCellStatus"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async updateCell(r,n,o,s){var c,u;const a=await t.updateCell(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["CellApi.updateCell"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var OT=class extends $e{deleteCell(e,t,r){return gr(this.configuration).deleteCell(e,t,r).then(n=>n(this.axios,this.basePath))}deployCell(e,t,r){return gr(this.configuration).deployCell(e,t,r).then(n=>n(this.axios,this.basePath))}getCell(e,t){return gr(this.configuration).getCell(e,t).then(r=>r(this.axios,this.basePath))}getCellStatus(e,t){return gr(this.configuration).getCellStatus(e,t).then(r=>r(this.axios,this.basePath))}listCells(e){return gr(this.configuration).listCells(e).then(t=>t(this.axios,this.basePath))}setCellStatus(e,t,r){return gr(this.configuration).setCellStatus(e,t,r).then(n=>n(this.axios,this.basePath))}updateCell(e,t,r,n){return gr(this.configuration).updateCell(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const TT=function(e){return{addRobotController:async(t,r,n,o={})=>{C("addRobotController","cell",t),C("addRobotController","robotController",r);const s="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.completion_timeout=n),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(r,l,e),{url:W(a),options:l}},clearRobotControllers:async(t,r,n={})=>{C("clearRobotControllers","cell",t);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),r!==void 0&&(c.completion_timeout=r),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deleteRobotController:async(t,r,n,o={})=>{C("deleteRobotController","cell",t),C("deleteRobotController","controller",r);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.completion_timeout=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},getControllerDescription:async(t,r,n={})=>{C("getControllerDescription","cell",t),C("getControllerDescription","controller",r);const o="/cells/{cell}/controllers/{controller}/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getCoordinateSystem:async(t,r,n,o,s={})=>{C("getCoordinateSystem","cell",t),C("getCoordinateSystem","controller",r),C("getCoordinateSystem","coordinateSystem",n);const a="/cells/{cell}/controllers/{controller}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...s},u={},d={};G(c,e),await H(u,e),o!==void 0&&(d.orientation_type=o),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},getCurrentRobotControllerState:async(t,r,n={})=>{C("getCurrentRobotControllerState","cell",t),C("getCurrentRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getRobotController:async(t,r,n={})=>{C("getRobotController","cell",t),C("getRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getVirtualControllerConfiguration:async(t,r,n={})=>{C("getVirtualControllerConfiguration","cell",t),C("getVirtualControllerConfiguration","controller",r);const o="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listCoordinateSystems:async(t,r,n,o={})=>{C("listCoordinateSystems","cell",t),C("listCoordinateSystems","controller",r);const s="/cells/{cell}/controllers/{controller}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.orientation_type=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},listRobotControllers:async(t,r={})=>{C("listRobotControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},setDefaultMode:async(t,r,n,o={})=>{C("setDefaultMode","cell",t),C("setDefaultMode","controller",r),C("setDefaultMode","mode",n);const s="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.mode=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},streamFreeDrive:async(t,r,n,o={})=>{C("streamFreeDrive","cell",t),C("streamFreeDrive","controller",r);const s="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.response_rate=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},streamRobotControllerState:async(t,r,n,o,s={})=>{C("streamRobotControllerState","cell",t),C("streamRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...s},u={},d={};G(c,e),await H(u,e),n!==void 0&&(d.response_rate=n),o!==void 0&&(d.add_controller_timeout=o),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},updateRobotController:async(t,r,n,o,s={})=>{C("updateRobotController","cell",t),C("updateRobotController","controller",r),C("updateRobotController","robotController",n);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={};G(c,e),await H(u,e),o!==void 0&&(d.completion_timeout=o),u["Content-Type"]="application/json",q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},c.data=ge(n,c,e),{url:W(i),options:c}}}},ot=function(e){const t=TT(e);return{async addRobotController(r,n,o,s){var c,u;const a=await t.addRobotController(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async clearRobotControllers(r,n,o){var l,c;const s=await t.clearRobotControllers(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.clearRobotControllers"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteRobotController(r,n,o,s){var c,u;const a=await t.deleteRobotController(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async getControllerDescription(r,n,o){var l,c;const s=await t.getControllerDescription(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.getControllerDescription"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getCoordinateSystem(r,n,o,s,a){var u,d;const i=await t.getCoordinateSystem(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["ControllerApi.getCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async getCurrentRobotControllerState(r,n,o){var l,c;const s=await t.getCurrentRobotControllerState(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getRobotController(r,n,o){var l,c;const s=await t.getRobotController(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.getRobotController"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getVirtualControllerConfiguration(r,n,o){var l,c;const s=await t.getVirtualControllerConfiguration(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.getVirtualControllerConfiguration"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listCoordinateSystems(r,n,o,s){var c,u;const a=await t.listCoordinateSystems(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.listCoordinateSystems"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listRobotControllers(r,n){var i,l;const o=await t.listRobotControllers(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["ControllerApi.listRobotControllers"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async setDefaultMode(r,n,o,s){var c,u;const a=await t.setDefaultMode(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async streamFreeDrive(r,n,o,s){var c,u;const a=await t.streamFreeDrive(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async streamRobotControllerState(r,n,o,s,a){var u,d;const i=await t.streamRobotControllerState(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["ControllerApi.streamRobotControllerState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async updateRobotController(r,n,o,s,a){var u,d;const i=await t.updateRobotController(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)}}};var ET=class extends $e{addRobotController(e,t,r,n){return ot(this.configuration).addRobotController(e,t,r,n).then(o=>o(this.axios,this.basePath))}clearRobotControllers(e,t,r){return ot(this.configuration).clearRobotControllers(e,t,r).then(n=>n(this.axios,this.basePath))}deleteRobotController(e,t,r,n){return ot(this.configuration).deleteRobotController(e,t,r,n).then(o=>o(this.axios,this.basePath))}getControllerDescription(e,t,r){return ot(this.configuration).getControllerDescription(e,t,r).then(n=>n(this.axios,this.basePath))}getCoordinateSystem(e,t,r,n,o){return ot(this.configuration).getCoordinateSystem(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}getCurrentRobotControllerState(e,t,r){return ot(this.configuration).getCurrentRobotControllerState(e,t,r).then(n=>n(this.axios,this.basePath))}getRobotController(e,t,r){return ot(this.configuration).getRobotController(e,t,r).then(n=>n(this.axios,this.basePath))}getVirtualControllerConfiguration(e,t,r){return ot(this.configuration).getVirtualControllerConfiguration(e,t,r).then(n=>n(this.axios,this.basePath))}listCoordinateSystems(e,t,r,n){return ot(this.configuration).listCoordinateSystems(e,t,r,n).then(o=>o(this.axios,this.basePath))}listRobotControllers(e,t){return ot(this.configuration).listRobotControllers(e,t).then(r=>r(this.axios,this.basePath))}setDefaultMode(e,t,r,n){return ot(this.configuration).setDefaultMode(e,t,r,n).then(o=>o(this.axios,this.basePath))}streamFreeDrive(e,t,r,n){return ot(this.configuration).streamFreeDrive(e,t,r,n).then(o=>o(this.axios,this.basePath))}streamRobotControllerState(e,t,r,n,o){return ot(this.configuration).streamRobotControllerState(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}updateRobotController(e,t,r,n,o){return ot(this.configuration).updateRobotController(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}};const IT=function(e){return{listIODescriptions:async(t,r,n,o,s,a,i={})=>{C("listIODescriptions","cell",t),C("listIODescriptions","controller",r);const l="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),c=new URL(l,z);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};G(d,e),await H(h,e),n&&(p.ios=n),o!==void 0&&(p.direction=o),s!==void 0&&(p.value_type=s),a!==void 0&&(p.group=a),q(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:W(c),options:d}},listIOValues:async(t,r,n,o={})=>{C("listIOValues","cell",t),C("listIOValues","controller",r);const s="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n&&(u.ios=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},setOutputValues:async(t,r,n,o={})=>{C("setOutputValues","cell",t),C("setOutputValues","controller",r),C("setOutputValues","iOValue",n);const s="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},streamIOValues:async(t,r,n,o={})=>{C("streamIOValues","cell",t),C("streamIOValues","controller",r);const s="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n&&(u.ios=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},waitForIOEvent:async(t,r,n,o={})=>{C("waitForIOEvent","cell",t),C("waitForIOEvent","controller",r),C("waitForIOEvent","waitForIOEventRequest",n);const s="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},Pn=function(e){const t=IT(e);return{async listIODescriptions(r,n,o,s,a,i,l){var h,p;const c=await t.listIODescriptions(r,n,o,s,a,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=N["ControllerInputsOutputsApi.listIODescriptions"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>J(c,B,$,e)(f,d||m)},async listIOValues(r,n,o,s){var c,u;const a=await t.listIOValues(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerInputsOutputsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async setOutputValues(r,n,o,s){var c,u;const a=await t.setOutputValues(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerInputsOutputsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async streamIOValues(r,n,o,s){var c,u;const a=await t.streamIOValues(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerInputsOutputsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async waitForIOEvent(r,n,o,s){var c,u;const a=await t.waitForIOEvent(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerInputsOutputsApi.waitForIOEvent"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var AT=class extends $e{listIODescriptions(e,t,r,n,o,s,a){return Pn(this.configuration).listIODescriptions(e,t,r,n,o,s,a).then(i=>i(this.axios,this.basePath))}listIOValues(e,t,r,n){return Pn(this.configuration).listIOValues(e,t,r,n).then(o=>o(this.axios,this.basePath))}setOutputValues(e,t,r,n){return Pn(this.configuration).setOutputValues(e,t,r,n).then(o=>o(this.axios,this.basePath))}streamIOValues(e,t,r,n){return Pn(this.configuration).streamIOValues(e,t,r,n).then(o=>o(this.axios,this.basePath))}waitForIOEvent(e,t,r,n){return Pn(this.configuration).waitForIOEvent(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const RT=function(e){return{executeJogging:async(t,r,n,o={})=>{C("executeJogging","cell",t),C("executeJogging","controller",r),C("executeJogging","executeJoggingRequest",n);const s="/cells/{cell}/controllers/{controller}/execution/jogging".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},PT=function(e){const t=RT(e);return{async executeJogging(r,n,o,s){var c,u;const a=await t.executeJogging(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["JoggingApi.executeJogging"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var MT=class extends $e{executeJogging(e,t,r,n){return PT(this.configuration).executeJogging(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const VT=function(e){return{forwardKinematics:async(t,r,n={})=>{C("forwardKinematics","cell",t),C("forwardKinematics","forwardKinematicsRequest",r);const o="/cells/{cell}/kinematic/forward".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"POST",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}},inverseKinematics:async(t,r,n={})=>{C("inverseKinematics","cell",t),C("inverseKinematics","inverseKinematicsRequest",r);const o="/cells/{cell}/kinematic/inverse".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"POST",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}}}},ed=function(e){const t=VT(e);return{async forwardKinematics(r,n,o){var l,c;const s=await t.forwardKinematics(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["KinematicsApi.forwardKinematics"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async inverseKinematics(r,n,o){var l,c;const s=await t.inverseKinematics(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["KinematicsApi.inverseKinematics"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)}}};var _T=class extends $e{forwardKinematics(e,t,r){return ed(this.configuration).forwardKinematics(e,t,r).then(n=>n(this.axios,this.basePath))}inverseKinematics(e,t,r){return ed(this.configuration).inverseKinematics(e,t,r).then(n=>n(this.axios,this.basePath))}};const kT=function(e){return{getCurrentMotionGroupState:async(t,r,n,o,s={})=>{C("getCurrentMotionGroupState","cell",t),C("getCurrentMotionGroupState","controller",r),C("getCurrentMotionGroupState","motionGroup",n);const a="/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...s},u={},d={};G(c,e),await H(u,e),o!==void 0&&(d.response_coordinate_system=o),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},getMotionGroupDescription:async(t,r,n,o={})=>{C("getMotionGroupDescription","cell",t),C("getMotionGroupDescription","controller",r),C("getMotionGroupDescription","motionGroup",n);const s="/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},streamMotionGroupState:async(t,r,n,o,s,a={})=>{C("streamMotionGroupState","cell",t),C("streamMotionGroupState","controller",r),C("streamMotionGroupState","motionGroup",n);const i="/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),l=new URL(i,z);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...a},d={},h={};G(u,e),await H(d,e),o!==void 0&&(h.response_rate=o),s!==void 0&&(h.response_coordinate_system=s),q(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...a.headers},{url:W(l),options:u}}}},Ya=function(e){const t=kT(e);return{async getCurrentMotionGroupState(r,n,o,s,a){var u,d;const i=await t.getCurrentMotionGroupState(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["MotionGroupApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async getMotionGroupDescription(r,n,o,s){var c,u;const a=await t.getMotionGroupDescription(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["MotionGroupApi.getMotionGroupDescription"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async streamMotionGroupState(r,n,o,s,a,i){var d,h;const l=await t.streamMotionGroupState(r,n,o,s,a,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=N["MotionGroupApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>J(l,B,$,e)(p,u||f)}}};var jT=class extends $e{getCurrentMotionGroupState(e,t,r,n,o){return Ya(this.configuration).getCurrentMotionGroupState(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}getMotionGroupDescription(e,t,r,n){return Ya(this.configuration).getMotionGroupDescription(e,t,r,n).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(e,t,r,n,o,s){return Ya(this.configuration).streamMotionGroupState(e,t,r,n,o,s).then(a=>a(this.axios,this.basePath))}};const DT=function(e){return{getMotionGroupCollisionModel:async(t,r={})=>{C("getMotionGroupCollisionModel","motionGroupModel",t);const n="/motion-group-models/{motion-group-model}/collision".replace("{motion-group-model}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},getMotionGroupModels:async(t={})=>{const r=new URL("/motion-group-models",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}}}},td=function(e){const t=DT(e);return{async getMotionGroupCollisionModel(r,n){var i,l;const o=await t.getMotionGroupCollisionModel(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["MotionGroupModelsApi.getMotionGroupCollisionModel"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getMotionGroupModels(r){var a,i;const n=await t.getMotionGroupModels(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["MotionGroupModelsApi.getMotionGroupModels"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)}}};var BT=class extends $e{getMotionGroupCollisionModel(e,t){return td(this.configuration).getMotionGroupCollisionModel(e,t).then(r=>r(this.axios,this.basePath))}getMotionGroupModels(e){return td(this.configuration).getMotionGroupModels(e).then(t=>t(this.axios,this.basePath))}};const UT=function(e){return{deleteStoredCollider:async(t,r,n={})=>{C("deleteStoredCollider","cell",t),C("deleteStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{C("deleteStoredCollisionLinkChain","cell",t),C("deleteStoredCollisionLinkChain","linkChain",r);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,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{C("deleteStoredCollisionTool","cell",t),C("deleteStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getStoredCollider:async(t,r,n={})=>{C("getStoredCollider","cell",t),C("getStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{C("getStoredCollisionLinkChain","cell",t),C("getStoredCollisionLinkChain","linkChain",r);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,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getStoredCollisionTool:async(t,r,n={})=>{C("getStoredCollisionTool","cell",t),C("getStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listCollisionLinkChains:async(t,r={})=>{C("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listCollisionLinkChainsKeys:async(t,r={})=>{C("listCollisionLinkChainsKeys","cell",t);const n="/cells/{cell}/store/collision/link-chains-keys".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredColliders:async(t,r={})=>{C("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredCollidersKeys:async(t,r={})=>{C("listStoredCollidersKeys","cell",t);const n="/cells/{cell}/store/collision/colliders-keys".