@wandelbots/wandelbots-js-react-components 3.2.0-pr.feat-upgrade-deps.415.b75d733 → 3.2.0-pr.feat-improve-exports.414.f74e11f

package/dist/theming-ZJr8jTwS.cjs

@@ -0,0 +1,128 @@
+"use strict";const g=require("./index-DS_xdVel.cjs"),R=require("@mui/material"),ie=require("mobx-react-lite"),$=require("react"),he=require("react-i18next"),x=require("prop-types"),ue=require("./index-BHtHALJk.cjs"),qe=require("@mui/x-data-grid"),Oc=require("lodash-es"),de=require("mobx"),Ee=require("@wandelbots/nova-js"),Pc=require("./LoadingCover-CbvPNfkO.cjs"),wr=require("@mui/icons-material"),ch=require("@emotion/styled"),uh=require("@emotion/react"),dh=require("@mui/x-charts"),Vo=require("three");function Dc(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const n in e)if(n!=="default"){const r=Object.getOwnPropertyDescriptor(e,n);Object.defineProperty(t,n,r.get?r:{enumerable:!0,get:()=>e[n]})}}return t.default=e,Object.freeze(t)}const k=Dc($),pa=Dc(Vo);function hh(e){return e&&e.__esModule&&Object.prototype.hasOwnProperty.call(e,"default")?e.default:e}/*! *****************************************************************************
+Copyright (c) Microsoft Corporation. All rights reserved.
+Licensed under the Apache License, Version 2.0 (the "License"); you may not use
+this file except in compliance with the License. You may obtain a copy of the
+License at http://www.apache.org/licenses/LICENSE-2.0
+
+THIS CODE IS PROVIDED ON AN *AS IS* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED
+WARRANTIES OR CONDITIONS OF TITLE, FITNESS FOR A PARTICULAR PURPOSE,
+MERCHANTABLITY OR NON-INFRINGEMENT.
+
+See the Apache Version 2.0 License for specific language governing permissions
+and limitations under the License.
+***************************************************************************** */var Go=function(e,t){return Go=Object.setPrototypeOf||{__proto__:[]}instanceof Array&&function(n,r){n.__proto__=r}||function(n,r){for(var i in r)r.hasOwnProperty(i)&&(n[i]=r[i])},Go(e,t)};function $c(e,t){Go(e,t);function n(){this.constructor=e}e.prototype=t===null?Object.create(t):(n.prototype=t.prototype,new n)}function fh(e){var t=typeof Symbol=="function"&&e[Symbol.iterator],n=0;return t?t.call(e):{next:function(){return e&&n>=e.length&&(e=void 0),{value:e&&e[n++],done:!e}}}}function ph(e,t){var n=typeof Symbol=="function"&&e[Symbol.iterator];if(!n)return e;var r=n.call(e),i,o=[],s;try{for(;(t===void 0||t-- >0)&&!(i=r.next()).done;)o.push(i.value)}catch(a){s={error:a}}finally{try{i&&!i.done&&(n=r.return)&&n.call(r)}finally{if(s)throw s.error}}return o}function mh(){for(var e=[],t=0;t<arguments.length;t++)e=e.concat(ph(arguments[t]));return e}var Nc=function(){function e(t,n){this.target=n,this.type=t}return e}(),gh=function(e){$c(t,e);function t(n,r){var i=e.call(this,"error",r)||this;return i.message=n.message,i.error=n,i}return t}(Nc),yh=function(e){$c(t,e);function t(n,r,i){n===void 0&&(n=1e3),r===void 0&&(r="");var o=e.call(this,"close",i)||this;return o.wasClean=!0,o.code=n,o.reason=r,o}return t}(Nc);/*!
