@wandelbots/wandelbots-js-react-components 2.58.0 → 2.59.0-pr.dev-fix-flaky-task.488.1957fef

package/dist/manufacturerHomePositions-BD6C5qZJ.js

@@ -0,0 +1,1040 @@
+import { j as t, e as K } from "./externalizeComponent-Dc3fViZA.js";
+import * as m from "three";
+import { Matrix4 as F, Vector3 as E, Quaternion as ie } from "three";
+import { ConvexGeometry as X } from "three-stdlib";
+import { useThree as ae, useFrame as le, Canvas as B } from "@react-three/fiber";
+import { Environment as ce, Lightformer as R, Line as Z, useGLTF as ue, Bounds as W } from "@react-three/drei";
+import { useTheme as fe, Card as de, Box as y, Typography as $, Divider as N, Button as H } from "@mui/material";
+import { observer as he } from "mobx-react-lite";
+import me, { useRef as _, useEffect as I, useCallback as v, useState as G, Suspense as pe } from "react";
+import { useTranslation as xe } from "react-i18next";
+import { N as ge, V as ye, c as je, b as J, M as j } from "./interpolation-DcPbemBD.js";
+import { ErrorBoundary as we } from "react-error-boundary";
+function be(e) {
+  switch (e.shape_type) {
+    case "convex_hull":
+      return new X(
+        e.vertices.map(
+          (r) => new m.Vector3(
+            r[0] / 1e3,
+            r[1] / 1e3,
+            r[2] / 1e3
+          )
+        )
+      );
+    case "box":
+      return new m.BoxGeometry(
+        e.size_x / 1e3,
+        e.size_y / 1e3,
+        e.size_z / 1e3
+      );
+    case "sphere":
+      return new m.SphereGeometry(e.radius / 1e3);
+    case "capsule":
+      return new m.CapsuleGeometry(
+        e.radius / 1e3,
+        e.cylinder_height / 1e3
+      );
+    case "cylinder":
+      return new m.CylinderGeometry(
+        e.radius / 1e3,
+        e.radius / 1e3,
+        e.height / 1e3
+      );
+    case "rectangle":
+      return new m.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
+    default:
+      return console.warn(`${e.shape_type} is not supported`), new m.BufferGeometry();
+  }
+}
+function Me({
+  name: e,
+  collider: n,
+  children: r
+}) {
+  var c, a;
+  const s = ((c = n.pose) == null ? void 0 : c.position) ?? [0, 0, 0], o = ((a = n.pose) == null ? void 0 : a.orientation) ?? [0, 0, 0];
+  return n.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ t.jsx(
+    "mesh",
+    {
+      name: e,
+      position: new m.Vector3(
+        s[0],
+        s[1],
+        s[2]
+      ).divideScalar(1e3),
+      rotation: new m.Euler(o[0], o[1], o[2], "XYZ"),
+      geometry: be(n.shape),
+      children: r
+    }
+  );
+}
+function Re({
+  name: e,
+  colliders: n,
+  meshChildrenProvider: r,
+  ...s
+}) {
+  return /* @__PURE__ */ t.jsx("group", { name: e, ...s, children: Object.entries(n).map(([o, c]) => /* @__PURE__ */ t.jsx(
+    Me,
+    {
+      name: o,
+      collider: c,
+      children: r(o, c)
+    },
+    o
+  )) });
+}
+function Qe({
+  scene: e,
+  meshChildrenProvider: n
+}) {
+  const r = e.colliders;
+  return /* @__PURE__ */ t.jsx("group", { children: r && /* @__PURE__ */ t.jsx(
+    Re,
+    {
+      meshChildrenProvider: n,
+      colliders: r
+    }
+  ) });
+}
+function Y() {
+  return /* @__PURE__ */ t.jsx(ce, { children: /* @__PURE__ */ t.jsx(ve, {}) });
+}
+function ve({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
+  return /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
+    /* @__PURE__ */ t.jsx(
+      R,
+      {
+        intensity: 5,
+        "rotation-x": Math.PI / 2,
+        position: [0, 5, -9],
+        scale: [10, 10, 1]
+      }
+    ),
+    /* @__PURE__ */ t.jsx("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ t.jsx("group", { children: e.map((n, r) => /* @__PURE__ */ t.jsx(
+      R,
+      {
+        form: "circle",
+        intensity: 5,
+        rotation: [Math.PI / 2, 0, 0],
+        position: [n, 4, r * 4],