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredCollisionTools:async(t,r={})=>{C("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredCollisionToolsKeys:async(t,r={})=>{C("listStoredCollisionToolsKeys","cell",t);const n="/cells/{cell}/store/collision/tools-keys".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},storeCollider:async(t,r,n,o={})=>{C("storeCollider","cell",t),C("storeCollider","collider",r),C("storeCollider","collider2",n);const s="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},storeCollisionLinkChain:async(t,r,n,o={})=>{C("storeCollisionLinkChain","cell",t),C("storeCollisionLinkChain","linkChain",r),C("storeCollisionLinkChain","collider",n);const s="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},storeCollisionTool:async(t,r,n,o={})=>{C("storeCollisionTool","cell",t),C("storeCollisionTool","tool",r),C("storeCollisionTool","requestBody",n);const s="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},Xe=function(e){const t=UT(e);return{async deleteStoredCollider(r,n,o){var l,c;const s=await t.deleteStoredCollider(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteStoredCollisionLinkChain(r,n,o){var l,c;const s=await t.deleteStoredCollisionLinkChain(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteStoredCollisionTool(r,n,o){var l,c;const s=await t.deleteStoredCollisionTool(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getStoredCollider(r,n,o){var l,c;const s=await t.getStoredCollider(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getStoredCollisionLinkChain(r,n,o){var l,c;const s=await t.getStoredCollisionLinkChain(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getStoredCollisionTool(r,n,o){var l,c;const s=await t.getStoredCollisionTool(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listCollisionLinkChains(r,n){var i,l;const o=await t.listCollisionLinkChains(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listCollisionLinkChainsKeys(r,n){var i,l;const o=await t.listCollisionLinkChainsKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listCollisionLinkChainsKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredColliders(r,n){var i,l;const o=await t.listStoredColliders(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredCollidersKeys(r,n){var i,l;const o=await t.listStoredCollidersKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listStoredCollidersKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredCollisionTools(r,n){var i,l;const o=await t.listStoredCollisionTools(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredCollisionToolsKeys(r,n){var i,l;const o=await t.listStoredCollisionToolsKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listStoredCollisionToolsKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async storeCollider(r,n,o,s){var c,u;const a=await t.storeCollider(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async storeCollisionLinkChain(r,n,o,s){var c,u;const a=await t.storeCollisionLinkChain(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async storeCollisionTool(r,n,o,s){var c,u;const a=await t.storeCollisionTool(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var LT=class extends $e{deleteStoredCollider(e,t,r){return Xe(this.configuration).deleteStoredCollider(e,t,r).then(n=>n(this.axios,this.basePath))}deleteStoredCollisionLinkChain(e,t,r){return Xe(this.configuration).deleteStoredCollisionLinkChain(e,t,r).then(n=>n(this.axios,this.basePath))}deleteStoredCollisionTool(e,t,r){return Xe(this.configuration).deleteStoredCollisionTool(e,t,r).then(n=>n(this.axios,this.basePath))}getStoredCollider(e,t,r){return Xe(this.configuration).getStoredCollider(e,t,r).then(n=>n(this.axios,this.basePath))}getStoredCollisionLinkChain(e,t,r){return Xe(this.configuration).getStoredCollisionLinkChain(e,t,r).then(n=>n(this.axios,this.basePath))}getStoredCollisionTool(e,t,r){return Xe(this.configuration).getStoredCollisionTool(e,t,r).then(n=>n(this.axios,this.basePath))}listCollisionLinkChains(e,t){return Xe(this.configuration).listCollisionLinkChains(e,t).then(r=>r(this.axios,this.basePath))}listCollisionLinkChainsKeys(e,t){return Xe(this.configuration).listCollisionLinkChainsKeys(e,t).then(r=>r(this.axios,this.basePath))}listStoredColliders(e,t){return Xe(this.configuration).listStoredColliders(e,t).then(r=>r(this.axios,this.basePath))}listStoredCollidersKeys(e,t){return Xe(this.configuration).listStoredCollidersKeys(e,t).then(r=>r(this.axios,this.basePath))}listStoredCollisionTools(e,t){return Xe(this.configuration).listStoredCollisionTools(e,t).then(r=>r(this.axios,this.basePath))}listStoredCollisionToolsKeys(e,t){return Xe(this.configuration).listStoredCollisionToolsKeys(e,t).then(r=>r(this.axios,this.basePath))}storeCollider(e,t,r,n){return Xe(this.configuration).storeCollider(e,t,r,n).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(e,t,r,n){return Xe(this.configuration).storeCollisionLinkChain(e,t,r,n).then(o=>o(this.axios,this.basePath))}storeCollisionTool(e,t,r,n){return Xe(this.configuration).storeCollisionTool(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const FT=function(e){return{deleteStoredCollisionSetup:async(t,r,n={})=>{C("deleteStoredCollisionSetup","cell",t),C("deleteStoredCollisionSetup","setup",r);const o="/cells/{cell}/store/collision/setups/{setup}".replace("{cell}",encodeURIComponent(String(t))).replace("{setup}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getStoredCollisionSetup:async(t,r,n={})=>{C("getStoredCollisionSetup","cell",t),C("getStoredCollisionSetup","setup",r);const o="/cells/{cell}/store/collision/setups/{setup}".replace("{cell}",encodeURIComponent(String(t))).replace("{setup}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listStoredCollisionSetups:async(t,r={})=>{C("listStoredCollisionSetups","cell",t);const n="/cells/{cell}/store/collision/setups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredCollisionSetupsKeys:async(t,r={})=>{C("listStoredCollisionSetupsKeys","cell",t);const n="/cells/{cell}/store/collision/setups-keys".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},storeCollisionSetup:async(t,r,n,o={})=>{C("storeCollisionSetup","cell",t),C("storeCollisionSetup","setup",r),C("storeCollisionSetup","collisionSetup",n);const s="/cells/{cell}/store/collision/setups/{setup}".replace("{cell}",encodeURIComponent(String(t))).replace("{setup}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},Mn=function(e){const t=FT(e);return{async deleteStoredCollisionSetup(r,n,o){var l,c;const s=await t.deleteStoredCollisionSetup(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionSetupsApi.deleteStoredCollisionSetup"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getStoredCollisionSetup(r,n,o){var l,c;const s=await t.getStoredCollisionSetup(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionSetupsApi.getStoredCollisionSetup"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listStoredCollisionSetups(r,n){var i,l;const o=await t.listStoredCollisionSetups(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionSetupsApi.listStoredCollisionSetups"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredCollisionSetupsKeys(r,n){var i,l;const o=await t.listStoredCollisionSetupsKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionSetupsApi.listStoredCollisionSetupsKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async storeCollisionSetup(r,n,o,s){var c,u;const a=await t.storeCollisionSetup(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["StoreCollisionSetupsApi.storeCollisionSetup"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var $T=class extends $e{deleteStoredCollisionSetup(e,t,r){return Mn(this.configuration).deleteStoredCollisionSetup(e,t,r).then(n=>n(this.axios,this.basePath))}getStoredCollisionSetup(e,t,r){return Mn(this.configuration).getStoredCollisionSetup(e,t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionSetups(e,t){return Mn(this.configuration).listStoredCollisionSetups(e,t).then(r=>r(this.axios,this.basePath))}listStoredCollisionSetupsKeys(e,t){return Mn(this.configuration).listStoredCollisionSetupsKeys(e,t).then(r=>r(this.axios,this.basePath))}storeCollisionSetup(e,t,r,n){return Mn(this.configuration).storeCollisionSetup(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const NT=function(e){return{clearAllObjects:async(t,r={})=>{C("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"DELETE",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},deleteObject:async(t,r,n={})=>{C("deleteObject","cell",t),C("deleteObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getObject:async(t,r,n={})=>{C("getObject","cell",t),C("getObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getObjectMetadata:async(t,r,n={})=>{C("getObjectMetadata","cell",t),C("getObjectMetadata","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"HEAD",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listAllObjectKeys:async(t,r={})=>{C("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},storeObject:async(t,r,n,o,s={})=>{C("storeObject","cell",t),C("storeObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={},h=new(e&&e.formDataCtor||FormData);G(c,e),await H(u,e),o!==void 0&&h.append("any_value",new Blob([JSON.stringify(o)],{type:"application/json"})),u["Content-Type"]="multipart/form-data",n!=null&&(u["X-Metadata"]=typeof n=="string"?n:JSON.stringify(n)),q(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...s.headers},c.data=h,{url:W(i),options:c}}}},Jr=function(e){const t=NT(e);return{async clearAllObjects(r,n){var i,l;const o=await t.clearAllObjects(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreObjectApi.clearAllObjects"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async deleteObject(r,n,o){var l,c;const s=await t.deleteObject(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreObjectApi.deleteObject"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getObject(r,n,o){var l,c;const s=await t.getObject(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreObjectApi.getObject"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getObjectMetadata(r,n,o){var l,c;const s=await t.getObjectMetadata(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreObjectApi.getObjectMetadata"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listAllObjectKeys(r,n){var i,l;const o=await t.listAllObjectKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async storeObject(r,n,o,s,a){var u,d;const i=await t.storeObject(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)}}};var zT=class extends $e{clearAllObjects(e,t){return Jr(this.configuration).clearAllObjects(e,t).then(r=>r(this.axios,this.basePath))}deleteObject(e,t,r){return Jr(this.configuration).deleteObject(e,t,r).then(n=>n(this.axios,this.basePath))}getObject(e,t,r){return Jr(this.configuration).getObject(e,t,r).then(n=>n(this.axios,this.basePath))}getObjectMetadata(e,t,r){return Jr(this.configuration).getObjectMetadata(e,t,r).then(n=>n(this.axios,this.basePath))}listAllObjectKeys(e,t){return Jr(this.configuration).listAllObjectKeys(e,t).then(r=>r(this.axios,this.basePath))}storeObject(e,t,r,n,o){return Jr(this.configuration).storeObject(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}};const GT=function(e){return{backupConfiguration:async(t,r,n={})=>{const o=new URL("/system/configuration",z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...n},i={},l={};G(a,e),await H(i,e),t&&(l.resources=t.join(Xu.csv)),r!==void 0&&(l.metadata=r),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...n.headers},{url:W(o),options:a}},checkNovaVersionUpdate:async(t,r={})=>{C("checkNovaVersionUpdate","channel",t);const n=new URL("/system/update",z);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},a={},i={};G(s,e),await H(a,e),t!==void 0&&(i.channel=t),q(n,i);let l=o&&o.headers?o.headers:{};return s.headers={...a,...l,...r.headers},{url:W(n),options:s}},getConfigurationBackupStatus:async(t,r={})=>{C("getConfigurationBackupStatus","operationId",t);const n=new URL("/system/configuration/status",z);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},a={},i={};G(s,e),await H(a,e),t!==void 0&&(i.operation_id=t),q(n,i);let l=o&&o.headers?o.headers:{};return s.headers={...a,...l,...r.headers},{url:W(n),options:s}},getDiagnosePackage:async(t={})=>{const r=new URL("/system/diagnosis-package/zip",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},getSystemStatus:async(t={})=>{const r=new URL("/system/status",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},getSystemVersion:async(t={})=>{const r=new URL("/system/version",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},listConfigurationResources:async(t={})=>{const r=new URL("/system/configuration/resources",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},restoreConfiguration:async(t,r,n={})=>{C("restoreConfiguration","resources",t),C("restoreConfiguration","body",r);const o=new URL("/system/configuration",z);let s;e&&(s=e.baseOptions);const a={method:"POST",...s,...n},i={},l={};G(a,e),await H(i,e),t&&(l.resources=t.join(Xu.csv)),i["Content-Type"]="application/gzip",q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...n.headers},a.data=ge(r,a,e),{url:W(o),options:a}},updateNovaVersion:async(t,r={})=>{C("updateNovaVersion","updateNovaVersionRequest",t);const n=new URL("/system/update",z);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},a={},i={};G(s,e),await H(a,e),a["Content-Type"]="application/json",q(n,i);let l=o&&o.headers?o.headers:{};return s.headers={...a,...l,...r.headers},s.data=ge(t,s,e),{url:W(n),options:s}}}},Nt=function(e){const t=GT(e);return{async backupConfiguration(r,n,o){var l,c;const s=await t.backupConfiguration(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["SystemApi.backupConfiguration"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async checkNovaVersionUpdate(r,n){var i,l;const o=await t.checkNovaVersionUpdate(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getConfigurationBackupStatus(r,n){var i,l;const o=await t.getConfigurationBackupStatus(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["SystemApi.getConfigurationBackupStatus"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getDiagnosePackage(r){var a,i;const n=await t.getDiagnosePackage(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["SystemApi.getDiagnosePackage"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async getSystemStatus(r){var a,i;const n=await t.getSystemStatus(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["SystemApi.getSystemStatus"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async getSystemVersion(r){var a,i;const n=await t.getSystemVersion(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["SystemApi.getSystemVersion"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async listConfigurationResources(r){var a,i;const n=await t.listConfigurationResources(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["SystemApi.listConfigurationResources"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async restoreConfiguration(r,n,o){var l,c;const s=await t.restoreConfiguration(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["SystemApi.restoreConfiguration"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async updateNovaVersion(r,n){var i,l;const o=await t.updateNovaVersion(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["SystemApi.updateNovaVersion"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)}}};var HT=class extends $e{backupConfiguration(e,t,r){return Nt(this.configuration).backupConfiguration(e,t,r).then(n=>n(this.axios,this.basePath))}checkNovaVersionUpdate(e,t){return Nt(this.configuration).checkNovaVersionUpdate(e,t).then(r=>r(this.axios,this.basePath))}getConfigurationBackupStatus(e,t){return Nt(this.configuration).getConfigurationBackupStatus(e,t).then(r=>r(this.axios,this.basePath))}getDiagnosePackage(e){return Nt(this.configuration).getDiagnosePackage(e).then(t=>t(this.axios,this.basePath))}getSystemStatus(e){return Nt(this.configuration).getSystemStatus(e).then(t=>t(this.axios,this.basePath))}getSystemVersion(e){return Nt(this.configuration).getSystemVersion(e).then(t=>t(this.axios,this.basePath))}listConfigurationResources(e){return Nt(this.configuration).listConfigurationResources(e).then(t=>t(this.axios,this.basePath))}restoreConfiguration(e,t,r){return Nt(this.configuration).restoreConfiguration(e,t,r).then(n=>n(this.axios,this.basePath))}updateNovaVersion(e,t){return Nt(this.configuration).updateNovaVersion(e,t).then(r=>r(this.axios,this.basePath))}};const qT=function(e){return{addTrajectory:async(t,r,n,o={})=>{C("addTrajectory","cell",t),C("addTrajectory","controller",r),C("addTrajectory","addTrajectoryRequest",n);const s="/cells/{cell}/controllers/{controller}/trajectories".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},clearTrajectories:async(t,r,n={})=>{C("clearTrajectories","cell",t),C("clearTrajectories","controller",r);const o="/cells/{cell}/controllers/{controller}/trajectories".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deleteTrajectory:async(t,r,n,o={})=>{C("deleteTrajectory","cell",t),C("deleteTrajectory","controller",r),C("deleteTrajectory","trajectory",n);const s="/cells/{cell}/controllers/{controller}/trajectories/{trajectory}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{trajectory}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},getTrajectory:async(t,r,n,o={})=>{C("getTrajectory","cell",t),C("getTrajectory","controller",r),C("getTrajectory","trajectory",n);const s="/cells/{cell}/controllers/{controller}/trajectories/{trajectory}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{trajectory}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},listTrajectories:async(t,r,n={})=>{C("listTrajectories","cell",t),C("listTrajectories","controller",r);const o="/cells/{cell}/controllers/{controller}/trajectories".