+ * Reconnecting WebSocket
+ * by Pedro Ladaria <pedro.ladaria@gmail.com>
+ * https://github.com/pladaria/reconnecting-websocket
+ * License MIT
+ */var xh=function(){if(typeof WebSocket<"u")return WebSocket},bh=function(e){return typeof e<"u"&&!!e&&e.CLOSING===2},Lt={maxReconnectionDelay:1e4,minReconnectionDelay:1e3+Math.random()*4e3,minUptime:5e3,reconnectionDelayGrowFactor:1.3,connectionTimeout:4e3,maxRetries:1/0,maxEnqueuedMessages:1/0},vh=function(){function e(t,n,r){var i=this;r===void 0&&(r={}),this._listeners={error:[],message:[],open:[],close:[]},this._retryCount=-1,this._shouldReconnect=!0,this._connectLock=!1,this._binaryType="blob",this._closeCalled=!1,this._messageQueue=[],this.onclose=null,this.onerror=null,this.onmessage=null,this.onopen=null,this._handleOpen=function(o){i._debug("open event");var s=i._options.minUptime,a=s===void 0?Lt.minUptime:s;clearTimeout(i._connectTimeout),i._uptimeTimeout=setTimeout(function(){return i._acceptOpen()},a),i._ws.binaryType=i._binaryType,i._messageQueue.forEach(function(c){return 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this._ws?this._ws.binaryType:this._binaryType},set:function(t){this._binaryType=t,this._ws&&(this._ws.binaryType=t)},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"retryCount",{get:function(){return Math.max(this._retryCount,0)},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"bufferedAmount",{get:function(){var t=this._messageQueue.reduce(function(n,r){return typeof r=="string"?n+=r.length:r instanceof Blob?n+=r.size:n+=r.byteLength,n},0);return t+(this._ws?this._ws.bufferedAmount:0)},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"extensions",{get:function(){return this._ws?this._ws.extensions:""},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"protocol",{get:function(){return this._ws?this._ws.protocol:""},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"readyState",{get:function(){return this._ws?this._ws.readyState:this._options.startClosed?e.CLOSED:e.CONNECTING},enumerable:!0,configurable:!0}),Object.defineProperty(e.prototype,"url",{get:function(){return this._ws?this._ws.url:""},enumerable:!0,configurable:!0}),e.prototype.close=function(t,n){if(t===void 0&&(t=1e3),this._closeCalled=!0,this._shouldReconnect=!1,this._clearTimeouts(),!this._ws){this._debug("close enqueued: no ws instance");return}if(this._ws.readyState===this.CLOSED){this._debug("close: already closed");return}this._ws.close(t,n)},e.prototype.reconnect=function(t,n){this._shouldReconnect=!0,this._closeCalled=!1,this._retryCount=-1,!this._ws||this._ws.readyState===this.CLOSED?this._connect():(this._disconnect(t,n),this._connect())},e.prototype.send=function(t){if(this._ws&&this._ws.readyState===this.OPEN)this._debug("send",t),this._ws.send(t);else{var n=this._options.maxEnqueuedMessages,r=n===void 