+        scale: [3, 1, 1]
+      },
+      r
+    )) }) }),
+    /* @__PURE__ */ t.jsx(
+      R,
+      {
+        intensity: 40,
+        "rotation-y": Math.PI / 2,
+        position: [-5, 1, -1],
+        scale: [20, 0.1, 1]
+      }
+    ),
+    /* @__PURE__ */ t.jsx(
+      R,
+      {
+        intensity: 20,
+        "rotation-y": -Math.PI,
+        position: [-5, -2, -1],
+        scale: [20, 0.1, 1]
+      }
+    ),
+    /* @__PURE__ */ t.jsx(
+      R,
+      {
+        "rotation-y": Math.PI / 2,
+        position: [-5, -1, -1],
+        scale: [20, 0.5, 1],
+        intensity: 5
+      }
+    ),
+    /* @__PURE__ */ t.jsx(
+      R,
+      {
+        "rotation-y": -Math.PI / 2,
+        position: [10, 1, 0],
+        scale: [20, 1, 1],
+        intensity: 10
+      }
+    ),
+    /* @__PURE__ */ t.jsx(
+      R,
+      {
+        form: "ring",
+        color: "white",
+        intensity: 5,
+        scale: 10,
+        position: [-15, 4, -18],
+        target: [0, 0, 0]
+      }
+    )
+  ] });
+}
+function _e(e) {
+  if (e.length < 3)
+    return console.log("Not enough vertices to define a plane"), { isCoplanar: !1 };
+  const n = new m.Vector3(e[0].x, e[0].y, e[0].z), r = new m.Vector3(e[1].x, e[1].y, e[1].z), s = new m.Vector3(e[2].x, e[2].y, e[2].z), o = new m.Vector3().subVectors(r, n), c = new m.Vector3().subVectors(s, n), a = new m.Vector3().crossVectors(o, c).normalize();
+  for (let f = 3; f < e.length; f++) {
+    const i = new m.Vector3(e[f].x, e[f].y, e[f].z), d = new m.Vector3().subVectors(i, n), h = a.dot(d);
+    if (Math.abs(h) > 1e-6)
+      return console.log("Vertices are not on the same plane"), { isCoplanar: !1 };
+  }
+  return { isCoplanar: !0, normal: a };
+}
+function et({
+  safetyZones: e,
+  ...n
+}) {
+  return /* @__PURE__ */ t.jsx("group", { ...n, children: e.map((r, s) => {
+    let o = [];
+    return r.geometry && (r.geometry.compound ? o = r.geometry.compound.child_geometries : r.geometry.convex_hull && (o = [r.geometry])), o.map((c, a) => {
+      if (!c.convex_hull) return null;
+      const f = c.convex_hull.vertices.map(
+        (h) => new m.Vector3(h.x / 1e3, h.y / 1e3, h.z / 1e3)
+      ), i = _e(f);
+      if (i.isCoplanar && i.normal) {
+        const l = new m.Vector3().addVectors(
+          f[0],
+          i.normal.multiplyScalar(1e-4)
+        );
+        f.push(l);
+      }
+      let d;
+      try {
+        d = new X(f);
+      } catch (h) {
+        return console.log("Error creating ConvexGeometry:", h), null;
+      }
+      return /* @__PURE__ */ t.jsx("mesh", { geometry: d, children: /* @__PURE__ */ t.jsx(
+        "meshStandardMaterial",
+        {
+          attach: "material",
+          color: "#009f4d",
+          opacity: 0.2,
+          depthTest: !1,
+          depthWrite: !1,
+          transparent: !0,
+          polygonOffset: !0,
+          polygonOffsetFactor: -a
+        },
+        s
+      ) }, `${s}-${a}`);
+    });
+  }) });
+}
+function tt({
+  trajectory: e,
+  ...n
+}) {
+  var s;
+  const r = ((s = e.trajectory) == null ? void 0 : s.map((o) => o.tcp_pose ? new m.Vector3(
+    o.tcp_pose.position.x / 1e3,
+    o.tcp_pose.position.z / 1e3,
+    -o.tcp_pose.position.y / 1e3
+  ) : null).filter((o) => o !== null)) || [];
+  return /* @__PURE__ */ t.jsx("group", { ...n, children: r.length > 0 && /* @__PURE__ */ t.jsx(
+    Z,
+    {
+      points: r,
+      lineWidth: 3,
+      polygonOffset: !0,
+      polygonOffsetFactor: 10,
+      polygonOffsetUnits: 10
+    }
+  ) });
+}
+const D = /* @__PURE__ */ new Map();
+async function Q(e) {
+  if (D.has(e))
+    return D.get(e);
+  const n = (async () => {
+    var c;
+    const s = new ge({ instanceUrl: "" }), o = s.api.motionGroupModels;
+    (c = o.axios) != null && c.interceptors && o.axios.interceptors.request.use((a) => {