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}}}},Vn=function(e){const t=qT(e);return{async addTrajectory(r,n,o,s){var c,u;const a=await t.addTrajectory(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["TrajectoryCachingApi.addTrajectory"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async clearTrajectories(r,n,o){var l,c;const s=await t.clearTrajectories(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["TrajectoryCachingApi.clearTrajectories"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteTrajectory(r,n,o,s){var c,u;const a=await t.deleteTrajectory(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["TrajectoryCachingApi.deleteTrajectory"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async getTrajectory(r,n,o,s){var c,u;const a=await t.getTrajectory(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["TrajectoryCachingApi.getTrajectory"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listTrajectories(r,n,o){var l,c;const s=await t.listTrajectories(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["TrajectoryCachingApi.listTrajectories"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)}}};var WT=class extends $e{addTrajectory(e,t,r,n){return Vn(this.configuration).addTrajectory(e,t,r,n).then(o=>o(this.axios,this.basePath))}clearTrajectories(e,t,r){return Vn(this.configuration).clearTrajectories(e,t,r).then(n=>n(this.axios,this.basePath))}deleteTrajectory(e,t,r,n){return Vn(this.configuration).deleteTrajectory(e,t,r,n).then(o=>o(this.axios,this.basePath))}getTrajectory(e,t,r,n){return Vn(this.configuration).getTrajectory(e,t,r,n).then(o=>o(this.axios,this.basePath))}listTrajectories(e,t,r){return Vn(this.configuration).listTrajectories(e,t,r).then(n=>n(this.axios,this.basePath))}};const JT=function(e){return{executeTrajectory:async(t,r,n,o={})=>{C("executeTrajectory","cell",t),C("executeTrajectory","controller",r),C("executeTrajectory","executeTrajectoryRequest",n);const s="/cells/{cell}/controllers/{controller}/execution/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},YT=function(e){const t=JT(e);return{async executeTrajectory(r,n,o,s){var c,u;const a=await t.executeTrajectory(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["TrajectoryExecutionApi.executeTrajectory"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var KT=class extends $e{executeTrajectory(e,t,r,n){return YT(this.configuration).executeTrajectory(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const QT=function(e){return{planCollisionFree:async(t,r,n={})=>{C("planCollisionFree","cell",t),C("planCollisionFree","planCollisionFreeRequest",r);const o="/cells/{cell}/trajectory-planning/plan-collision-free".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"POST",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}},planTrajectory:async(t,r,n={})=>{C("planTrajectory","cell",t),C("planTrajectory","planTrajectoryRequest",r);const o="/cells/{cell}/trajectory-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"POST",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}}}},rd=function(e){const t=QT(e);return{async planCollisionFree(r,n,o){var l,c;const s=await t.planCollisionFree(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["TrajectoryPlanningApi.planCollisionFree"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async planTrajectory(r,n,o){var l,c;const s=await t.planTrajectory(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["TrajectoryPlanningApi.planTrajectory"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)}}};var XT=class extends $e{planCollisionFree(e,t,r){return rd(this.configuration).planCollisionFree(e,t,r).then(n=>n(this.axios,this.basePath))}planTrajectory(e,t,r){return rd(this.configuration).planTrajectory(e,t,r).then(n=>n(this.axios,this.basePath))}};const ZT=function(e){return{addVirtualControllerCoordinateSystem:async(t,r,n,o,s={})=>{C("addVirtualControllerCoordinateSystem","cell",t),C("addVirtualControllerCoordinateSystem","controller",r),C("addVirtualControllerCoordinateSystem","coordinateSystem",n),C("addVirtualControllerCoordinateSystem","coordinateSystemData",o);const a="/cells/{cell}/virtual-controllers/{controller}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={};G(c,e),await H(u,e),u["Content-Type"]="application/json",q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},c.data=ge(o,c,e),{url:W(i),options:c}},addVirtualControllerTcp:async(t,r,n,o,s,a={})=>{C("addVirtualControllerTcp","cell",t),C("addVirtualControllerTcp","controller",r),C("addVirtualControllerTcp","motionGroup",n),C("addVirtualControllerTcp","tcp",o),C("addVirtualControllerTcp","robotTcpData",s);const i="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(o))),l=new URL(i,z);let c;e&&(c=e.baseOptions);const u={method:"PUT",...c,...a},d={},h={};G(u,e),await H(d,e),d["Content-Type"]="application/json",q(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...a.headers},u.data=ge(s,u,e),{url:W(l),options:u}},deleteVirtualControllerCoordinateSystem:async(t,r,n,o,s={})=>{C("deleteVirtualControllerCoordinateSystem","cell",t),C("deleteVirtualControllerCoordinateSystem","controller",r),C("deleteVirtualControllerCoordinateSystem","coordinateSystem",n);const a="/cells/{cell}/virtual-controllers/{controller}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...s},u={},d={};G(c,e),await H(u,e),o!==void 0&&(d.delete_dependent=o),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},deleteVirtualControllerTcp:async(t,r,n,o,s={})=>{C("deleteVirtualControllerTcp","cell",t),C("deleteVirtualControllerTcp","controller",r),C("deleteVirtualControllerTcp","motionGroup",n),C("deleteVirtualControllerTcp","tcp",o);const a="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(o))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...s},u={},d={};G(c,e),await H(u,e),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},getEmergencyStop:async(t,r,n={})=>{C("getEmergencyStop","cell",t),C("getEmergencyStop","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/emergency-stop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getMotionGroupState:async(t,r,n,o={})=>{C("getMotionGroupState","cell",t),C("getMotionGroupState","controller",r),C("getMotionGroupState","motionGroup",n);const s="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},getMotionGroups:async(t,r,n={})=>{C("getMotionGroups","cell",t),C("getMotionGroups","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/motion-groups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getOperationMode:async(t,r,n={})=>{C("getOperationMode","cell",t),C("getOperationMode","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getVirtualControllerMounting:async(t,r,n,o={})=>{C("getVirtualControllerMounting","cell",t),C("getVirtualControllerMounting","controller",r),C("getVirtualControllerMounting","motionGroup",n);const s="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},listVirtualControllerCoordinateSystems:async(t,r,n={})=>{C("listVirtualControllerCoordinateSystems","cell",t),C("listVirtualControllerCoordinateSystems","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listVirtualControllerTcps:async(t,r,n,o={})=>{C("listVirtualControllerTcps","cell",t),C("listVirtualControllerTcps","controller",r),C("listVirtualControllerTcps","motionGroup",n);const s="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},setEmergencyStop:async(t,r,n,o={})=>{C("setEmergencyStop","cell",t),C("setEmergencyStop","controller",r);const s="/cells/{cell}/virtual-controllers/{controller}/emergency-stop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.active=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},setMotionGroupState:async(t,r,n,o,s={})=>{C("setMotionGroupState","cell",t),C("setMotionGroupState","controller",r),C("setMotionGroupState","motionGroup",n),C("setMotionGroupState","motionGroupJoints",o);const a="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={};G(c,e),await H(u,e),u["Content-Type"]="application/json",q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},c.data=ge(o,c,e),{url:W(i),options:c}},setOperationMode:async(t,r,n,o={})=>{C("setOperationMode","cell",t),C("setOperationMode","controller",r),C("setOperationMode","mode",n);const s="/cells/{cell}/virtual-controllers/{controller}/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.mode=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},setVirtualControllerMounting:async(t,r,n,o,s={})=>{C("setVirtualControllerMounting","cell",t),C("setVirtualControllerMounting","controller",r),C("setVirtualControllerMounting","motionGroup",n),C("setVirtualControllerMounting","coordinateSystem",o);const a="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={};G(c,e),await H(u,e),u["Content-Type"]="application/json",q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},c.data=ge(o,c,e),{url:W(i),options:c}}}},Ze=function(e){const t=ZT(e);return{async addVirtualControllerCoordinateSystem(r,n,o,s,a){var u,d;const i=await t.addVirtualControllerCoordinateSystem(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.addVirtualControllerCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async addVirtualControllerTcp(r,n,o,s,a,i){var d,h;const l=await t.addVirtualControllerTcp(r,n,o,s,a,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=N["VirtualControllerApi.addVirtualControllerTcp"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>J(l,B,$,e)(p,u||f)},async deleteVirtualControllerCoordinateSystem(r,n,o,s,a){var u,d;const i=await t.deleteVirtualControllerCoordinateSystem(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.deleteVirtualControllerCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async deleteVirtualControllerTcp(r,n,o,s,a){var u,d;const i=await t.deleteVirtualControllerTcp(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.deleteVirtualControllerTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async getEmergencyStop(r,n,o){var l,c;const s=await t.getEmergencyStop(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerApi.getEmergencyStop"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getMotionGroupState(r,n,o,s){var c,u;const a=await t.getMotionGroupState(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async getMotionGroups(r,n,o){var l,c;const s=await t.getMotionGroups(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerApi.getMotionGroups"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getOperationMode(r,n,o){var l,c;const s=await t.getOperationMode(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerApi.getOperationMode"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getVirtualControllerMounting(r,n,o,s){var c,u;const a=await t.getVirtualControllerMounting(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.getVirtualControllerMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listVirtualControllerCoordinateSystems(r,n,o){var l,c;const s=await t.listVirtualControllerCoordinateSystems(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerApi.listVirtualControllerCoordinateSystems"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listVirtualControllerTcps(r,n,o,s){var c,u;const a=await t.listVirtualControllerTcps(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.listVirtualControllerTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async setEmergencyStop(r,n,o,s){var c,u;const a=await t.setEmergencyStop(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.setEmergencyStop"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async setMotionGroupState(r,n,o,s,a){var u,d;const i=await t.setMotionGroupState(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async setOperationMode(r,n,o,s){var c,u;const a=await t.setOperationMode(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async setVirtualControllerMounting(r,n,o,s,a){var u,d;const i=await t.setVirtualControllerMounting(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.setVirtualControllerMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)}}};var e2=class extends $e{addVirtualControllerCoordinateSystem(e,t,r,n,o){return Ze(this.configuration).addVirtualControllerCoordinateSystem(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}addVirtualControllerTcp(e,t,r,n,o,s){return Ze(this.configuration).addVirtualControllerTcp(e,t,r,n,o,s).then(a=>a(this.axios,this.basePath))}deleteVirtualControllerCoordinateSystem(e,t,r,n,o){return Ze(this.configuration).deleteVirtualControllerCoordinateSystem(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}deleteVirtualControllerTcp(e,t,r,n,o){return Ze(this.configuration).deleteVirtualControllerTcp(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}getEmergencyStop(e,t,r){return Ze(this.configuration).getEmergencyStop(e,t,r).then(n=>n(this.axios,this.basePath))}getMotionGroupState(e,t,r,n){return Ze(this.configuration).getMotionGroupState(e,t,r,n).then(o=>o(this.axios,this.basePath))}getMotionGroups(e,t,r){return Ze(this.configuration).getMotionGroups(e,t,r).then(n=>n(this.axios,this.basePath))}getOperationMode(e,t,r){return Ze(this.configuration).getOperationMode(e,t,r).then(n=>n(this.axios,this.basePath))}getVirtualControllerMounting(e,t,r,n){return Ze(this.configuration).getVirtualControllerMounting(e,t,r,n).then(o=>o(this.axios,this.basePath))}listVirtualControllerCoordinateSystems(e,t,r){return Ze(this.configuration).listVirtualControllerCoordinateSystems(e,t,r).then(n=>n(this.axios,this.basePath))}listVirtualControllerTcps(e,t,r,n){return Ze(this.configuration).listVirtualControllerTcps(e,t,r,n).then(o=>o(this.axios,this.basePath))}setEmergencyStop(e,t,r,n){return Ze(this.configuration).setEmergencyStop(e,t,r,n).then(o=>o(this.axios,this.basePath))}setMotionGroupState(e,t,r,n,o){return Ze(this.configuration).setMotionGroupState(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}setOperationMode(e,t,r,n){return Ze(this.configuration).setOperationMode(e,t,r,n).then(o=>o(this.axios,this.basePath))}setVirtualControllerMounting(e,t,r,n,o){return Ze(this.configuration).setVirtualControllerMounting(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}};const t2=function(e){return{externalJointsStream:async(t,r,n,o={})=>{C("externalJointsStream","cell",t),C("externalJointsStream","controller",r),C("externalJointsStream","externalJointStreamRequest",n);const s="/cells/{cell}/virtual-controllers/{controller}/external-joints-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},getCycleTime:async(t,r,n={})=>{C("getCycleTime","cell",t),C("getCycleTime","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getVirtualControllerBehavior:async(t,r,n={})=>{C("getVirtualControllerBehavior","cell",t),C("getVirtualControllerBehavior","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},setVirtualControllerBehavior:async(t,r,n,o={})=>{C("setVirtualControllerBehavior","cell",t),C("setVirtualControllerBehavior","controller",r);const s="/cells/{cell}/virtual-controllers/{controller}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.behavior=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}}}},jo=function(e){const t=t2(e);return{async externalJointsStream(r,n,o,s){var c,u;const a=await t.externalJointsStream(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async getCycleTime(r,n,o){var l,c;const s=await t.getCycleTime(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerBehaviorApi.getCycleTime"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getVirtualControllerBehavior(r,n,o){var l,c;const s=await t.getVirtualControllerBehavior(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerBehaviorApi.getVirtualControllerBehavior"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async setVirtualControllerBehavior(r,n,o,s){var c,u;const a=await t.setVirtualControllerBehavior(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerBehaviorApi.setVirtualControllerBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var r2=class extends $e{externalJointsStream(e,t,r,n){return jo(this.configuration).externalJointsStream(e,t,r,n).then(o=>o(this.axios,this.basePath))}getCycleTime(e,t,r){return jo(this.configuration).getCycleTime(e,t,r).then(n=>n(this.axios,this.basePath))}getVirtualControllerBehavior(e,t,r){return jo(this.configuration).getVirtualControllerBehavior(e,t,r).then(n=>n(this.axios,this.basePath))}setVirtualControllerBehavior(e,t,r,n){return jo(this.configuration).setVirtualControllerBehavior(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const n2=function(e){return{listIOs:async(t,r,n,o={})=>{C("listIOs","cell",t),C("listIOs","controller",r),C("listIOs","ios",n);const s="/cells/{cell}/virtual-controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n&&(u.ios=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},listVirtualControllerIODescriptions:async(t,r,n,o,s,a,i={})=>{C("listVirtualControllerIODescriptions","cell",t),C("listVirtualControllerIODescriptions","controller",r);const l="/cells/{cell}/virtual-controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),c=new URL(l,z);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};G(d,e),await H(h,e),n&&(p.ios=n),o!==void 0&&(p.direction=o),s!==void 0&&(p.value_type=s),a!==void 0&&(p.group=a),q(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:W(c),options:d}},setIOValues:async(t,r,n,o={})=>{C("setIOValues","cell",t),C("setIOValues","controller",r),C("setIOValues","iOValue",n);const s="/cells/{cell}/virtual-controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},Ka=function(e){const t=n2(e);return{async listIOs(r,n,o,s){var c,u;const a=await t.listIOs(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerInputsOutputsApi.listIOs"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listVirtualControllerIODescriptions(r,n,o,s,a,i,l){var h,p;const c=await t.listVirtualControllerIODescriptions(r,n,o,s,a,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=N["VirtualControllerInputsOutputsApi.listVirtualControllerIODescriptions"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>J(c,B,$,e)(f,d||m)},async setIOValues(r,n,o,s){var c,u;const a=await t.setIOValues(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerInputsOutputsApi.setIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var o2=class extends $e{listIOs(e,t,r,n){return Ka(this.configuration).listIOs(e,t,r,n).then(o=>o(this.axios,this.basePath))}listVirtualControllerIODescriptions(e,t,r,n,o,s,a){return Ka(this.configuration).listVirtualControllerIODescriptions(e,t,r,n,o,s,a).then(i=>i(this.axios,this.basePath))}setIOValues(e,t,r,n){return Ka(this.configuration).setIOValues(e,t,r,n).then(o=>o(this.axios,this.basePath))}},s2=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(HT),this.cell=this.withUnwrappedResponsesOnly(OT),this.motionGroup=this.withCellId(jT),this.motionGroupModels=this.withCellId(BT),this.controller=this.withCellId(ET),this.controllerIOs=this.withCellId(AT),this.trajectoryPlanning=this.withCellId(XT),this.trajectoryExecution=this.withCellId(KT),this.trajectoryCaching=this.withCellId(WT),this.application=this.withCellId(Zu),this.applicationGlobal=this.withUnwrappedResponsesOnly(Zu),this.jogging=this.withCellId(MT),this.kinematics=this.withCellId(_T),this.busInputsOutputs=this.withCellId(CT),this.virtualController=this.withCellId(e2),this.virtualControllerBehavior=this.withCellId(r2),this.virtualControllerIOs=this.withCellId(o2),this.storeObject=this.withCellId(zT),this.storeCollisionComponents=this.withCellId(LT),this.storeCollisionSetups=this.withCellId($T)}withCellId(e){const t=new e({...this.opts,isJsonMime:r=>r==="application/json"},this.opts.basePath??"",this.opts.axiosInstance??B.create());for(const r of Reflect.ownKeys(Reflect.getPrototypeOf(t)))if(r!=="constructor"&&typeof t[r]=="function"){const n=t[r];t[r]=(...o)=>n.apply(t,[this.cellId,...o]).then(s=>s.data)}return t}withUnwrappedResponsesOnly(e){const t=new e({...this.opts,isJsonMime:r=>r==="application/json"},this.opts.basePath??"",this.opts.axiosInstance??B.create());for(const r of Reflect.ownKeys(Reflect.getPrototypeOf(t)))if(r!