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Rh=_h(),Mh=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(ue.SystemApi),this.cell=this.withUnwrappedResponsesOnly(ue.CellApi),this.motionGroup=this.withCellId(ue.MotionGroupApi),this.motionGroupModels=this.withCellId(ue.MotionGroupModelsApi),this.controller=this.withCellId(ue.ControllerApi),this.controllerIOs=this.withCellId(ue.ControllerInputsOutputsApi),this.trajectoryPlanning=this.withCellId(ue.TrajectoryPlanningApi),this.trajectoryExecution=this.withCellId(ue.TrajectoryExecutionApi),this.trajectoryCaching=this.withCellId(ue.TrajectoryCachingApi),this.application=this.withCellId(ue.ApplicationApi),this.applicationGlobal=this.withUnwrappedResponsesOnly(ue.ApplicationApi),this.jogging=this.withCellId(ue.JoggingApi),this.kinematics=this.withCellId(ue.KinematicsApi),this.busInputsOutputs=this.withCellId(ue.BUSInputsOutputsApi),this.virtualController=this.withCellId(ue.VirtualControllerApi),this.virtualControllerBehavior=this.withCellId(ue.VirtualControllerBehaviorApi),this.virtualControllerIOs=this.withCellId(ue.VirtualControllerInputsOutputsApi),this.storeObject=this.withCellId(ue.StoreObjectApi),this.storeCollisionComponents=this.withCellId(ue.StoreCollisionComponentsApi),this.storeCollisionSetups=this.withCellId(ue.StoreCollisionSetupsApi)}withCellId(e){const 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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},veloci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process.env.NODE_ENV!=="production"&&(s.propTypes={children:x.node,direction:x.oneOfType([x.oneOf(["column-reverse","column","row-reverse","row"]),x.arrayOf(x.oneOf(["column-reverse","column","row-reverse","row"])),x.object]),divider:x.node,spacing:x.oneOfType([x.arrayOf(x.oneOfType([x.number,x.string])),x.number,x.object,x.string]),sx:x.oneOfType([x.arrayOf(x.oneOfType([x.func,x.object,x.bool])),x.func,x.object])}),s}const Zn={black:"#000",white:"#fff"},kp={50:"#fafafa",100:"#f5f5f5",200:"#eeeeee",300:"#e0e0e0",400:"#bdbdbd",500:"#9e9e9e",600:"#757575",700:"#616161",800:"#424242",900:"#212121",A100:"#f5f5f5",A200:"#eeeeee",A400:"#bdbdbd",A700:"#616161"},sn={50:"#f3e5f5",200:"#ce93d8",300:"#ba68c8",400:"#ab47bc",500:"#9c27b0",700:"#7b1fa2"},an={300:"#e57373",400:"#ef5350",500:"#f44336",700:"#d32f2f",800:"#c62828"},Dn={300:"#ffb74d",400:"#ffa726",500:"#ff9800",700:"#f57c00",900:"#e65100"},ln={50:"#e3f2fd",200:"#90caf9",400:"#42a5f5",700:"#1976d2",800:"#1565c0"},cn={300:"#4fc3f7",400:"#29b6f6",500:"#03a9f4",700:"#0288d1",900:"#01579b"},un={300:"#81c784",400:"#66bb6a",500:"#4caf50",700:"#388e3c",800:"#2e7d32",900:"#1b5e20"};function Qc(){return{text:{primary:"rgba(0, 0, 0, 0.87)",secondary:"rgba(0, 0, 0, 0.6)",disabled:"rgba(0, 0, 0, 0.38)"},divider:"rgba(0, 0, 0, 0.12)",background:{paper:Zn.white,default:Zn.white},action:{active:"rgba(0, 0, 0, 0.54)",hover:"rgba(0, 0, 0, 0.04)",hoverOpacity:.04,selected:"rgba(0, 0, 0, 0.08)",selectedOpacity:.08,disabled:"rgba(0, 0, 0, 0.26)",disabledBackground:"rgba(0, 0, 0, 0.12)",disabledOpacity:.38,focus:"rgba(0, 0, 0, 0.12)",focusOpacity:.12,activatedOpacity:.12}}}const Ap=Qc();function eu(){return{text:{primary:Zn.white,secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.5)",icon:"rgba(255, 255, 255, 0.5)"},divider:"rgba(255, 255, 255, 0.12)",background:{paper:"#121212",default:"#121212"},action:{active:Zn.white,hover:"rgba(255, 255, 255, 0.08)",hoverOpacity:.08,selected:"rgba(255, 255, 255, 0.16)",selectedOpacity:.16,disabled:"rgba(255, 255, 255, 0.3)",disabledBackground:"rgba(255, 255, 255, 0.12)",disabledOpacity:.38,focus:"rgba(255, 255, 255, 0.12)",focusOpacity:.12,activatedOpacity:.24}}}const ka=eu();function Aa(e,t,n,r){const i=r.light||r,o=r.dark||r*1.5;e[t]||(e.hasOwnProperty(n)?e[t]=e[n]:t==="light"?e.light=Xn(e.main,i):t==="dark"&&(e.dark=Kn(e.main,o)))}function Op(e="light"){return e==="dark"?