+      var f;
+      return (f = a.url) != null && f.includes("/glb") && (a.responseType = "blob"), a;
+    });
+    try {
+      const a = await s.api.motionGroupModels.getMotionGroupGlbModel(e);
+      return URL.createObjectURL(a);
+    } catch (a) {
+      throw console.error("Failed to fetch model:", a), a;
+    }
+  })();
+  return D.set(e, n), n;
+}
+function Ge(e) {
+  function n(r) {
+    return r.children.length === 0 ? [r] : [r, ...r.children.flatMap((s) => n(s))];
+  }
+  return n(e).filter((r) => te(r));
+}
+function ee(e) {
+  return e.name.endsWith("_FLG");
+}
+function te(e) {
+  return /_J[0-9]+$/.test(e.name);
+}
+function Ie(e, n) {
+  let r;
+  function s(o) {
+    if (ee(o)) {
+      if (r)
+        throw Error(
+          `Found multiple flange groups in robot model ${n}; first ${r.name} then ${o.name}. Only one _FLG group is allowed.`
+        );
+      r = o;
+    }
+    te(o), o.children.map(s);
+  }
+  if (s(e.scene), !r)
+    throw Error(
+      `No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`
+    );
+  return { gltf: e };
+}
+function re({
+  rapidlyChangingMotionState: e,
+  dhParameters: n,
+  onRotationChanged: r,
+  children: s
+}) {
+  const o = _([]), c = _([]), a = _(null), { invalidate: f } = ae();
+  I(() => {
+    const l = e.joint_position.filter(
+      (u) => u !== void 0
+    );
+    return a.current = new ye(l, {
+      tension: 120,
+      // Controls spring stiffness - higher values create faster, more responsive motion
+      friction: 20,
+      // Controls damping - higher values reduce oscillation and create smoother settling
+      threshold: 1e-3
+    }), () => {
+      var u;
+      (u = a.current) == null || u.destroy();
+    };
+  }, []), le((l, u) => {
+    if (a.current) {
+      const p = a.current.update(u);
+      d(), p || f();
+    }
+  });
+  function i(l) {
+    l && (c.current = Ge(l), d(), f());
+  }
+  function d() {
+    var u;
+    const l = ((u = a.current) == null ? void 0 : u.getCurrentValues()) || [];
+    if (r)
+      r(c.current, l);
+    else
+      for (const [p, x] of c.current.entries()) {
+        const g = n[p], b = g.theta || 0, M = g.reverse_rotation_direction ? -1 : 1;
+        x.rotation.y = M * (l[p] || 0) + b;
+      }
+  }
+  const h = v(() => {
+    const l = e.joint_position.filter(
+      (u) => u !== void 0
+    );
+    requestAnimationFrame(() => {
+      var u;
+      o.current = l, (u = a.current) == null || u.setTarget(l);
+    });
+  }, [e]);
+  return I(() => {
+    h();
+  }, [e, h]), je(() => {
+    h();
+  }), /* @__PURE__ */ t.jsx("group", { ref: i, children: s });
+}
+const Fe = "line", Ve = "mesh";
+function Le({
+  rapidlyChangingMotionState: e,
+  dhParameters: n,
+  ...r
+}) {
+  const s = new F(), o = _([]), c = _([]);
+  me.useEffect(() => {
+    o.current = new Array(n.length).fill(null), c.current = new Array(n.length).fill(null);
+  }, [n.length]);
+  function a(d, h) {
+    const l = new E(), u = new ie(), p = new E();
+    s.decompose(l, u, p);
+    const x = l.clone(), g = new F().makeRotationY(
+      d.theta + h * (d.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new F().makeTranslation(0, d.d / 1e3, 0)).multiply(new F().makeTranslation(d.a / 1e3, 0, 0)).multiply(new F().makeRotationX(d.alpha));
+    return s.multiply(g), s.decompose(l, u, p), { a: x, b: l };
+  }
+  function f(d, h, l, u) {
+    if (!n)
+      return;
+    const p = n[d];
+    if (!p)
+      return;
+    const { a: x, b: g } = a(p, u);
+    h.geometry.setPositions([x.toArray(), g.toArray()].flat()), l.position.set(g.x, g.y, g.z);
+  }
+  function i(d, h) {
+    s.identity();
+    for (let l = 0; l < Math.min(d.length, h.length); l++) {
+      const u = o.current[l], p = c.current[l];
+      u && p && f(l, u, p, h[l]);
+    }
+  }