=="constructor"&&typeof t[r]=="function"){const n=t[r];t[r]=(...o)=>n.apply(t,o).then(s=>s.data)}return t}},a2=class{constructor(){this.connections=[]}async handleAPIRequest(e){var o,s,a;const t=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return["mock-ur5e"]}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{initial_joint_position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",kind:"VirtualController",manufacturer:"universalrobots",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId/state",handle(){return{mode:"MODE_CONTROL",last_error:[],timestamp:"2025-10-16T09:19:26.634534092Z",sequence_number:1054764,controller:"mock-ur5e",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",velocity_override:100,motion_groups:[{timestamp:"2025-10-16T09:19:26.634534092Z",sequence_number:1054764,motion_group:"0@mock-ur5e",controller:"mock-ur5e",joint_position:[1.487959623336792,-1.8501918315887451,1.8003005981445312,6.034560203552246,1.4921919107437134,1.593459963798523],joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_torque:[],joint_current:[0,0,0,0,0,0],flange_pose:{position:[107.6452433732927,-409.0402987746852,524.2402132330305],orientation:[.9874434028353319,-.986571714997442,1.3336589451098142]},tcp:"Flange",tcp_pose:{position:[107.6452433732927,-409.0402987746852,524.2402132330305],orientation:[.9874434028353319,-.986571714997442,1.3336589451098142]},payload:"",coordinate_system:"",standstill:!0}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",handle(){return{motion_group_model:"UniversalRobots_UR5e",mounting:{position:[0,0,0],orientation:[0,0,0]},tcps:{Flange:{name:"Default-Flange",pose:{position:[0,0,0],orientation:[0,0,0]}}},payloads:{"FPay-0":{name:"FPay-0",payload:0,center_of_mass:[0,0,0],moment_of_inertia:[0,0,0]}},cycle_time:8,dh_parameters:[{alpha:1.5707963267948966,d:162.25},{a:-425},{a:-392.2},{alpha:1.5707963267948966,d:133.3},{alpha:-1.5707963267948966,d:99.7},{d:99.6}],operation_limits:{auto_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3},elbow:{velocity:5e3},flange:{velocity:5e3}},manual_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3}},manual_t1_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3}},manual_t2_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3}}},serial_number:"WBVirtualRobot"}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId/coordinate-systems",handle(){return[{coordinate_system:"",name:"world",reference_coordinate_system:"",position:[0,0,0],orientation:[0,0,0],orientation_type:"ROTATION_VECTOR"},{coordinate_system:"CS-0",name:"Default-CS",reference_coordinate_system:"",position:[0,0,0],orientation:[0,0,0],orientation_type:"ROTATION_VECTOR"}]}}],r=((o=e.method)==null?void 0:o.toUpperCase())||"GET",n=`/cells${(a=(s=e.url)==null?void 0:s.split("/cells")[1])==null?void 0:a.split("?")[0]}`;for(const i of t){const l=mT.match(i.path)(n||"");if(r===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 Ti(`No mock handler matched this request: ${r} ${n}`,"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(i2)})),e.url.includes("/execution/jogging")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{message:"string",kind:"INITIALIZE_RECEIVED"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}};const i2={result:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",timestamp:new Date().toISOString(),sequence_number:1,joint_position:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705],joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},standstill:!1,flange_pose:{position:[1.3300010259703043,-409.2680714682808,531.0203477065281],orientation:[1.7564919306270736,-1.7542521568325058,.7326972590614671]},tcp_pose:{position:[1.3300010259703043,-409.2680714682808,531.0203477065281],orientation:[1.7564919306270736,-1.7542521568325058,.7326972590614671]}}};function l2(e){return e.startsWith("http")||(e=`http://${e}`),new URL(e).toString()}var c2=class{constructor(e){this.authPromise=null,this.accessToken=null;const t=e.cellId??"cell";this.config={cellId:t,...e},this.accessToken=e.accessToken||za.getString("wbjs.access_token")||null,this.config.instanceUrl==="https://mock.example.com"?this.mock=new a2:this.config.instanceUrl=l2(this.config.instanceUrl);const r=B.create({baseURL:Ja(this.config.instanceUrl,"/api/v2"),headers:typeof window<"u"&&window.location.origin.includes("localhost")?{}:{"X-Wandelbots-Client":"Wandelbots-Nova-JS-SDK"}});r.interceptors.request.use(async n=>(n.headers.Authorization||(this.accessToken?n.headers.Authorization=`Bearer ${this.accessToken}`:this.config.username&&this.config.password&&(n.headers.Authorization=`Basic ${btoa(`${e.username}:${e.password}`)}`)),n)),typeof window<"u"&&r.interceptors.response.use(n=>n,async n=>{var o,s;if(hT(n))if(((o=n.response)==null?void 0:o.status)===401)try{if(await this.renewAuthentication(),n.config)return this.accessToken?n.config.headers.Authorization=`Bearer ${this.accessToken}`:delete n.config.headers.Authorization,r.request(n.config)}catch(a){return Promise.reject(a)}else((s=n.response)==null?void 0:s.status)===503&&(await fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(n)}),this.api=new s2(t,{...e,basePath:Ja(this.config.instanceUrl,"/api/v2"),isJsonMime:n=>n==="application/json",baseOptions:{...this.mock?{adapter:n=>this.mock.handleAPIRequest(n)}:{},...e.baseOptions},axiosInstance:r})}async renewAuthentication(){if(!this.authPromise){this.authPromise=Dw(this.config.instanceUrl);try{this.accessToken=await this.authPromise,this.accessToken?za.setString("wbjs.access_token",this.accessToken):za.delete("wbjs.access_token")}finally{this.authPromise=null}}}makeWebsocketURL(e){const t=new URL(Ja(this.config.instanceUrl,`/api/v2/cells/${this.config.cellId}`,e));return t.protocol=t.protocol.replace("http","ws"),t.protocol=t.protocol.replace("https","wss"),this.accessToken?t.searchParams.append("token",this.accessToken):this.config.username&&this.config.password&&(t.username=this.config.username,t.password=this.config.password),t.toString()}openReconnectingWebsocket(e){return new _w(this.makeWebsocketURL(e),{mock:this.mock})}};function u2(e){var s,a,i,l,c,u;const t=[((s=e.position)==null?void 0:s[0])??0,((a=e.position)==null?void 0:a[1])??0,((i=e.position)==null?void 0:i[2])??0],r=[((l=e.orientation)==null?void 0:l[0])??0,((c=e.orientation)==null?void 0:c[1])??0,((u=e.orientation)==null?void 0:u[2])??0],n=t.map(d=>d.toFixed(1)),o=r.map(d=>d.toFixed(4));return`(${n.concat(o).join(", ")})`}function zt(e,t,r){return Math.max(t,Math.min(r,e))}class d2{constructor(t=0,r=0,n=0,o=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=n,this._w=o}static slerpFlat(t,r,n,o,s,a,i){let l=n[o+0],c=n[o+1],u=n[o+2],d=n[o+3];const h=s[a+0],p=s[a+1],f=s[a+2],m=s[a+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,R=S>=0?1:-1,v=1-S*S;if(v>Number.EPSILON){const I=Math.sqrt(v),E=Math.atan2(I,S*R);y=Math.sin(y*E)/I,i=Math.sin(i*E)/I}const T=i*R;if(l=l*y+h*T,c=c*y+p*T,u=u*y+f*T,d=d*y+m*T,y===1-i){const I=1/Math.sqrt(l*l+c*c+u*u+d*d);l*=I,c*=I,u*=I,d*=I}}t[r]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d}static multiplyQuaternionsFlat(t,r,n,o,s,a){const i=n[o],l=n[o+1],c=n[o+2],u=n[o+3],d=s[a],h=s[a+1],p=s[a+2],f=s[a+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,o){return this._x=t,this._y=r,this._z=n,this._w=o,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,o=t._y,s=t._z,a=t._order,i=Math.cos,l=Math.sin,c=i(n/2),u=i(o/2),d=i(s/2),h=l(n/2),p=l(o/2),f=l(s/2);switch(a){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: "+a)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const n=r/2,o=Math.sin(n);return this._x=t.x*o,this._y=t.y*o,this._z=t.z*o,this._w=Math.cos(n),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,n=r[0],o=r[4],s=r[8],a=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=(s-c)*p,this._z=(a-o)*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=(o+a)/p,this._z=(s+c)/p}else if(i>d){const p=2*Math.sqrt(1+i-n-d);this._w=(s-c)/p,this._x=(o+a)/p,this._y=.25*p,this._z=(l+u)/p}else{const p=2*Math.sqrt(1+d-n-i);this._w=(a-o)/p,this._x=(s+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(zt(this.dot(t),-1,1)))}rotateTowards(t,r){const n=this.angleTo(t);if(n===0)return this;const o=Math.min(1,r/n);return this.slerp(t,o),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,o=t._y,s=t._z,a=t._w,i=r._x,l=r._y,c=r._z,u=r._w;return this._x=n*u+a*i+o*c-s*l,this._y=o*u+a*l+s*i-n*c,this._z=s*u+a*c+n*l-o*i,this._w=a*u-n*i-o*l-s*c,this._onChangeCallback(),this}slerp(t,r){if(r===0)return this;if(r===1)return this.copy(t);const n=this._x,o=this._y,s=this._z,a=this._w;let i=a*t._w+n*t._x+o*t._y+s*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=a,this._x=n,this._y=o,this._z=s,this;const l=1-i*i;if(l<=Number.EPSILON){const p=1-r;return this._w=p*a+r*this._w,this._x=p*n+r*this._x,this._y=p*o+r*this._y,this._z=p*s+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=a*d+this._w*h,this._x=n*d+this._x*h,this._y=o*d+this._y*h,this._z=s*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(),o=Math.sqrt(1-n),s=Math.sqrt(n);return this.set(o*Math.sin(t),o*Math.cos(t),s*Math.sin(r),s*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 rn{constructor(t=0,r=0,n=0){rn.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(nd.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(nd.setFromAxisAngle(t,r))}applyMatrix3(t){const r=this.x,n=this.y,o=this.z,s=t.elements;return this.x=s[0]*r+s[3]*n+s[6]*o,this.y=s[1]*r+s[4]*n+s[7]*o,this.z=s[2]*r+s[5]*n+s[8]*o,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const r=this.x,n=this.y,o=this.z,s=t.elements,a=1/(s[3]*r+s[7]*n+s[11]*o+s[15]);return this.x=(s[0]*r+s[4]*n+s[8]*o+s[12])*a,this.y=(s[1]*r+s[5]*n+s[9]*o+s[13])*a,this.z=(s[2]*r+s[6]*n+s[10]*o+s[14])*a,this}applyQuaternion(t){const r=this.x,n=this.y,o=this.z,s=t.x,a=t.y,i=t.z,l=t.w,c=2*(a*o-i*n),u=2*(i*r-s*o),d=2*(s*n-a*r);return this.x=r+l*c+a*d-i*u,this.y=n+l*u+i*c-s*d,this.z=o+l*d+s*u-a*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,o=this.z,s=t.elements;return this.x=s[0]*r+s[4]*n+s[8]*o,this.y=s[1]*r+s[5]*n+s[9]*o,this.z=s[2]*r+s[6]*n+s[10]*o,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=zt(this.x,t.x,r.x),this.y=zt(this.y,t.y,r.y),this.z=zt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=zt(this.x,t,r),this.y=zt(this.y,t,r),this.z=zt(this.z,t,r),this}clampLength(t,r){const n=this.length();return this.divideScalar(n||1).multiplyScalar(zt(n,t,r))}floor(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this}ceil(){return 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0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.getProfinetDescription"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getProfinetIOsFromFile(r,n,o,s){var c,u;const a=await t.getProfinetIOsFromFile(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["BUSInputsOutputsApi.getProfinetIOsFromFile"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listBusIODescriptions(r,n){var i,l;const o=await t.listBusIODescriptions(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.listBusIODescriptions"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listModbusIOs(r,n){var i,l;const o=await t.listModbusIOs(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.listModbusIOs"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listProfinetIOs(r,n){var i,l;const o=await t.listProfinetIOs(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["BUSInputsOutputsApi.listProfinetIOs"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async setBusIOValues(r,n,o){var l,c;const s=await t.setBusIOValues(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["BUSInputsOutputsApi.setBusIOValues"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async setProfinetIOsFromFile(r,n,o){var l,c;const s=await t.setProfinetIOsFromFile(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["BUSInputsOutputsApi.setProfinetIOsFromFile"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)}}};var CT=class extends $e{addBusIOService(e,t,r,n){return Ye(this.configuration).addBusIOService(e,t,r,n).then(o=>o(this.axios,this.basePath))}addModbusIO(e,t,r,n){return Ye(this.configuration).addModbusIO(e,t,r,n).then(o=>o(this.axios,this.basePath))}addProfinetIO(e,t,r,n){return Ye(this.configuration).addProfinetIO(e,t,r,n).then(o=>o(this.axios,this.basePath))}clearBusIOService(e,t,r){return Ye(this.configuration).clearBusIOService(e,t,r).then(n=>n(this.axios,this.basePath))}deleteModbusIO(e,t,r){return Ye(this.configuration).deleteModbusIO(e,t,r).then(n=>n(this.axios,this.basePath))}deleteProfinetIO(e,t,r){return Ye(this.configuration).deleteProfinetIO(e,t,r).then(n=>n(this.axios,this.basePath))}getBusIOService(e,t){return Ye(this.configuration).getBusIOService(e,t).then(r=>r(this.axios,this.basePath))}getBusIOState(e,t){return Ye(this.configuration).getBusIOState(e,t).then(r=>r(this.axios,this.basePath))}getBusIOValues(e,t,r){return Ye(this.configuration).getBusIOValues(e,t,r).then(n=>n(this.axios,this.basePath))}getProfinetDescription(e,t){return Ye(this.configuration).getProfinetDescription(e,t).then(r=>r(this.axios,this.basePath))}getProfinetIOsFromFile(e,t,r,n){return Ye(this.configuration).getProfinetIOsFromFile(e,t,r,n).then(o=>o(this.axios,this.basePath))}listBusIODescriptions(e,t){return Ye(this.configuration).listBusIODescriptions(e,t).then(r=>r(this.axios,this.basePath))}listModbusIOs(e,t){return Ye(this.configuration).listModbusIOs(e,t).then(r=>r(this.axios,this.basePath))}listProfinetIOs(e,t){return Ye(this.configuration).listProfinetIOs(e,t).then(r=>r(this.axios,this.basePath))}setBusIOValues(e,t,r){return Ye(this.configuration).setBusIOValues(e,t,r).then(n=>n(this.axios,this.basePath))}setProfinetIOsFromFile(e,t,r){return Ye(this.configuration).setProfinetIOsFromFile(e,t,r).then(n=>n(this.axios,this.basePath))}};const wT=function(e){return{deleteCell:async(t,r,n={})=>{C("deleteCell","cell",t);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),r!==void 0&&(c.completion_timeout=r),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deployCell:async(t,r,n={})=>{C("deployCell","cell",t);const o=new URL("/cells",z);let s;e&&(s=e.baseOptions);const a={method:"POST",...s,...n},i={},l={};G(a,e),await H(i,e),r!==void 0&&(l.completion_timeout=r),i["Content-Type"]="application/json",q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...n.headers},a.data=ge(t,a,e),{url:W(o),options:a}},getCell:async(t,r={})=>{C("getCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},getCellStatus:async(t,r={})=>{C("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listCells:async(t={})=>{const r=new URL("/cells",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},setCellStatus:async(t,r,n={})=>{C("setCellStatus","cell",t),C("setCellStatus","operatingState",r);const o="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"PUT",...a,...n},l={},c={};G(i,e),await H(l,e),r!==void 0&&(c.operating_state=r),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},updateCell:async(t,r,n,o={})=>{C("updateCell","cell",t),C("updateCell","cell2",r);const s="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.completion_timeout=n),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(r,l,e),{url:W(a),options:l}}}},gr=function(e){const t=wT(e);return{async deleteCell(r,n,o){var l,c;const s=await t.deleteCell(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["CellApi.deleteCell"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deployCell(r,n,o){var l,c;const s=await t.deployCell(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["CellApi.deployCell"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getCell(r,n){var i,l;const o=await t.getCell(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["CellApi.getCell"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getCellStatus(r,n){var i,l;const o=await t.getCellStatus(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["CellApi.getCellStatus"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listCells(r){var a,i;const n=await t.listCells(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["CellApi.listCells"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async setCellStatus(r,n,o){var l,c;const s=await t.setCellStatus(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["CellApi.setCellStatus"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async updateCell(r,n,o,s){var c,u;const a=await t.updateCell(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["CellApi.updateCell"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var OT=class extends $e{deleteCell(e,t,r){return gr(this.configuration).deleteCell(e,t,r).then(n=>n(this.axios,this.basePath))}deployCell(e,t,r){return gr(this.configuration).deployCell(e,t,r).then(n=>n(this.axios,this.basePath))}getCell(e,t){return gr(this.configuration).getCell(e,t).then(r=>r(this.axios,this.basePath))}getCellStatus(e,t){return gr(this.configuration).getCellStatus(e,t).then(r=>r(this.axios,this.basePath))}listCells(e){return gr(this.configuration).listCells(e).then(t=>t(this.axios,this.basePath))}setCellStatus(e,t,r){return gr(this.configuration).setCellStatus(e,t,r).then(n=>n(this.axios,this.basePath))}updateCell(e,t,r,n){return gr(this.configuration).updateCell(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const TT=function(e){return{addRobotController:async(t,r,n,o={})=>{C("addRobotController","cell",t),C("addRobotController","robotController",r);const s="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.completion_timeout=n),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(r,l,e),{url:W(a),options:l}},clearRobotControllers:async(t,r,n={})=>{C("clearRobotControllers","cell",t);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),r!==void 0&&(c.completion_timeout=r),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deleteRobotController:async(t,r,n,o={})=>{C("deleteRobotController","cell",t),C("deleteRobotController","controller",r);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.completion_timeout=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},getControllerDescription:async(t,r,n={})=>{C("getControllerDescription","cell",t),C("getControllerDescription","controller",r);const o="/cells/{cell}/controllers/{controller}/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getCoordinateSystem:async(t,r,n,o,s={})=>{C("getCoordinateSystem","cell",t),C("getCoordinateSystem","controller",r),C("getCoordinateSystem","coordinateSystem",n);const a="/cells/{cell}/controllers/{controller}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...s},u={},d={};G(c,e),await H(u,e),o!