{main:ln[200],light:ln[50],dark:ln[400]}:{main:ln[700],light:ln[400],dark:ln[800]}}function Pp(e="light"){return e==="dark"?{main:sn[200],light:sn[50],dark:sn[400]}:{main:sn[500],light:sn[300],dark:sn[700]}}function Dp(e="light"){return e==="dark"?{main:an[500],light:an[300],dark:an[700]}:{main:an[700],light:an[400],dark:an[800]}}function $p(e="light"){return e==="dark"?{main:cn[400],light:cn[300],dark:cn[700]}:{main:cn[700],light:cn[500],dark:cn[900]}}function Np(e="light"){return e==="dark"?{main:un[400],light:un[300],dark:un[700]}:{main:un[800],light:un[500],dark:un[900]}}function Lp(e="light"){return e==="dark"?{main:Dn[400],light:Dn[300],dark:Dn[700]}:{main:"#ed6c02",light:Dn[500],dark:Dn[900]}}function ys(e){const{mode:t="light",contrastThreshold:n=3,tonalOffset:r=.2,...i}=e,o=e.primary||Op(t),s=e.secondary||Pp(t),a=e.error||Dp(t),c=e.info||$p(t),l=e.success||Np(t),u=e.warning||Lp(t);function d(p){const b=Ma(p,ka.text.primary)>=n?ka.text.primary:Ap.text.primary;if(process.env.NODE_ENV!=="production"){const v=Ma(p,b);v<3&&console.error([`MUI: The contrast ratio of ${v}:1 for ${b} on ${p}`,"falls below the WCAG recommended absolute minimum contrast ratio of 3:1.","https://www.w3.org/TR/2008/REC-WCAG20-20081211/#visual-audio-contrast-contrast"].join(`
+`))}return b}const h=({color:p,name:b,mainShade:v=500,lightShade:M=300,darkShade:S=700})=>{if(p={...p},!p.main&&p[v]&&(p.main=p[v]),!p.hasOwnProperty("main"))throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${b?` (${b})`:""} provided to augmentColor(color) is invalid.
+The color object needs to have a \`main\` property or a \`${v}\` property.`:At(11,b?` (${b})`:"",v));if(typeof p.main!="string")throw new Error(process.env.NODE_ENV!=="production"?`MUI: The color${b?` (${b})`:""} provided to augmentColor(color) is invalid.
+\`color.main\` should be a string, but \`${JSON.stringify(p.main)}\` was provided instead.
+
+Did you intend to use one of the following approaches?
+
+import { green } from "@mui/material/colors";
+
+const theme1 = createTheme({ palette: {
+  primary: green,
+} });
+
+const theme2 = createTheme({ palette: {
+  primary: { main: green[500] },
+} });`:At(12,b?` (${b})`:"",JSON.stringify(p.main)));return Aa(p,"light",M,r),Aa(p,"dark",S,r),p.contrastText||(p.contrastText=d(p.main)),p};let f;return t==="light"?f=Qc():t==="dark"&&(f=eu()),process.env.NODE_ENV!=="production"&&(f||console.error(`MUI: The palette mode \`${t}\` is not supported.`)),Oe({common:{...Zn},mode:t,primary:h({color:o,name:"primary"}),secondary:h({color:s,name:"secondary",mainShade:"A400",lightShade:"A200",darkShade:"A700"}),error:h({color:a,name:"error"}),warning:h({color:u,name:"warning"}),info:h({color:c,name:"info"}),success:h({color:l,name:"success"}),grey:kp,contrastThreshold:n,getContrastText:d,augmentColor:h,tonalOffset:r,...f},i)}function zp(e){const t={};return Object.entries(e).forEach(r=>{const[i,o]=r;typeof o=="object"&&(t[i]=`${o.fontStyle?