+  return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
+    re,
+    {
+      rapidlyChangingMotionState: e,
+      dhParameters: n,
+      onRotationChanged: i,
+      children: /* @__PURE__ */ t.jsxs("group", { ...r, name: "Scene", children: [
+        /* @__PURE__ */ t.jsxs("mesh", { children: [
+          /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
+          /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
+        ] }),
+        n.map((d, h) => {
+          const { a: l, b: u } = a(
+            d,
+            e.joint_position[h] ?? 0
+          ), p = `dhrobot_J0${h}`;
+          return /* @__PURE__ */ t.jsxs("group", { name: p, children: [
+            /* @__PURE__ */ t.jsx(
+              Z,
+              {
+                ref: (x) => {
+                  o.current[h] = x;
+                },
+                name: Fe,
+                points: [l, u],
+                color: "white",
+                lineWidth: 5
+              }
+            ),
+            /* @__PURE__ */ t.jsxs(
+              "mesh",
+              {
+                ref: (x) => {
+                  c.current[h] = x;
+                },
+                name: Ve,
+                position: u,
+                children: [
+                  /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
+                  /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
+                ]
+              },
+              "mesh_" + h
+            )
+          ] }, p);
+        })
+      ] })
+    }
+  ) });
+}
+const Se = console.warn;
+function Te() {
+  return I(() => {
+    console.warn = (e) => {
+      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Se(e);
+    };
+  }, []), /* @__PURE__ */ t.jsx(t.Fragment, {});
+}
+function Ce(e) {
+  return e.type === "Mesh";
+}
+function De({
+  url: e,
+  flangeRef: n,
+  postModelRender: r,
+  ...s
+}) {
+  const o = ue(e);
+  let c;
+  try {
+    c = Ie(o, "robot.glb").gltf;
+  } catch (i) {
+    throw i;
+  }
+  const a = v(
+    (i) => {
+      i && r && r();
+    },
+    [r]
+  );
+  function f(i) {
+    try {
+      return Ce(i) ? i.geometry ? /* @__PURE__ */ t.jsx(
+        "mesh",
+        {
+          name: i.name,
+          geometry: i.geometry,
+          material: i.material,
+          position: i.position,
+          rotation: i.rotation
+        },
+        i.uuid
+      ) : /* @__PURE__ */ t.jsx("group", { name: i.name, position: i.position, rotation: i.rotation }, i.uuid) : /* @__PURE__ */ t.jsx(
+        "group",
+        {
+          name: i.name,
+          position: i.position,
+          rotation: i.rotation,
+          ref: ee(i) ? n : void 0,
+          children: i.children.map(f)
+        },
+        i.uuid
+      );
+    } catch (d) {
+      return console.warn("Error rendering node", i.name, d), null;
+    }
+  }
+  return /* @__PURE__ */ t.jsx("group", { ...s, dispose: null, ref: a, children: f(c.scene) });
+}
+function ke({
+  modelURL: e,
+  flangeRef: n,
+  postModelRender: r,
+  ...s
+}) {
+  const [o, c] = G(null);
+  return I(() => {
+    (async () => {
+      try {
+        if (typeof e == "string")
+          c(e);
+        else {
+          const f = await e;
+          c(f);
+        }
+      } catch (f) {
+        console.error("Failed to resolve model URL:", f);
+      }
+    })();
+  }, [e]), o ? /* @__PURE__ */ t.jsx(
+    De,
+    {
+      url: o,
+      flangeRef: n,
+      postModelRender: r,
+      ...s
+    }
+  ) : null;
+}
+const Ae = (e, n) => {
+  e.userData.isGhost || (e.traverse((r) => {
+    if (r instanceof m.Mesh) {
+      r.material instanceof m.Material && (r.material.colorWrite = !1);
+      const s = r.clone(), o = r.clone();
+      s.material = new m.MeshStandardMaterial({
+        depthTest: !0,
+        depthWrite: !0,
+        colorWrite: !1,