==void 0&&(d.orientation_type=o),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},getCurrentRobotControllerState:async(t,r,n={})=>{C("getCurrentRobotControllerState","cell",t),C("getCurrentRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getRobotController:async(t,r,n={})=>{C("getRobotController","cell",t),C("getRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getVirtualControllerConfiguration:async(t,r,n={})=>{C("getVirtualControllerConfiguration","cell",t),C("getVirtualControllerConfiguration","controller",r);const o="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listCoordinateSystems:async(t,r,n,o={})=>{C("listCoordinateSystems","cell",t),C("listCoordinateSystems","controller",r);const s="/cells/{cell}/controllers/{controller}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.orientation_type=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},listRobotControllers:async(t,r={})=>{C("listRobotControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},setDefaultMode:async(t,r,n,o={})=>{C("setDefaultMode","cell",t),C("setDefaultMode","controller",r),C("setDefaultMode","mode",n);const s="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.mode=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},streamFreeDrive:async(t,r,n,o={})=>{C("streamFreeDrive","cell",t),C("streamFreeDrive","controller",r);const s="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.response_rate=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},streamRobotControllerState:async(t,r,n,o,s={})=>{C("streamRobotControllerState","cell",t),C("streamRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...s},u={},d={};G(c,e),await H(u,e),n!==void 0&&(d.response_rate=n),o!==void 0&&(d.add_controller_timeout=o),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},updateRobotController:async(t,r,n,o,s={})=>{C("updateRobotController","cell",t),C("updateRobotController","controller",r),C("updateRobotController","robotController",n);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={};G(c,e),await H(u,e),o!==void 0&&(d.completion_timeout=o),u["Content-Type"]="application/json",q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},c.data=ge(n,c,e),{url:W(i),options:c}}}},ot=function(e){const t=TT(e);return{async addRobotController(r,n,o,s){var c,u;const a=await t.addRobotController(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async clearRobotControllers(r,n,o){var l,c;const s=await t.clearRobotControllers(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.clearRobotControllers"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteRobotController(r,n,o,s){var c,u;const a=await t.deleteRobotController(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async getControllerDescription(r,n,o){var l,c;const s=await t.getControllerDescription(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.getControllerDescription"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getCoordinateSystem(r,n,o,s,a){var u,d;const i=await t.getCoordinateSystem(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["ControllerApi.getCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async getCurrentRobotControllerState(r,n,o){var l,c;const s=await t.getCurrentRobotControllerState(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getRobotController(r,n,o){var l,c;const s=await t.getRobotController(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.getRobotController"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getVirtualControllerConfiguration(r,n,o){var l,c;const s=await t.getVirtualControllerConfiguration(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["ControllerApi.getVirtualControllerConfiguration"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listCoordinateSystems(r,n,o,s){var c,u;const a=await t.listCoordinateSystems(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.listCoordinateSystems"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listRobotControllers(r,n){var i,l;const o=await t.listRobotControllers(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["ControllerApi.listRobotControllers"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async setDefaultMode(r,n,o,s){var c,u;const a=await t.setDefaultMode(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async streamFreeDrive(r,n,o,s){var c,u;const a=await t.streamFreeDrive(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async streamRobotControllerState(r,n,o,s,a){var u,d;const i=await t.streamRobotControllerState(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["ControllerApi.streamRobotControllerState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async updateRobotController(r,n,o,s,a){var u,d;const i=await t.updateRobotController(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)}}};var ET=class extends $e{addRobotController(e,t,r,n){return ot(this.configuration).addRobotController(e,t,r,n).then(o=>o(this.axios,this.basePath))}clearRobotControllers(e,t,r){return ot(this.configuration).clearRobotControllers(e,t,r).then(n=>n(this.axios,this.basePath))}deleteRobotController(e,t,r,n){return ot(this.configuration).deleteRobotController(e,t,r,n).then(o=>o(this.axios,this.basePath))}getControllerDescription(e,t,r){return ot(this.configuration).getControllerDescription(e,t,r).then(n=>n(this.axios,this.basePath))}getCoordinateSystem(e,t,r,n,o){return ot(this.configuration).getCoordinateSystem(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}getCurrentRobotControllerState(e,t,r){return ot(this.configuration).getCurrentRobotControllerState(e,t,r).then(n=>n(this.axios,this.basePath))}getRobotController(e,t,r){return ot(this.configuration).getRobotController(e,t,r).then(n=>n(this.axios,this.basePath))}getVirtualControllerConfiguration(e,t,r){return ot(this.configuration).getVirtualControllerConfiguration(e,t,r).then(n=>n(this.axios,this.basePath))}listCoordinateSystems(e,t,r,n){return ot(this.configuration).listCoordinateSystems(e,t,r,n).then(o=>o(this.axios,this.basePath))}listRobotControllers(e,t){return ot(this.configuration).listRobotControllers(e,t).then(r=>r(this.axios,this.basePath))}setDefaultMode(e,t,r,n){return ot(this.configuration).setDefaultMode(e,t,r,n).then(o=>o(this.axios,this.basePath))}streamFreeDrive(e,t,r,n){return ot(this.configuration).streamFreeDrive(e,t,r,n).then(o=>o(this.axios,this.basePath))}streamRobotControllerState(e,t,r,n,o){return ot(this.configuration).streamRobotControllerState(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}updateRobotController(e,t,r,n,o){return ot(this.configuration).updateRobotController(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}};const IT=function(e){return{listIODescriptions:async(t,r,n,o,s,a,i={})=>{C("listIODescriptions","cell",t),C("listIODescriptions","controller",r);const l="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),c=new URL(l,z);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};G(d,e),await H(h,e),n&&(p.ios=n),o!==void 0&&(p.direction=o),s!==void 0&&(p.value_type=s),a!==void 0&&(p.group=a),q(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:W(c),options:d}},listIOValues:async(t,r,n,o={})=>{C("listIOValues","cell",t),C("listIOValues","controller",r);const s="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n&&(u.ios=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},setOutputValues:async(t,r,n,o={})=>{C("setOutputValues","cell",t),C("setOutputValues","controller",r),C("setOutputValues","iOValue",n);const s="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},streamIOValues:async(t,r,n,o={})=>{C("streamIOValues","cell",t),C("streamIOValues","controller",r);const s="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n&&(u.ios=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},waitForIOEvent:async(t,r,n,o={})=>{C("waitForIOEvent","cell",t),C("waitForIOEvent","controller",r),C("waitForIOEvent","waitForIOEventRequest",n);const s="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},Pn=function(e){const t=IT(e);return{async listIODescriptions(r,n,o,s,a,i,l){var h,p;const c=await t.listIODescriptions(r,n,o,s,a,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=N["ControllerInputsOutputsApi.listIODescriptions"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>J(c,B,$,e)(f,d||m)},async listIOValues(r,n,o,s){var c,u;const a=await t.listIOValues(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerInputsOutputsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async setOutputValues(r,n,o,s){var c,u;const a=await t.setOutputValues(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerInputsOutputsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async streamIOValues(r,n,o,s){var c,u;const a=await t.streamIOValues(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerInputsOutputsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async waitForIOEvent(r,n,o,s){var c,u;const a=await t.waitForIOEvent(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["ControllerInputsOutputsApi.waitForIOEvent"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var AT=class extends $e{listIODescriptions(e,t,r,n,o,s,a){return Pn(this.configuration).listIODescriptions(e,t,r,n,o,s,a).then(i=>i(this.axios,this.basePath))}listIOValues(e,t,r,n){return Pn(this.configuration).listIOValues(e,t,r,n).then(o=>o(this.axios,this.basePath))}setOutputValues(e,t,r,n){return Pn(this.configuration).setOutputValues(e,t,r,n).then(o=>o(this.axios,this.basePath))}streamIOValues(e,t,r,n){return Pn(this.configuration).streamIOValues(e,t,r,n).then(o=>o(this.axios,this.basePath))}waitForIOEvent(e,t,r,n){return Pn(this.configuration).waitForIOEvent(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const RT=function(e){return{executeJogging:async(t,r,n,o={})=>{C("executeJogging","cell",t),C("executeJogging","controller",r),C("executeJogging","executeJoggingRequest",n);const s="/cells/{cell}/controllers/{controller}/execution/jogging".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},PT=function(e){const t=RT(e);return{async executeJogging(r,n,o,s){var c,u;const a=await t.executeJogging(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["JoggingApi.executeJogging"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var MT=class extends $e{executeJogging(e,t,r,n){return PT(this.configuration).executeJogging(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const VT=function(e){return{forwardKinematics:async(t,r,n={})=>{C("forwardKinematics","cell",t),C("forwardKinematics","forwardKinematicsRequest",r);const o="/cells/{cell}/kinematic/forward".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"POST",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}},inverseKinematics:async(t,r,n={})=>{C("inverseKinematics","cell",t),C("inverseKinematics","inverseKinematicsRequest",r);const o="/cells/{cell}/kinematic/inverse".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"POST",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}}}},ed=function(e){const t=VT(e);return{async forwardKinematics(r,n,o){var l,c;const s=await t.forwardKinematics(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["KinematicsApi.forwardKinematics"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async inverseKinematics(r,n,o){var l,c;const s=await t.inverseKinematics(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["KinematicsApi.inverseKinematics"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)}}};var _T=class extends $e{forwardKinematics(e,t,r){return ed(this.configuration).forwardKinematics(e,t,r).then(n=>n(this.axios,this.basePath))}inverseKinematics(e,t,r){return ed(this.configuration).inverseKinematics(e,t,r).then(n=>n(this.axios,this.basePath))}};const kT=function(e){return{getCurrentMotionGroupState:async(t,r,n,o,s={})=>{C("getCurrentMotionGroupState","cell",t),C("getCurrentMotionGroupState","controller",r),C("getCurrentMotionGroupState","motionGroup",n);const a="/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...s},u={},d={};G(c,e),await H(u,e),o!==void 0&&(d.response_coordinate_system=o),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},getMotionGroupDescription:async(t,r,n,o={})=>{C("getMotionGroupDescription","cell",t),C("getMotionGroupDescription","controller",r),C("getMotionGroupDescription","motionGroup",n);const s="/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},streamMotionGroupState:async(t,r,n,o,s,a={})=>{C("streamMotionGroupState","cell",t),C("streamMotionGroupState","controller",r),C("streamMotionGroupState","motionGroup",n);const i="/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),l=new URL(i,z);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...a},d={},h={};G(u,e),await H(d,e),o!==void 0&&(h.response_rate=o),s!==void 0&&(h.response_coordinate_system=s),q(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...a.headers},{url:W(l),options:u}}}},Ya=function(e){const t=kT(e);return{async getCurrentMotionGroupState(r,n,o,s,a){var u,d;const i=await t.getCurrentMotionGroupState(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["MotionGroupApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async getMotionGroupDescription(r,n,o,s){var c,u;const a=await t.getMotionGroupDescription(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["MotionGroupApi.getMotionGroupDescription"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async streamMotionGroupState(r,n,o,s,a,i){var d,h;const l=await t.streamMotionGroupState(r,n,o,s,a,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=N["MotionGroupApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>J(l,B,$,e)(p,u||f)}}};var jT=class extends $e{getCurrentMotionGroupState(e,t,r,n,o){return Ya(this.configuration).getCurrentMotionGroupState(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}getMotionGroupDescription(e,t,r,n){return Ya(this.configuration).getMotionGroupDescription(e,t,r,n).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(e,t,r,n,o,s){return Ya(this.configuration).streamMotionGroupState(e,t,r,n,o,s).then(a=>a(this.axios,this.basePath))}};const DT=function(e){return{getMotionGroupCollisionModel:async(t,r={})=>{C("getMotionGroupCollisionModel","motionGroupModel",t);const n="/motion-group-models/{motion-group-model}/collision".replace("{motion-group-model}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},getMotionGroupModels:async(t={})=>{const r=new URL("/motion-group-models",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}}}},td=function(e){const t=DT(e);return{async getMotionGroupCollisionModel(r,n){var i,l;const o=await t.getMotionGroupCollisionModel(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["MotionGroupModelsApi.getMotionGroupCollisionModel"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getMotionGroupModels(r){var a,i;const n=await t.getMotionGroupModels(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["MotionGroupModelsApi.getMotionGroupModels"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)}}};var BT=class extends $e{getMotionGroupCollisionModel(e,t){return td(this.configuration).getMotionGroupCollisionModel(e,t).then(r=>r(this.axios,this.basePath))}getMotionGroupModels(e){return td(this.configuration).getMotionGroupModels(e).then(t=>t(this.axios,this.basePath))}};const UT=function(e){return{deleteStoredCollider:async(t,r,n={})=>{C("deleteStoredCollider","cell",t),C("deleteStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{C("deleteStoredCollisionLinkChain","cell",t),C("deleteStoredCollisionLinkChain","linkChain",r);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,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{C("deleteStoredCollisionTool","cell",t),C("deleteStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getStoredCollider:async(t,r,n={})=>{C("getStoredCollider","cell",t),C("getStoredCollider","collider",r);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{C("getStoredCollisionLinkChain","cell",t),C("getStoredCollisionLinkChain","linkChain",r);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,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getStoredCollisionTool:async(t,r,n={})=>{C("getStoredCollisionTool","cell",t),C("getStoredCollisionTool","tool",r);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listCollisionLinkChains:async(t,r={})=>{C("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listCollisionLinkChainsKeys:async(t,r={})=>{C("listCollisionLinkChainsKeys","cell",t);const n="/cells/{cell}/store/collision/link-chains-keys".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredColliders:async(t,r={})=>{C("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredCollidersKeys:async(t,r={})=>{C("listStoredCollidersKeys","cell",t);const n="/cells/{cell}/store/collision/colliders-keys".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredCollisionTools:async(t,r={})=>{C("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredCollisionToolsKeys:async(t,r={})=>{C("listStoredCollisionToolsKeys","cell",t);const n="/cells/{cell}/store/collision/tools-keys".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},storeCollider:async(t,r,n,o={})=>{C("storeCollider","cell",t),C("storeCollider","collider",r),C("storeCollider","collider2",n);const s="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},storeCollisionLinkChain:async(t,r,n,o={})=>{C("storeCollisionLinkChain","cell",t),C("storeCollisionLinkChain","linkChain",r),C("storeCollisionLinkChain","collider",n);const s="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},storeCollisionTool:async(t,r,n,o={})=>{C("storeCollisionTool","cell",t),C("storeCollisionTool","tool",r),C("storeCollisionTool","requestBody",n);const s="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},Xe=function(e){const t=UT(e);return{async deleteStoredCollider(r,n,o){var l,c;const s=await t.deleteStoredCollider(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteStoredCollisionLinkChain(r,n,o){var l,c;const s=await t.deleteStoredCollisionLinkChain(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteStoredCollisionTool(r,n,o){var l,c;const s=await t.deleteStoredCollisionTool(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getStoredCollider(r,n,o){var l,c;const s=await t.getStoredCollider(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getStoredCollisionLinkChain(r,n,o){var l,c;const s=await t.getStoredCollisionLinkChain(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getStoredCollisionTool(r,n,o){var l,c;const s=await t.getStoredCollisionTool(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listCollisionLinkChains(r,n){var i,l;const o=await t.listCollisionLinkChains(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listCollisionLinkChainsKeys(r,n){var i,l;const o=await t.listCollisionLinkChainsKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listCollisionLinkChainsKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredColliders(r,n){var i,l;const o=await t.listStoredColliders(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredCollidersKeys(r,n){var i,l;const o=await t.listStoredCollidersKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listStoredCollidersKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredCollisionTools(r,n){var i,l;const o=await t.listStoredCollisionTools(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredCollisionToolsKeys(r,n){var i,l;const o=await t.listStoredCollisionToolsKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionComponentsApi.listStoredCollisionToolsKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async storeCollider(r,n,o,s){var c,u;const a=await t.storeCollider(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async storeCollisionLinkChain(r,n,o,s){var c,u;const a=await t.storeCollisionLinkChain(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async storeCollisionTool(r,n,o,s){var c,u;const a=await t.storeCollisionTool(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var LT=class extends $e{deleteStoredCollider(e,t,r){return Xe(this.configuration).deleteStoredCollider(e,t,r).then(n=>n(this.axios,this.basePath))}deleteStoredCollisionLinkChain(e,t,r){return Xe(this.configuration).deleteStoredCollisionLinkChain(e,t,r).then(n=>n(this.axios,this.basePath))}deleteStoredCollisionTool(e,t,r){return Xe(this.configuration).deleteStoredCollisionTool(e,t,r).then(n=>n(this.axios,this.basePath))}getStoredCollider(e,t,r){return Xe(this.configuration).getStoredCollider(e,t,r).then(n=>n(this.axios,this.basePath))}getStoredCollisionLinkChain(e,t,r){return Xe(this.configuration).getStoredCollisionLinkChain(e,t,r).then(n=>n(this.axios,this.basePath))}getStoredCollisionTool(e,t,r){return Xe(this.configuration).getStoredCollisionTool(e,t,r).then(n=>n(this.axios,this.basePath))}listCollisionLinkChains(e,t){return Xe(this.configuration).listCollisionLinkChains(e,t).then(r=>r(this.axios,this.basePath))}listCollisionLinkChainsKeys(e,t){return Xe(this.configuration).listCollisionLinkChainsKeys(e,t).then(r=>r(this.axios,this.basePath))}listStoredColliders(e,t){return Xe(this.configuration).listStoredColliders(e,t).then(r=>r(this.axios,this.basePath))}listStoredCollidersKeys(e,t){return Xe(this.configuration).listStoredCollidersKeys(e,t).then(r=>r(this.axios,this.basePath))}listStoredCollisionTools(e,t){return Xe(this.configuration).listStoredCollisionTools(e,t).then(r=>r(this.axios,this.basePath))}listStoredCollisionToolsKeys(e,t){return Xe(this.configuration).listStoredCollisionToolsKeys(e,t).then(r=>r(this.axios,this.basePath))}storeCollider(e,t,r,n){return Xe(this.configuration).storeCollider(e,t,r,n).