`${o.fontStyle} `:""}${o.fontVariant?`${o.fontVariant} `:""}${o.fontWeight?`${o.fontWeight} `:""}${o.fontStretch?`${o.fontStretch} `:""}${o.fontSize||""}${o.lineHeight?`/${o.lineHeight} `:""}${o.fontFamily||""}`)}),t}function Fp(e,t){return{toolbar:{minHeight:56,[e.up("xs")]:{"@media (orientation: landscape)":{minHeight:48}},[e.up("sm")]:{minHeight:64}},...t}}function Bp(e){return Math.round(e*1e5)/1e5}const Oa={textTransform:"uppercase"},Pa='"Roboto", "Helvetica", "Arial", sans-serif';function Vp(e,t){const{fontFamily:n=Pa,fontSize:r=14,fontWeightLight:i=300,fontWeightRegular:o=400,fontWeightMedium:s=500,fontWeightBold:a=700,htmlFontSize:c=16,allVariants:l,pxToRem:u,...d}=typeof t=="function"?t(e):t;process.env.NODE_ENV!=="production"&&(typeof r!="number"&&console.error("MUI: `fontSize` is required to be a number."),typeof c!="number"&&console.error("MUI: `htmlFontSize` is required to be a number."));const h=r/14,f=u||(b=>`${b/c*h}rem`),m=(b,v,M,S,T)=>({fontFamily:n,fontWeight:b,fontSize:f(v),lineHeight:M,...n===Pa?{letterSpacing:`${Bp(S/v)}em`}:{},...T,...l}),p={h1:m(i,96,1.167,-1.5),h2:m(i,60,1.2,-.5),h3:m(o,48,1.167,0),h4:m(o,34,1.235,.25),h5:m(o,24,1.334,0),h6:m(s,20,1.6,.15),subtitle1:m(o,16,1.75,.15),subtitle2:m(s,14,1.57,.1),body1:m(o,16,1.5,.15),body2:m(o,14,1.43,.15),button:m(s,14,1.75,.4,Oa),caption:m(o,12,1.66,.4),overline:m(o,12,2.66,1,Oa),inherit:{fontFamily:"inherit",fontWeight:"inherit",fontSize:"inherit",lineHeight:"inherit",letterSpacing:"inherit"}};return Oe({htmlFontSize:c,pxToRem:f,fontFamily:n,fontSize:r,fontWeightLight:i,fontWeightRegular:o,fontWeightMedium:s,fontWeightBold:a,...p},d,{clone:!1})}const Gp=.2,Up=.14,Wp=.12;function pe(...e){return[`${e[0]}px ${e[1]}px ${e[2]}px ${e[3]}px rgba(0,0,0,${Gp})`,`${e[4]}px ${e[5]}px ${e[6]}px ${e[7]}px rgba(0,0,0,${Up})`,`${e[8]}px ${e[9]}px ${e[10]}px ${e[11]}px rgba(0,0,0,${Wp})`].join(",")}const Hp=["none",pe(0,2,1,-1,0,1,1,0,0,1,3,0),pe(0,3,1,-2,0,2,2,0,0,1,5,0),pe(0,3,3,-2,0,3,4,0,0,1,8,0),pe(0,2,4,-1,0,4,5,0,0,1,10,0),pe(0,3,5,-1,0,5,8,0,0,1,14,0),pe(0,3,5,-1,0,6,10,0,0,1,18,0),pe(0,4,5,-2,0,7,10,1,0,2,16,1),pe(0,5,5,-3,0,8,10,1,0,3,14,2),pe(0,5,6,-3,0,9,12,1,0,3,16,2),pe(0,6,6,-3,0,10,14,1,0,4,18,3),pe(0,6,7,-4,0,11,15,1,0,4,20,3),pe(0,7,8,-4,0,12,17,2,0,5,22,4),pe(0,7,8,-4,0,13,19,2,0,5,24,4),pe(0,7,9,-4,0,14,21,2,0,5,26,4),pe(0,8,9,-5,0,15,22,2,0,6,28,5),pe(0,8,10,-5,0,16,24,2,0,6,30,5),pe(0,8,11,-5,0,17,26,2,0,6,32,5),pe(0,9,11,-5,0,18,28,2,0,7,34,6),pe(0,9,12,-6,0,19,29,2,0,7,36,6),pe(0,10,13,-6,0,20,31,3,0,8,38,7),pe(0,10,13,-6,0,21,33,3,0,8,40,7),pe(0,10,14,-6,0,22,35,3,0,8,42,7),pe(0,11,14,-7,0,23,36,3,0,9,44,8),pe(0,11,15,-7,0,24,38,3,0,9,46,8)],Yp={easeInOut:"cubic-bezier(0.4, 0, 0.2, 1)",easeOut:"cubic-bezier(0.0, 0, 0.2, 1)",easeIn:"cubic-bezier(0.4, 0, 1, 1)",sharp:"cubic-bezier(0.4, 0, 0.6, 1)"},qp={shortest:150,shorter:200,short:250,standard:300,complex:375,enteringScreen:225,leavingScreen:195};function Da(e){return`${Math.round(e)}ms`}function Jp(e){if(!e)return 0;const t=e/36;return Math.min(Math.round((4+15*t**.25+t/5)*10),3e3)}function Kp(e){const t={...Yp,...e.easing},n={...qp,...e.duration};return{getAutoHeightDuration:Jp,create:(i=["all"],o={})=>{const{duration:s=n.standard,easing:a=t.easeInOut,delay:c=0,...l}=o;if(process.env.NODE_ENV!