+        polygonOffset: !0,
+        polygonOffsetFactor: -1,
+        side: m.DoubleSide
+      }), s.userData.isGhost = !0, o.material = new m.MeshStandardMaterial({
+        color: n,
+        opacity: 0.3,
+        depthTest: !0,
+        depthWrite: !1,
+        transparent: !0,
+        polygonOffset: !0,
+        polygonOffsetFactor: -2,
+        side: m.DoubleSide
+      }), o.userData.isGhost = !0, r.parent && (r.parent.add(s), r.parent.add(o));
+    }
+  }), e.userData.isGhost = !0);
+}, Pe = (e) => {
+  if (!e.userData.isGhost) return;
+  const n = [];
+  e.traverse((r) => {
+    var s;
+    r instanceof m.Mesh && ((s = r.userData) != null && s.isGhost ? n.push(r) : r.material instanceof m.Material && (r.material.colorWrite = !0));
+  }), n.forEach((r) => {
+    r.parent && r.parent.remove(r);
+  }), e.userData.isGhost = !1;
+}, ze = K(
+  ({
+    rapidlyChangingMotionState: e,
+    modelFromController: n,
+    dhParameters: r,
+    getModel: s = Q,
+    flangeRef: o,
+    postModelRender: c,
+    transparentColor: a,
+    ...f
+  }) => {
+    const [i, d] = G(null), h = v((u) => {
+      d(u);
+    }, []);
+    I(() => {
+      i && (a ? Ae(i, a) : Pe(i));
+    }, [i, a]);
+    const l = /* @__PURE__ */ t.jsx(
+      Le,
+      {
+        rapidlyChangingMotionState: e,
+        dhParameters: r,
+        ...f
+      }
+    );
+    return /* @__PURE__ */ t.jsxs(
+      we,
+      {
+        fallback: l,
+        onError: (u) => {
+          console.warn(u);
+        },
+        children: [
+          /* @__PURE__ */ t.jsx(pe, { fallback: l, children: /* @__PURE__ */ t.jsx("group", { ref: h, children: /* @__PURE__ */ t.jsx(
+            re,
+            {
+              rapidlyChangingMotionState: e,
+              dhParameters: r,
+              children: /* @__PURE__ */ t.jsx(
+                ke,
+                {
+                  modelURL: (() => {
+                    const u = s(n);
+                    if (!u) {
+                      const p = new Blob([], { type: "model/gltf-binary" }), x = new File([p], `${n}.glb`, { type: "model/gltf-binary" });
+                      return Promise.resolve(URL.createObjectURL(x));
+                    }
+                    return u;
+                  })(),
+                  postModelRender: c,
+                  flangeRef: o,
+                  ...f
+                }
+              )
+            }
+          ) }) }),
+          /* @__PURE__ */ t.jsx(Te, {})
+        ]
+      }
+    );
+  }
+);
+function Oe({
+  connectedMotionGroup: e,
+  getModel: n = Q,
+  flangeRef: r,
+  transparentColor: s,
+  postModelRender: o,
+  ...c
+}) {
+  return e.dhParameters ? /* @__PURE__ */ t.jsx(
+    ze,
+    {
+      rapidlyChangingMotionState: e.rapidlyChangingMotionState,
+      modelFromController: e.modelFromController || "",
+      dhParameters: e.dhParameters,
+      getModel: n,
+      flangeRef: r,
+      transparentColor: s,
+      postModelRender: o,
+      ...c
+    }
+  ) : null;
+}
+const rt = K(
+  he(
+    ({
+      robotName: e,
+      programState: n,
+      safetyState: r,
+      operationMode: s,
+      driveToHomeEnabled: o = !1,
+      onDriveToHomePress: c,
+      onDriveToHomeRelease: a,
+      connectedMotionGroup: f,
+      robotComponent: i = Oe,
+      customContentComponent: d,
+      className: h
+    }) => {
+      var P;
+      const l = fe(), { t: u } = xe(), [p, x] = G(!1), g = _(null), b = _(null), [M, ne] = G(!1), [V, oe] = G({ width: 400, height: 600 }), [Ee, se] = G(0);
+      I(() => {
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+                              y,
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+    0
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+  nt as d,
+  Ue as e,
+  ot as g
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