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(e,t,r,n){return Xe(this.configuration).storeCollisionLinkChain(e,t,r,n).then(o=>o(this.axios,this.basePath))}storeCollisionTool(e,t,r,n){return Xe(this.configuration).storeCollisionTool(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const FT=function(e){return{deleteStoredCollisionSetup:async(t,r,n={})=>{C("deleteStoredCollisionSetup","cell",t),C("deleteStoredCollisionSetup","setup",r);const o="/cells/{cell}/store/collision/setups/{setup}".replace("{cell}",encodeURIComponent(String(t))).replace("{setup}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getStoredCollisionSetup:async(t,r,n={})=>{C("getStoredCollisionSetup","cell",t),C("getStoredCollisionSetup","setup",r);const o="/cells/{cell}/store/collision/setups/{setup}".replace("{cell}",encodeURIComponent(String(t))).replace("{setup}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listStoredCollisionSetups:async(t,r={})=>{C("listStoredCollisionSetups","cell",t);const n="/cells/{cell}/store/collision/setups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},listStoredCollisionSetupsKeys:async(t,r={})=>{C("listStoredCollisionSetupsKeys","cell",t);const n="/cells/{cell}/store/collision/setups-keys".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},storeCollisionSetup:async(t,r,n,o={})=>{C("storeCollisionSetup","cell",t),C("storeCollisionSetup","setup",r),C("storeCollisionSetup","collisionSetup",n);const s="/cells/{cell}/store/collision/setups/{setup}".replace("{cell}",encodeURIComponent(String(t))).replace("{setup}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},Mn=function(e){const t=FT(e);return{async deleteStoredCollisionSetup(r,n,o){var l,c;const s=await t.deleteStoredCollisionSetup(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionSetupsApi.deleteStoredCollisionSetup"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getStoredCollisionSetup(r,n,o){var l,c;const s=await t.getStoredCollisionSetup(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreCollisionSetupsApi.getStoredCollisionSetup"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listStoredCollisionSetups(r,n){var i,l;const o=await t.listStoredCollisionSetups(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionSetupsApi.listStoredCollisionSetups"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async listStoredCollisionSetupsKeys(r,n){var i,l;const o=await t.listStoredCollisionSetupsKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreCollisionSetupsApi.listStoredCollisionSetupsKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async storeCollisionSetup(r,n,o,s){var c,u;const a=await t.storeCollisionSetup(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["StoreCollisionSetupsApi.storeCollisionSetup"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var $T=class extends $e{deleteStoredCollisionSetup(e,t,r){return Mn(this.configuration).deleteStoredCollisionSetup(e,t,r).then(n=>n(this.axios,this.basePath))}getStoredCollisionSetup(e,t,r){return Mn(this.configuration).getStoredCollisionSetup(e,t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionSetups(e,t){return Mn(this.configuration).listStoredCollisionSetups(e,t).then(r=>r(this.axios,this.basePath))}listStoredCollisionSetupsKeys(e,t){return Mn(this.configuration).listStoredCollisionSetupsKeys(e,t).then(r=>r(this.axios,this.basePath))}storeCollisionSetup(e,t,r,n){return Mn(this.configuration).storeCollisionSetup(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const NT=function(e){return{clearAllObjects:async(t,r={})=>{C("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"DELETE",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},deleteObject:async(t,r,n={})=>{C("deleteObject","cell",t),C("deleteObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getObject:async(t,r,n={})=>{C("getObject","cell",t),C("getObject","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getObjectMetadata:async(t,r,n={})=>{C("getObjectMetadata","cell",t),C("getObjectMetadata","key",r);const o="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"HEAD",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listAllObjectKeys:async(t,r={})=>{C("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),o=new URL(n,z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...r},i={},l={};G(a,e),await H(i,e),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...r.headers},{url:W(o),options:a}},storeObject:async(t,r,n,o,s={})=>{C("storeObject","cell",t),C("storeObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={},h=new(e&&e.formDataCtor||FormData);G(c,e),await H(u,e),o!==void 0&&h.append("any_value",new Blob([JSON.stringify(o)],{type:"application/json"})),u["Content-Type"]="multipart/form-data",n!=null&&(u["X-Metadata"]=typeof n=="string"?n:JSON.stringify(n)),q(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...s.headers},c.data=h,{url:W(i),options:c}}}},Jr=function(e){const t=NT(e);return{async clearAllObjects(r,n){var i,l;const o=await t.clearAllObjects(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreObjectApi.clearAllObjects"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async deleteObject(r,n,o){var l,c;const s=await t.deleteObject(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreObjectApi.deleteObject"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getObject(r,n,o){var l,c;const s=await t.getObject(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreObjectApi.getObject"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getObjectMetadata(r,n,o){var l,c;const s=await t.getObjectMetadata(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["StoreObjectApi.getObjectMetadata"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listAllObjectKeys(r,n){var i,l;const o=await t.listAllObjectKeys(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async storeObject(r,n,o,s,a){var u,d;const i=await t.storeObject(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)}}};var zT=class extends $e{clearAllObjects(e,t){return Jr(this.configuration).clearAllObjects(e,t).then(r=>r(this.axios,this.basePath))}deleteObject(e,t,r){return Jr(this.configuration).deleteObject(e,t,r).then(n=>n(this.axios,this.basePath))}getObject(e,t,r){return Jr(this.configuration).getObject(e,t,r).then(n=>n(this.axios,this.basePath))}getObjectMetadata(e,t,r){return Jr(this.configuration).getObjectMetadata(e,t,r).then(n=>n(this.axios,this.basePath))}listAllObjectKeys(e,t){return Jr(this.configuration).listAllObjectKeys(e,t).then(r=>r(this.axios,this.basePath))}storeObject(e,t,r,n,o){return Jr(this.configuration).storeObject(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}};const GT=function(e){return{backupConfiguration:async(t,r,n={})=>{const o=new URL("/system/configuration",z);let s;e&&(s=e.baseOptions);const a={method:"GET",...s,...n},i={},l={};G(a,e),await H(i,e),t&&(l.resources=t.join(Xu.csv)),r!==void 0&&(l.metadata=r),q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...n.headers},{url:W(o),options:a}},checkNovaVersionUpdate:async(t,r={})=>{C("checkNovaVersionUpdate","channel",t);const n=new URL("/system/update",z);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},a={},i={};G(s,e),await H(a,e),t!==void 0&&(i.channel=t),q(n,i);let l=o&&o.headers?o.headers:{};return s.headers={...a,...l,...r.headers},{url:W(n),options:s}},getConfigurationBackupStatus:async(t,r={})=>{C("getConfigurationBackupStatus","operationId",t);const n=new URL("/system/configuration/status",z);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},a={},i={};G(s,e),await H(a,e),t!==void 0&&(i.operation_id=t),q(n,i);let l=o&&o.headers?o.headers:{};return s.headers={...a,...l,...r.headers},{url:W(n),options:s}},getDiagnosePackage:async(t={})=>{const r=new URL("/system/diagnosis-package/zip",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},getSystemStatus:async(t={})=>{const r=new URL("/system/status",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},getSystemVersion:async(t={})=>{const r=new URL("/system/version",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},listConfigurationResources:async(t={})=>{const r=new URL("/system/configuration/resources",z);let n;e&&(n=e.baseOptions);const o={method:"GET",...n,...t},s={},a={};G(o,e),await H(s,e),q(r,a);let i=n&&n.headers?n.headers:{};return o.headers={...s,...i,...t.headers},{url:W(r),options:o}},restoreConfiguration:async(t,r,n={})=>{C("restoreConfiguration","resources",t),C("restoreConfiguration","body",r);const o=new URL("/system/configuration",z);let s;e&&(s=e.baseOptions);const a={method:"POST",...s,...n},i={},l={};G(a,e),await H(i,e),t&&(l.resources=t.join(Xu.csv)),i["Content-Type"]="application/gzip",q(o,l);let c=s&&s.headers?s.headers:{};return a.headers={...i,...c,...n.headers},a.data=ge(r,a,e),{url:W(o),options:a}},updateNovaVersion:async(t,r={})=>{C("updateNovaVersion","updateNovaVersionRequest",t);const n=new URL("/system/update",z);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},a={},i={};G(s,e),await H(a,e),a["Content-Type"]="application/json",q(n,i);let l=o&&o.headers?o.headers:{};return s.headers={...a,...l,...r.headers},s.data=ge(t,s,e),{url:W(n),options:s}}}},Nt=function(e){const t=GT(e);return{async backupConfiguration(r,n,o){var l,c;const s=await t.backupConfiguration(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["SystemApi.backupConfiguration"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async checkNovaVersionUpdate(r,n){var i,l;const o=await t.checkNovaVersionUpdate(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getConfigurationBackupStatus(r,n){var i,l;const o=await t.getConfigurationBackupStatus(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["SystemApi.getConfigurationBackupStatus"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)},async getDiagnosePackage(r){var a,i;const n=await t.getDiagnosePackage(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["SystemApi.getDiagnosePackage"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async getSystemStatus(r){var a,i;const n=await t.getSystemStatus(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["SystemApi.getSystemStatus"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async getSystemVersion(r){var a,i;const n=await t.getSystemVersion(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["SystemApi.getSystemVersion"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async listConfigurationResources(r){var a,i;const n=await t.listConfigurationResources(r),o=(e==null?void 0:e.serverIndex)??0,s=(i=(a=N["SystemApi.listConfigurationResources"])==null?void 0:a[o])==null?void 0:i.url;return(l,c)=>J(n,B,$,e)(l,s||c)},async restoreConfiguration(r,n,o){var l,c;const s=await t.restoreConfiguration(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["SystemApi.restoreConfiguration"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async updateNovaVersion(r,n){var i,l;const o=await t.updateNovaVersion(r,n),s=(e==null?void 0:e.serverIndex)??0,a=(l=(i=N["SystemApi.updateNovaVersion"])==null?void 0:i[s])==null?void 0:l.url;return(c,u)=>J(o,B,$,e)(c,a||u)}}};var HT=class extends $e{backupConfiguration(e,t,r){return Nt(this.configuration).backupConfiguration(e,t,r).then(n=>n(this.axios,this.basePath))}checkNovaVersionUpdate(e,t){return Nt(this.configuration).checkNovaVersionUpdate(e,t).then(r=>r(this.axios,this.basePath))}getConfigurationBackupStatus(e,t){return Nt(this.configuration).getConfigurationBackupStatus(e,t).then(r=>r(this.axios,this.basePath))}getDiagnosePackage(e){return Nt(this.configuration).getDiagnosePackage(e).then(t=>t(this.axios,this.basePath))}getSystemStatus(e){return Nt(this.configuration).getSystemStatus(e).then(t=>t(this.axios,this.basePath))}getSystemVersion(e){return Nt(this.configuration).getSystemVersion(e).then(t=>t(this.axios,this.basePath))}listConfigurationResources(e){return Nt(this.configuration).listConfigurationResources(e).then(t=>t(this.axios,this.basePath))}restoreConfiguration(e,t,r){return Nt(this.configuration).restoreConfiguration(e,t,r).then(n=>n(this.axios,this.basePath))}updateNovaVersion(e,t){return Nt(this.configuration).updateNovaVersion(e,t).then(r=>r(this.axios,this.basePath))}};const qT=function(e){return{addTrajectory:async(t,r,n,o={})=>{C("addTrajectory","cell",t),C("addTrajectory","controller",r),C("addTrajectory","addTrajectoryRequest",n);const s="/cells/{cell}/controllers/{controller}/trajectories".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},clearTrajectories:async(t,r,n={})=>{C("clearTrajectories","cell",t),C("clearTrajectories","controller",r);const o="/cells/{cell}/controllers/{controller}/trajectories".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"DELETE",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},deleteTrajectory:async(t,r,n,o={})=>{C("deleteTrajectory","cell",t),C("deleteTrajectory","controller",r),C("deleteTrajectory","trajectory",n);const s="/cells/{cell}/controllers/{controller}/trajectories/{trajectory}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{trajectory}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},getTrajectory:async(t,r,n,o={})=>{C("getTrajectory","cell",t),C("getTrajectory","controller",r),C("getTrajectory","trajectory",n);const s="/cells/{cell}/controllers/{controller}/trajectories/{trajectory}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{trajectory}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},listTrajectories:async(t,r,n={})=>{C("listTrajectories","cell",t),C("listTrajectories","controller",r);const o="/cells/{cell}/controllers/{controller}/trajectories".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}}}},Vn=function(e){const t=qT(e);return{async addTrajectory(r,n,o,s){var c,u;const a=await t.addTrajectory(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["TrajectoryCachingApi.addTrajectory"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async clearTrajectories(r,n,o){var l,c;const s=await t.clearTrajectories(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["TrajectoryCachingApi.clearTrajectories"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async deleteTrajectory(r,n,o,s){var c,u;const a=await t.deleteTrajectory(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["TrajectoryCachingApi.deleteTrajectory"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async getTrajectory(r,n,o,s){var c,u;const a=await t.getTrajectory(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["TrajectoryCachingApi.getTrajectory"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listTrajectories(r,n,o){var l,c;const s=await t.listTrajectories(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["TrajectoryCachingApi.listTrajectories"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)}}};var WT=class extends $e{addTrajectory(e,t,r,n){return Vn(this.configuration).addTrajectory(e,t,r,n).then(o=>o(this.axios,this.basePath))}clearTrajectories(e,t,r){return Vn(this.configuration).clearTrajectories(e,t,r).then(n=>n(this.axios,this.basePath))}deleteTrajectory(e,t,r,n){return Vn(this.configuration).deleteTrajectory(e,t,r,n).then(o=>o(this.axios,this.basePath))}getTrajectory(e,t,r,n){return Vn(this.configuration).getTrajectory(e,t,r,n).then(o=>o(this.axios,this.basePath))}listTrajectories(e,t,r){return Vn(this.configuration).listTrajectories(e,t,r).then(n=>n(this.axios,this.basePath))}};const JT=function(e){return{executeTrajectory:async(t,r,n,o={})=>{C("executeTrajectory","cell",t),C("executeTrajectory","controller",r),C("executeTrajectory","executeTrajectoryRequest",n);const s="/cells/{cell}/controllers/{controller}/execution/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},YT=function(e){const t=JT(e);return{async executeTrajectory(r,n,o,s){var c,u;const a=await t.executeTrajectory(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["TrajectoryExecutionApi.executeTrajectory"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var KT=class extends $e{executeTrajectory(e,t,r,n){return YT(this.configuration).executeTrajectory(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const QT=function(e){return{planCollisionFree:async(t,r,n={})=>{C("planCollisionFree","cell",t),C("planCollisionFree","planCollisionFreeRequest",r);const o="/cells/{cell}/trajectory-planning/plan-collision-free".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"POST",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}},planTrajectory:async(t,r,n={})=>{C("planTrajectory","cell",t),C("planTrajectory","planTrajectoryRequest",r);const o="/cells/{cell}/trajectory-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"POST",...a,...n},l={},c={};G(i,e),await H(l,e),l["Content-Type"]="application/json",q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},i.data=ge(r,i,e),{url:W(s),options:i}}}},rd=function(e){const t=QT(e);return{async planCollisionFree(r,n,o){var l,c;const s=await t.planCollisionFree(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["TrajectoryPlanningApi.planCollisionFree"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async planTrajectory(r,n,o){var l,c;const s=await t.planTrajectory(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["TrajectoryPlanningApi.planTrajectory"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)}}};var XT=class extends $e{planCollisionFree(e,t,r){return rd(this.configuration).planCollisionFree(e,t,r).then(n=>n(this.axios,this.basePath))}planTrajectory(e,t,r){return rd(this.configuration).planTrajectory(e,t,r).then(n=>n(this.axios,this.basePath))}};const ZT=function(e){return{addVirtualControllerCoordinateSystem:async(t,r,n,o,s={})=>{C("addVirtualControllerCoordinateSystem","cell",t),C("addVirtualControllerCoordinateSystem","controller",r),C("addVirtualControllerCoordinateSystem","coordinateSystem",n),C("addVirtualControllerCoordinateSystem","coordinateSystemData",o);const a="/cells/{cell}/virtual-controllers/{controller}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={};G(c,e),await H(u,e),u["Content-Type"]="application/json",q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},c.data=ge(o,c,e),{url:W(i),options:c}},addVirtualControllerTcp:async(t,r,n,o,s,a={})=>{C("addVirtualControllerTcp","cell",t),C("addVirtualControllerTcp","controller",r),C("addVirtualControllerTcp","motionGroup",n),C("addVirtualControllerTcp","tcp",o),C("addVirtualControllerTcp","robotTcpData",s);const i="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(o))),l=new URL(i,z);let c;e&&(c=e.baseOptions);const u={method:"PUT",...c,...a},d={},h={};G(u,e),await H(d,e),d["Content-Type"]="application/json",q(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...a.headers},u.data=ge(s,u,e),{url:W(l),options:u}},deleteVirtualControllerCoordinateSystem:async(t,r,n,o,s={})=>{C("deleteVirtualControllerCoordinateSystem","cell",t),C("deleteVirtualControllerCoordinateSystem","controller",r),C("deleteVirtualControllerCoordinateSystem","coordinateSystem",n);const a="/cells/{cell}/virtual-controllers/{controller}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...s},u={},d={};G(c,e),await H(u,e),o!==void 0&&(d.delete_dependent=o),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},deleteVirtualControllerTcp:async(t,r,n,o,s={})=>{C("deleteVirtualControllerTcp","cell",t),C("deleteVirtualControllerTcp","controller",r),C("deleteVirtualControllerTcp","motionGroup",n),C("deleteVirtualControllerTcp","tcp",o);const a="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(o))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...s},u={},d={};G(c,e),await H(u,e),q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},{url:W(i),options:c}},getEmergencyStop:async(t,r,n={})=>{C("getEmergencyStop","cell",t),C("getEmergencyStop","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/emergency-stop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getMotionGroupState:async(t,r,n,o={})=>{C("getMotionGroupState","cell",t),C("getMotionGroupState","controller",r),C("getMotionGroupState","motionGroup",n);const s="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},getMotionGroups:async(t,r,n={})=>{C("getMotionGroups","cell",t),C("getMotionGroups","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/motion-groups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getOperationMode:async(t,r,n={})=>{C("getOperationMode","cell",t),C("getOperationMode","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return 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o="/cells/{cell}/virtual-controllers/{controller}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},listVirtualControllerTcps:async(t,r,n,o={})=>{C("listVirtualControllerTcps","cell",t),C("listVirtualControllerTcps","controller",r),C("listVirtualControllerTcps","motionGroup",n);const s="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},setEmergencyStop:async(t,r,n,o={})=>{C("setEmergencyStop","cell",t),C("setEmergencyStop","controller",r);const s="/cells/{cell}/virtual-controllers/{controller}/emergency-stop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.active=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},setMotionGroupState:async(t,r,n,o,s={})=>{C("setMotionGroupState","cell",t),C("setMotionGroupState","controller",r),C("setMotionGroupState","motionGroup",n),C("setMotionGroupState","motionGroupJoints",o);const a="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={};G(c,e),await H(u,e),u["Content-Type"]="application/json",q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},c.data=ge(o,c,e),{url:W(i),options:c}},setOperationMode:async(t,r,n,o={})=>{C("setOperationMode","cell",t),C("setOperationMode","controller",r),C("setOperationMode","mode",n);const s="/cells/{cell}/virtual-controllers/{controller}/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.mode=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},setVirtualControllerMounting:async(t,r,n,o,s={})=>{C("setVirtualControllerMounting","cell",t),C("setVirtualControllerMounting","controller",r),C("setVirtualControllerMounting","motionGroup",n),C("setVirtualControllerMounting","coordinateSystem",o);const a="/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{motion-group}",encodeURIComponent(String(n))),i=new URL(a,z);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...s},u={},d={};G(c,e),await H(u,e),u["Content-Type"]="application/json",q(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...s.headers},c.data=ge(o,c,e),{url:W(i),options:c}}}},Ze=function(e){const t=ZT(e);return{async addVirtualControllerCoordinateSystem(r,n,o,s,a){var u,d;const i=await t.addVirtualControllerCoordinateSystem(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.addVirtualControllerCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async addVirtualControllerTcp(r,n,o,s,a,i){var d,h;const l=await t.addVirtualControllerTcp(r,n,o,s,a,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=N["VirtualControllerApi.addVirtualControllerTcp"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>J(l,B,$,e)(p,u||f)},async deleteVirtualControllerCoordinateSystem(r,n,o,s,a){var u,d;const i=await t.deleteVirtualControllerCoordinateSystem(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.deleteVirtualControllerCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async deleteVirtualControllerTcp(r,n,o,s,a){var u,d;const i=await t.deleteVirtualControllerTcp(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.deleteVirtualControllerTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async getEmergencyStop(r,n,o){var l,c;const s=await t.getEmergencyStop(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerApi.getEmergencyStop"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getMotionGroupState(r,n,o,s){var c,u;const a=await t.getMotionGroupState(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async getMotionGroups(r,n,o){var l,c;const s=await t.getMotionGroups(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerApi.getMotionGroups"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getOperationMode(r,n,o){var l,c;const s=await t.getOperationMode(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerApi.getOperationMode"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getVirtualControllerMounting(r,n,o,s){var c,u;const a=await t.getVirtualControllerMounting(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.getVirtualControllerMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listVirtualControllerCoordinateSystems(r,n,o){var l,c;const s=await t.listVirtualControllerCoordinateSystems(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerApi.listVirtualControllerCoordinateSystems"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async listVirtualControllerTcps(r,n,o,s){var c,u;const a=await t.listVirtualControllerTcps(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.listVirtualControllerTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async setEmergencyStop(r,n,o,s){var c,u;const a=await t.setEmergencyStop(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.setEmergencyStop"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async setMotionGroupState(r,n,o,s,a){var u,d;const i=await t.setMotionGroupState(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)},async setOperationMode(r,n,o,s){var c,u;const a=await t.setOperationMode(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async setVirtualControllerMounting(r,n,o,s,a){var u,d;const i=await t.setVirtualControllerMounting(r,n,o,s,a),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=N["VirtualControllerApi.setVirtualControllerMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>J(i,B,$,e)(h,c||p)}}};var e2=class extends $e{addVirtualControllerCoordinateSystem(e,t,r,n,o){return Ze(this.configuration).addVirtualControllerCoordinateSystem(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}addVirtualControllerTcp(e,t,r,n,o,s){return Ze(this.configuration).addVirtualControllerTcp(e,t,r,n,o,s).then(a=>a(this.axios,this.basePath))}deleteVirtualControllerCoordinateSystem(e,t,r,n,o){return Ze(this.configuration).deleteVirtualControllerCoordinateSystem(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}deleteVirtualControllerTcp(e,t,r,n,o){return Ze(this.configuration).deleteVirtualControllerTcp(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}getEmergencyStop(e,t,r){return Ze(this.configuration).getEmergencyStop(e,t,r).then(n=>n(this.axios,this.basePath))}getMotionGroupState(e,t,r,n){return Ze(this.configuration).getMotionGroupState(e,t,r,n).then(o=>o(this.axios,this.basePath))}getMotionGroups(e,t,r){return Ze(this.configuration).getMotionGroups(e,t,r).then(n=>n(this.axios,this.basePath))}getOperationMode(e,t,r){return Ze(this.configuration).getOperationMode(e,t,r).then(n=>n(this.axios,this.basePath))}getVirtualControllerMounting(e,t,r,n){return Ze(this.configuration).getVirtualControllerMounting(e,t,r,n).then(o=>o(this.axios,this.basePath))}listVirtualControllerCoordinateSystems(e,t,r){return Ze(this.configuration).listVirtualControllerCoordinateSystems(e,t,r).then(n=>n(this.axios,this.basePath))}listVirtualControllerTcps(e,t,r,n){return Ze(this.configuration).listVirtualControllerTcps(e,t,r,n).then(o=>o(this.axios,this.basePath))}setEmergencyStop(e,t,r,n){return Ze(this.configuration).setEmergencyStop(e,t,r,n).then(o=>o(this.axios,this.basePath))}setMotionGroupState(e,t,r,n,o){return Ze(this.configuration).setMotionGroupState(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}setOperationMode(e,t,r,n){return Ze(this.configuration).setOperationMode(e,t,r,n).then(o=>o(this.axios,this.basePath))}setVirtualControllerMounting(e,t,r,n,o){return Ze(this.configuration).setVirtualControllerMounting(e,t,r,n,o).then(s=>s(this.axios,this.basePath))}};const t2=function(e){return{externalJointsStream:async(t,r,n,o={})=>{C("externalJointsStream","cell",t),C("externalJointsStream","controller",r),C("externalJointsStream","externalJointStreamRequest",n);const s="/cells/{cell}/virtual-controllers/{controller}/external-joints-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}},getCycleTime:async(t,r,n={})=>{C("getCycleTime","cell",t),C("getCycleTime","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},getVirtualControllerBehavior:async(t,r,n={})=>{C("getVirtualControllerBehavior","cell",t),C("getVirtualControllerBehavior","controller",r);const o="/cells/{cell}/virtual-controllers/{controller}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,z);let a;e&&(a=e.baseOptions);const i={method:"GET",...a,...n},l={},c={};G(i,e),await H(l,e),q(s,c);let u=a&&a.headers?a.headers:{};return i.headers={...l,...u,...n.headers},{url:W(s),options:i}},setVirtualControllerBehavior:async(t,r,n,o={})=>{C("setVirtualControllerBehavior","cell",t),C("setVirtualControllerBehavior","controller",r);const s="/cells/{cell}/virtual-controllers/{controller}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),n!==void 0&&(u.behavior=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}}}},jo=function(e){const t=t2(e);return{async externalJointsStream(r,n,o,s){var c,u;const a=await t.externalJointsStream(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async getCycleTime(r,n,o){var l,c;const s=await t.getCycleTime(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerBehaviorApi.getCycleTime"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async getVirtualControllerBehavior(r,n,o){var l,c;const s=await t.getVirtualControllerBehavior(r,n,o),a=(e==null?void 0:e.serverIndex)??0,i=(c=(l=N["VirtualControllerBehaviorApi.getVirtualControllerBehavior"])==null?void 0:l[a])==null?void 0:c.url;return(u,d)=>J(s,B,$,e)(u,i||d)},async setVirtualControllerBehavior(r,n,o,s){var c,u;const a=await t.setVirtualControllerBehavior(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerBehaviorApi.setVirtualControllerBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var r2=class extends $e{externalJointsStream(e,t,r,n){return jo(this.configuration).externalJointsStream(e,t,r,n).then(o=>o(this.axios,this.basePath))}getCycleTime(e,t,r){return jo(this.configuration).getCycleTime(e,t,r).then(n=>n(this.axios,this.basePath))}getVirtualControllerBehavior(e,t,r){return jo(this.configuration).getVirtualControllerBehavior(e,t,r).then(n=>n(this.axios,this.basePath))}setVirtualControllerBehavior(e,t,r,n){return jo(this.configuration).setVirtualControllerBehavior(e,t,r,n).then(o=>o(this.axios,this.basePath))}};const n2=function(e){return{listIOs:async(t,r,n,o={})=>{C("listIOs","cell",t),C("listIOs","controller",r),C("listIOs","ios",n);const s="/cells/{cell}/virtual-controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...o},c={},u={};G(l,e),await H(c,e),n&&(u.ios=n),q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},{url:W(a),options:l}},listVirtualControllerIODescriptions:async(t,r,n,o,s,a,i={})=>{C("listVirtualControllerIODescriptions","cell",t),C("listVirtualControllerIODescriptions","controller",r);const l="/cells/{cell}/virtual-controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),c=new URL(l,z);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};G(d,e),await H(h,e),n&&(p.ios=n),o!==void 0&&(p.direction=o),s!==void 0&&(p.value_type=s),a!==void 0&&(p.group=a),q(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:W(c),options:d}},setIOValues:async(t,r,n,o={})=>{C("setIOValues","cell",t),C("setIOValues","controller",r),C("setIOValues","iOValue",n);const s="/cells/{cell}/virtual-controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),a=new URL(s,z);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...o},c={},u={};G(l,e),await H(c,e),c["Content-Type"]="application/json",q(a,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...o.headers},l.data=ge(n,l,e),{url:W(a),options:l}}}},Ka=function(e){const t=n2(e);return{async listIOs(r,n,o,s){var c,u;const a=await t.listIOs(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerInputsOutputsApi.listIOs"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)},async listVirtualControllerIODescriptions(r,n,o,s,a,i,l){var h,p;const c=await t.listVirtualControllerIODescriptions(r,n,o,s,a,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=N["VirtualControllerInputsOutputsApi.listVirtualControllerIODescriptions"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>J(c,B,$,e)(f,d||m)},async setIOValues(r,n,o,s){var c,u;const a=await t.setIOValues(r,n,o,s),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=N["VirtualControllerInputsOutputsApi.setIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>J(a,B,$,e)(d,l||h)}}};var o2=class extends $e{listIOs(e,t,r,n){return Ka(this.configuration).listIOs(e,t,r,n).then(o=>o(this.axios,this.basePath))}listVirtualControllerIODescriptions(e,t,r,n,o,s,a){return Ka(this.configuration).listVirtualControllerIODescriptions(e,t,r,n,o,s,a).then(i=>i(this.axios,this.basePath))}setIOValues(e,t,r,n){return Ka(this.configuration).setIOValues(e,t,r,n).then(o=>o(this.axios,this.basePath))}},s2=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(HT),this.cell=this.withUnwrappedResponsesOnly(OT),this.motionGroup=this.withCellId(jT),this.motionGroupModels=this.withCellId(BT),this.controller=this.withCellId(ET),this.controllerIOs=this.withCellId(AT),this.trajectoryPlanning=this.withCellId(XT),this.trajectoryExecution=this.withCellId(KT),this.trajectoryCaching=this.withCellId(WT),this.application=this.withCellId(Zu),this.applicationGlobal=this.withUnwrappedResponsesOnly(Zu),this.jogging=this.withCellId(MT),this.kinematics=this.withCellId(_T),this.busInputsOutputs=this.withCellId(CT),this.virtualController=this.withCellId(e2),this.virtualControllerBehavior=this.withCellId(r2),this.virtualControllerIOs=this.withCellId(o2),this.storeObject=this.withCellId(zT),this.storeCollisionComponents=this.withCellId(LT),this.storeCollisionSetups=this.withCellId($T)}withCellId(e){const t=new e({...this.opts,isJsonMime:r=>r==="application/json"},this.opts.basePath??"",this.opts.axiosInstance??B.create());for(const r of Reflect.ownKeys(Reflect.getPrototypeOf(t)))if(r!=="constructor"&&typeof t[r]=="function"){const n=t[r];t[r]=(...o)=>n.apply(t,[this.cellId,...o]).then(s=>s.data)}return t}withUnwrappedResponsesOnly(e){const t=new e({...this.opts,isJsonMime:r=>r==="application/json"},this.opts.basePath??"",this.opts.axiosInstance??B.create());for(const r of Reflect.ownKeys(Reflect.getPrototypeOf(t)))if(r!=="constructor"&&typeof t[r]=="function"){const n=t[r];t[r]=(...o)=>n.apply(t,o).then(s=>s.data)}return t}},a2=class{constructor(){this.connections=[]}async handleAPIRequest(e){var o,s,a;const t=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return["mock-ur5e"]}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{initial_joint_position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",kind:"VirtualController",manufacturer:"universalrobots",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId/state",handle(){return{mode:"MODE_CONTROL",last_error:[],timestamp:"2025-10-16T09:19:26.634534092Z",sequence_number:1054764,controller:"mock-ur5e",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",velocity_override:100,motion_groups:[{timestamp:"2025-10-16T09:19:26.634534092Z",sequence_number:1054764,motion_group:"0@mock-ur5e",controller:"mock-ur5e",joint_position:[1.487959623336792,-1.8501918315887451,1.8003005981445312,6.034560203552246,1.4921919107437134,1.593459963798523],joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_torque:[],joint_current:[0,0,0,0,0,0],flange_pose:{position:[107.6452433732927,-409.0402987746852,524.2402132330305],orientation:[.9874434028353319,-.986571714997442,1.3336589451098142]},tcp:"Flange",tcp_pose:{position:[107.6452433732927,-409.0402987746852,524.2402132330305],orientation:[.9874434028353319,-.986571714997442,1.3336589451098142]},payload:"",coordinate_system:"",standstill:!0}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",handle(){return{motion_group_model:"UniversalRobots_UR5e",mounting:{position:[0,0,0],orientation:[0,0,0]},tcps:{Flange:{name:"Default-Flange",pose:{position:[0,0,0],orientation:[0,0,0]}}},payloads:{"FPay-0":{name:"FPay-0",payload:0,center_of_mass:[0,0,0],moment_of_inertia:[0,0,0]}},cycle_time:8,dh_parameters:[{alpha:1.5707963267948966,d:162.25},{a:-425},{a:-392.2},{alpha:1.5707963267948966,d:133.3},{alpha:-1.5707963267948966,d:99.7},{d:99.6}],operation_limits:{auto_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3},elbow:{velocity:5e3},flange:{velocity:5e3}},manual_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3}},manual_t1_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3}},manual_t2_limits:{joints:[{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:150},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28},{position:{lower_limit:-6.283185307179586,upper_limit:6.283185307179586},velocity:3.34159255027771,acceleration:40,torque:28}],tcp:{velocity:5e3}}},serial_number:"WBVirtualRobot"}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId/coordinate-systems",handle(){return[{coordinate_system:"",name:"world",reference_coordinate_system:"",position:[0,0,0],orientation:[0,0,0],orientation_type:"ROTATION_VECTOR"},{coordinate_system:"CS-0",name:"Default-CS",reference_coordinate_system:"",position:[0,0,0],orientation:[0,0,0],orientation_type:"ROTATION_VECTOR"}]}}],r=((o=e.method)==null?void 0:o.toUpperCase())||"GET",n=`/cells${(a=(s=e.url)==null?void 0:s.split("/cells")[1])==null?void 0:a.split("?")[0]}`;for(const i of t){const l=mT.match(i.path)(n||"");if(r===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 Ti(`No mock handler matched this request: ${r} ${n}`,"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(i2)})),e.url.includes("/execution/jogging")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{message:"string",kind:"INITIALIZE_RECEIVED"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}};const i2={result:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",timestamp:new Date().toISOString(),sequence_number:1,joint_position:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705],joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},standstill:!1,flange_pose:{position:[1.3300010259703043,-409.2680714682808,531.0203477065281],orientation:[1.7564919306270736,-1.7542521568325058,.7326972590614671]},tcp_pose:{position:[1.3300010259703043,-409.2680714682808,531.0203477065281],orientation:[1.7564919306270736,-1.7542521568325058,.7326972590614671]}}};function l2(e){return e.startsWith("http")||(e=`http://${e}`),new URL(e).toString()}var c2=class{constructor(e){this.authPromise=null,this.accessToken=null;const t=e.cellId??"cell";this.config={cellId:t,...e},this.accessToken=e.accessToken||za.getString("wbjs.access_token")||null,this.config.instanceUrl==="https://mock.example.com"?this.mock=new a2:this.config.instanceUrl=l2(this.config.instanceUrl);const r=B.create({baseURL:Ja(this.config.instanceUrl,"/api/v2"),headers:typeof window<"u"&&window.location.origin.includes("localhost")?{}:{"X-Wandelbots-Client":"Wandelbots-Nova-JS-SDK"}});r.interceptors.request.use(async n=>(n.headers.Authorization||(this.accessToken?n.headers.Authorization=`Bearer ${this.accessToken}`:this.config.username&&this.config.password&&(n.headers.Authorization=`Basic ${btoa(`${e.username}:${e.password}`)}`)),n)),typeof window<"u"&&r.interceptors.response.use(n=>n,async n=>{var o,s;if(hT(n))if(((o=n.response)==null?void 0:o.status)===401)try{if(await this.renewAuthentication(),n.config)return this.accessToken?n.config.headers.Authorization=`Bearer ${this.accessToken}`:delete n.config.headers.Authorization,r.request(n.config)}catch(a){return Promise.reject(a)}else((s=n.response)==null?void 0:s.status)===503&&(await fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(n)}),this.api=new s2(t,{...e,basePath:Ja(this.config.instanceUrl,"/api/v2"),isJsonMime:n=>n==="application/json",baseOptions:{...this.mock?{adapter:n=>this.mock.handleAPIRequest(n)}:{},...e.baseOptions},axiosInstance:r})}async renewAuthentication(){if(!this.authPromise){this.authPromise=Dw(this.config.instanceUrl);try{this.accessToken=await this.authPromise,this.accessToken?za.setString("wbjs.access_token",this.accessToken):za.delete("wbjs.access_token")}finally{this.authPromise=null}}}makeWebsocketURL(e){const t=new URL(Ja(this.config.instanceUrl,`/api/v2/cells/${this.config.cellId}`,e));return t.protocol=t.protocol.replace("http","ws"),t.protocol=t.protocol.replace("https","wss"),this.accessToken?t.searchParams.append("token",this.accessToken):this.config.username&&this.config.password&&(t.username=this.config.username,t.password=this.config.password),t.toString()}openReconnectingWebsocket(e){return new _w(this.makeWebsocketURL(e),{mock:this.mock})}};function u2(e){var s,a,i,l,c,u;const t=[((s=e.position)==null?void 0:s[0])??0,((a=e.position)==null?void 0:a[1])??0,((i=e.position)==null?void 0:i[2])??0],r=[((l=e.orientation)==null?void 0:l[0])??0,((c=e.orientation)==null?void 0:c[1])??0,((u=e.orientation)==null?void 0:u[2])??0],n=t.map(d=>d.toFixed(1)),o=r.map(d=>d.toFixed(4));return`(${n.concat(o).join(", ")})`}function zt(e,t,r){return Math.max(t,Math.min(r,e))}class d2{constructor(t=0,r=0,n=0,o=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=n,this._w=o}static slerpFlat(t,r,n,o,s,a,i){let l=n[o+0],c=n[o+1],u=n[o+2],d=n[o+3];const h=s[a+0],p=s[a+1],f=s[a+2],m=s[a+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,R=S>=0?1:-1,v=1-S*S;if(v>Number.EPSILON){const I=Math.sqrt(v),E=Math.atan2(I,S*R);y=Math.sin(y*E)/I,i=Math.sin(i*E)/I}const T=i*R;if(l=l*y+h*T,c=c*y+p*T,u=u*y+f*T,d=d*y+m*T,y===1-i){const I=1/Math.sqrt(l*l+c*c+u*u+d*d);l*=I,c*=I,u*=I,d*=I}}t[r]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d}static multiplyQuaternionsFlat(t,r,n,o,s,a){const i=n[o],l=n[o+1],c=n[o+2],u=n[o+3],d=s[a],h=s[a+1],p=s[a+2],f=s[a+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,o){return this._x=t,this._y=r,this._z=n,this._w=o,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,o=t._y,s=t._z,a=t._order,i=Math.cos,l=Math.sin,c=i(n/2),u=i(o/2),d=i(s/2),h=l(n/2),p=l(o/2),f=l(s/2);switch(a){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: "+a)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const n=r/2,o=Math.sin(n);return this._x=t.x*o,this._y=t.y*o,this._z=t.z*o,this._w=Math.cos(n),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,n=r[0],o=r[4],s=r[8],a=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=(s-c)*p,this._z=(a-o)*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=(o+a)/p,this._z=(s+c)/p}else if(i>d){const p=2*Math.sqrt(1+i-n-d);this._w=(s-c)/p,this._x=(o+a)/p,this._y=.25*p,this._z=(l+u)/p}else{const p=2*Math.sqrt(1+d-n-i);this._w=(a-o)/p,this._x=(s+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(zt(this.dot(t),-1,1)))}rotateTowards(t,r){const n=this.angleTo(t);if(n===0)return this;const o=Math.min(1,r/n);return this.slerp(t,o),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,o=t._y,s=t._z,a=t._w,i=r._x,l=r._y,c=r._z,u=r._w;return this._x=n*u+a*i+o*c-s*l,this._y=o*u+a*l+s*i-n*c,this._z=s*u+a*c+n*l-o*i,this._w=a*u-n*i-o*l-s*c,this._onChangeCallback(),this}slerp(t,r){if(r===0)return this;if(r===1)return this.copy(t);const n=this._x,o=this._y,s=this._z,a=this._w;let i=a*t._w+n*t._x+o*t._y+s*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=a,this._x=n,this._y=o,this._z=s,this;const l=1-i*i;if(l<=Number.EPSILON){const p=1-r;return this._w=p*a+r*this._w,this._x=p*n+r*this._x,this._y=p*o+r*this._y,this._z=p*s+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=a*d+this._w*h,this._x=n*d+this._x*h,this._y=o*d+this._y*h,this._z=s*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(),o=Math.sqrt(1-n),s=Math.sqrt(n);return this.set(o*Math.sin(t),o*Math.cos(t),s*Math.sin(r),s*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 rn{constructor(t=0,r=0,n=0){rn.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(nd.setFromEuler(t))}applyAxisAngle(t,r){return this.applyQuaternion(nd.setFromAxisAngle(t,r))}applyMatrix3(t){const r=this.x,n=this.y,o=this.z,s=t.elements;return this.x=s[0]*r+s[3]*n+s[6]*o,this.y=s[1]*r+s[4]*n+s[7]*o,this.z=s[2]*r+s[5]*n+s[8]*o,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const r=this.x,n=this.y,o=this.z,s=t.elements,a=1/(s[3]*r+s[7]*n+s[11]*o+s[15]);return this.x=(s[0]*r+s[4]*n+s[8]*o+s[12])*a,this.y=(s[1]*r+s[5]*n+s[9]*o+s[13])*a,this.z=(s[2]*r+s[6]*n+s[10]*o+s[14])*a,this}applyQuaternion(t){const r=this.x,n=this.y,o=this.z,s=t.x,a=t.y,i=t.z,l=t.w,c=2*(a*o-i*n),u=2*(i*r-s*o),d=2*(s*n-a*r);return this.x=r+l*c+a*d-i*u,this.y=n+l*u+i*c-s*d,this.z=o+l*d+s*u-a*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,o=this.z,s=t.elements;return this.x=s[0]*r+s[4]*n+s[8]*o,this.y=s[1]*r+s[5]*n+s[9]*o,this.z=s[2]*r+s[6]*n+s[10]*o,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=zt(this.x,t.x,r.x),this.y=zt(this.y,t.y,r.y),this.z=zt(this.z,t.z,r.z),this}clampScalar(t,r){return this.x=zt(this.x,t,r),this.y=zt(this.y,t,r),this.z=zt(this.z,t,r),this}clampLength(t,r){const n=this.length();return this.divideScalar(n||1).multiplyScalar(zt(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,o=t.y,s=t.z,a=r.x,i=r.y,l=r.z;return this.x=o*l-s*i,this.y=s*a-n*l,this.z=n*i-o*a,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 Qa.copy(this).projectOnVector(t),this.sub(Qa)}reflect(t){return this.sub(Qa.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(zt(n,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const r=this.x-t.x,n=this.y-t.y,o=this.z-t.z;return r*r+n*n+o*o}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 o=Math.sin(r)*t;return this.x=o*Math.sin(n),this.y=Math.cos(r)*t,this.z=o*Math.cos(n),this}setFromCylindrical(t){return this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,r,n){return this.x=t*Math.sin(r),this.y=n,this.z=t*Math.cos(r),this}setFromMatrixPosition(t){const r=t.elements;return this.x=r[12],this.y=r[13],this.z=r[14],this}setFromMatrixScale(t){const r=this.setFromMatrixColumn(t,0).length(),n=this.setFromMatrixColumn(t,1).length(),o=this.setFromMatrixColumn(t,2).length();return this.x=r,this.y=n,this.z=o,this}setFromMatrixColumn(t,r){return this.fromArray(t.elements,r*4)}setFromMatrix3Column(t,r){return this.fromArray(t.elements,r*3)}setFromEuler(t){return this.x=t._x,this.y=t._y,this.z=t._z,this}setFromColor(t){return this.x=t.r,this.y=t.g,this.z=t.b,this}equals(t){return t.x===this.x&&t.y===this.y&&t.z===this.z}fromArray(t,r=0){return this.x=t[r],this.y=t[r+1],this.z=t[r+2],this}toArray(t=[],r=0){return t[r]=this.x,t[r+1]=this.y,t[r+2]=this.z,t}fromBufferAttribute(t,r){return this.x=t.getX(r),this.y=t.getY(r),this.z=t.getZ(r),this}random(){return this.x=Math.random(),this.y=Math.random(),this.z=Math.random(),this}randomDirection(){const t=Math.random()*Math.PI*2,r=Math.random()*2-1,n=Math.sqrt(1-r*r);return this.x=n*Math.cos(t),this.y=r,this.z=n*Math.sin(t),this}*[Symbol.iterator](){yield this.x,yield this.y,yield this.z}}const Qa=new rn,nd=new d2;function h2(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 p2(e,t,r){if(e===void 0&&t||e&&t===void 0||(e==null?void 0:e.orientation)===void 0||(t==null?void 0:t.orientation)===void 0||(e==null?void 0:e.position)===void 0||(t==null?void 0:t.position)===void 0)return!1;if(e===void 0||t===void 0)return!0;let n=0;return n+=Math.abs(e.orientation[0]-t.orientation[0]),n+=Math.abs(e.orientation[1]-t.orientation[1]),n+=Math.abs(e.orientation[2]-t.orientation[2]),n+=Math.abs(e.position[0]-t.position[0]),n+=Math.abs(e.position[1]-t.position[1]),n+=Math.abs(e.position[2]-t.position[2]),n<=r}function f2(e,t,r){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&p2(e.tcp_pose,t.tcp_pose,r)}function m2(e,t){const r=new wt.Vector3(t[0],t[1],t[2]),n=new wt.Vector3(e[0],e[1],e[2]),o=r.length(),s=r.normalize();let a=n.length(),i=n.normalize();i.dot(s)<0&&(a=-a,i=i.multiplyScalar(-1));let l=a-o;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),a=o+l,[...i.multiplyScalar(a)]}const od=1e-4;class jl{constructor(t,r,n,o,s,a){this.nova=t,this.controller=r,this.motionGroup=n,this.description=o,this.initialMotionState=s,this.motionStateSocket=a,this.rapidlyChangingMotionState=s,a.addEventListener("message",i=>{var c;const l=(c=et.tryParseJson(i.data))==null?void 0:c.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${i.data}`);h2(this.rapidlyChangingMotionState.joint_position,l.joint_position,od)||We.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=l.joint_position}),f2(this.rapidlyChangingMotionState,l,od)||We.runInAction(()=>{var u,d,h;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:(u=l.tcp_pose)!=null&&u.orientation&&((d=l.tcp_pose)!=null&&d.position)&&((h=this.rapidlyChangingMotionState.tcp_pose)!=null&&h.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:m2(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",l.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==l.standstill&&We.runInAction(()=>{this.rapidlyChangingMotionState.standstill=l.standstill})}),We.makeAutoObservable(this)}static async open(t,r){var d;const[n,o]=r.split("@"),s=await t.api.controller.getCurrentRobotControllerState(o),a=s==null?void 0:s.motion_groups.find(h=>h.motion_group===r);if(!s||!a)throw new Error(`Controller ${o} or motion group ${r} not found`);const i=t.openReconnectingWebsocket(`/controllers/${o}/motion-groups/${r}/state-stream`),l=await i.firstMessage(),c=(d=et.tryParseJson(l.data))==null?void 0:d.result;if(!c)throw new Error(`Unable to parse initial motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${a.motion_group}. Initial state:
   `,c);const u=await t.api.motionGroup.getMotionGroupDescription(o,a.motion_group);return new jl(t,s,a,u,c,i)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joints(){return this.initialMotionState.joint_position.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}}const sd="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class Dl{constructor(t,r={}){this.motionStream=t,this.options=r,this.ENDPOINT_JOGGING="/execution/jogging",this.ENDPOINT_TRAJECTORY="/execution/trajectory",this.DEFAULT_MODE="off",this.DEFAULT_TCP="Flange",this.DEFAULT_INIT_TIMEOUT=5e3,this.DEFAULT_ORIENTATION="coordsys",this.mode="off",this.joggingSocket=null,this.trajectorySocket=null,this.timeout=this.DEFAULT_INIT_TIMEOUT,this.tcp=(r==null?void 0:r.tcp)||t.motionGroup.tcp||this.DEFAULT_TCP,this.orientation=(r==null?void 0:r.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(r==null?void 0:r.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(r==null?void 0:r.mode)||this.DEFAULT_MODE,this.onError=r==null?void 0:r.onError}static async open(t,r,n={}){const o=await jl.open(t,r),s=new Dl(o,n);return await s.setJoggingMode(s.mode),s}async setOptions(t){t.tcp&&(this.tcp=t.tcp),t.orientation&&(this.orientation=t.orientation),t.timeout&&(this.timeout=t.timeout),t.mode&&(this.mode=t.mode),t.onError&&(this.onError=t.onError),this.setJoggingMode(this.mode,!1)}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}async stop(){if(this.joggingSocket){const t=new Array(this.numJoints).fill(0);this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:t})}this.trajectorySocket&&this.trajectorySocket.sendJson({message_type:"PauseMovementRequest"})}async dispose(){const t=[this.joggingSocket,this.trajectorySocket].filter(r=>r!==null);return t.forEach(r=>{r.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(t.map(r=>r.closed()))}async setJoggingMode(t,r=!0){if(!(this.mode===t&&r)&&(this.dispose(),this.mode=t,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((t,r)=>{const n=setTimeout(()=>{r(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_JOGGING),this.joggingSocket.addEventListener("message",o=>{var a,i,l,c;const s=et.tryParseJson(o.data);if(((a=s==null?void 0:s.result)==null?void 0:a.kind)==="INITIALIZE_RECEIVED"){clearTimeout(n),t();return}if(((i=s==null?void 0:s.result)==null?void 0:i.kind)==="MOTION_ERROR")if(clearTimeout(n),this.onBlocked&&((l=s==null?void 0:s.result)!=null&&l.message.includes(sd))){(c=this.joggingSocket)==null||c.dispose(),this.onBlocked();return}else this.onError?this.onError(o.data):r(new Error(o.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,tcp:this.tcp})})}async rotateJoints({joint:t,direction:r,velocityRadsPerSec:n}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; 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dt.RUNNING:return{label:s("ProgramStateIndicator.Running.lb"),color:o.palette.success.main};case dt.PAUSING:return{label:s("ProgramStateIndicator.Pausing.lb"),color:o.palette.warning.main};case dt.PAUSED:return{label:s("ProgramStateIndicator.Paused.lb"),color:o.palette.grey[600]};case dt.STOPPING:return{label:s("ProgramStateIndicator.Stopping.lb"),color:o.palette.warning.main};case dt.COMPLETED:return{label:s("ProgramStateIndicator.Completed.lb"),color:o.palette.success.main};case dt.FAILED:return{label:s("ProgramStateIndicator.Failed.lb"),color:o.palette.error.main};case dt.STOPPED:return{label:s("ProgramStateIndicator.Stopped.lb"),color:o.palette.warning.main};case dt.ERROR:return{label:s("ProgramStateIndicator.Error.lb"),color:o.palette.error.main};case dt.IDLE:default:return{label:s("ProgramStateIndicator.Ready.lb"),color:o.palette.success.main}}return{label:s("ProgramStateIndicator.Idle.lb"),color:o.palette.grey[600]}},{label:i,color:l}=a(),u=`${i} / 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nh(r,e)}exports.AppHeader=gm;exports.CollisionSceneRenderer=im;exports.CycleTimer=kC;exports.JoggingCartesianAxisControl=xi;exports.JoggingJointRotationControl=Pp;exports.JoggingPanel=vR;exports.JoggingStore=da;exports.LoadingCover=Bl;exports.LoadingErrorMessage=nf;exports.LogPanel=RR;exports.LogStore=Rf;exports.LogViewer=Pf;exports.MANUFACTURER_HOME_CONFIGS=ki;exports.NoMotionGroupModal=MR;exports.PoseCartesianValues=wR;exports.PoseJointValues=OR;exports.PresetEnvironment=ri;exports.ProgramControl=VR;exports.ProgramState=dt;exports.ProgramStateIndicator=_i;exports.Robot=jf;exports.RobotCard=GR;exports.RobotListItem=JR;exports.RobotSetupReadinessIndicator=Df;exports.RobotSetupReadinessState=Hl;exports.SafetyBar=SP;exports.SafetyZonesRenderer=um;exports.SelectableFab=CP;exports.SupportedRobot=kf;exports.TabBar=TP;exports.Timer=FC;exports.TrajectoryRenderer=dm;exports.ValueInterpolator=Al;exports.VelocitySlider=Ef;exports.VelocitySliderLabel=zl;exports.WandelbotsDataGrid=Tp;exports.WandelscriptEditor=RP;exports.createDebugMessage=TR;exports.createErrorMessage=AR;exports.createInfoMessage=ER;exports.createLogMessage=po;exports.createNovaMuiTheme=MP;exports.createWarningMessage=IR;exports.defaultAxisConfig=YR;exports.defaultGetModel=Gl;exports.extractManufacturer=Bf;exports.getDefaultHomeConfig=KR;exports.i18n=Di;exports.useAnimationFrame=ea;exports.useAutorun=Ep;exports.useInterpolation=Rl;exports.useMounted=Zs;exports.useReaction=Ip;
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