=="production"){const u=h=>typeof h=="string",d=h=>!Number.isNaN(parseFloat(h));!u(i)&&!Array.isArray(i)&&console.error('MUI: Argument "props" must be a string or Array.'),!d(s)&&!u(s)&&console.error(`MUI: Argument "duration" must be a number or a string but found ${s}.`),u(a)||console.error('MUI: Argument "easing" must be a string.'),!d(c)&&!u(c)&&console.error('MUI: Argument "delay" must be a number or a string.'),typeof o!="object"&&console.error(["MUI: Secong argument of transition.create must be an object.","Arguments should be either `create('prop1', options)` or `create(['prop1', 'prop2'], options)`"].join(`
+`)),Object.keys(l).length!==0&&console.error(`MUI: Unrecognized argument(s) [${Object.keys(l).join(",")}].`)}return(Array.isArray(i)?i:[i]).map(u=>`${u} ${typeof s=="string"?s:Da(s)} ${a} ${typeof c=="string"?c:Da(c)}`).join(",")},...e,easing:t,duration:n}}const Xp={mobileStepper:1e3,fab:1050,speedDial:1050,appBar:1100,drawer:1200,modal:1300,snackbar:1400,tooltip:1500};function Zp(e){return rt(e)||typeof e>"u"||typeof e=="string"||typeof e=="boolean"||typeof e=="number"||Array.isArray(e)}function tu(e={}){const t={...e};function n(r){const i=Object.entries(r);for(let o=0;o<i.length;o++){const[s,a]=i[o];!Zp(a)||s.startsWith("unstable_")?delete r[s]:rt(a)&&(r[s]={...a},n(r[s]))}}return n(t),`import { unstable_createBreakpoints as createBreakpoints, createTransitions } from '@mui/material/styles';
+
+const theme = ${JSON.stringify(t,null,2)};
+
+theme.breakpoints = createBreakpoints(theme.breakpoints || {});
+theme.transitions = createTransitions(theme.transitions || {});
+
+export default theme;`}function Ho(e={},...t){const{breakpoints:n,mixins:r={},spacing:i,palette:o={},transitions:s={},typography:a={},shape:c,...l}=e;if(e.vars&&e.generateThemeVars===void 0)throw new Error(process.env.NODE_ENV!=="production"?"MUI: `vars` is a private field used for CSS variables support.\nPlease use another name or follow the [docs](https://mui.com/material-ui/customization/css-theme-variables/usage/) to enable the feature.":At(20));const u=ys(o),d=Ii(e);let h=Oe(d,{mixins:Fp(d.breakpoints,r),palette:u,shadows:Hp.slice(),typography:Vp(u,a),transitions:Kp(s),zIndex:{...Xp}});if(h=Oe(h,l),h=t.reduce((f,m)=>Oe(f,m),h),process.env.NODE_ENV!=="production"){const f=["active","checked","completed","disabled","error","expanded","focused","focusVisible","required","selected"],m=(p,b)=>{let v;for(v in p){const M=p[v];if(f.includes(v)&&Object.keys(M).length>0){if(process.env.NODE_ENV!=="production"){const S=In("",v);console.error([`MUI: The \`${b}\` component increases the CSS specificity of the \`${v}\` internal state.`,"You can not override it like this: ",JSON.stringify(p,null,2),"",`Instead, you need to use the '&.${S}' syntax:`,JSON.stringify({root:{[`&.${S}`]:M}},null,2),"","https://mui.com/r/state-classes-guide"].join(`
+`))}p[v]={}}}};Object.keys(h.components).forEach(p=>{const b=h.components[p].styleOverrides;b&&p.startsWith("Mui")&&m(b,p)})}return h.unstable_sxConfig={...cr,...l==null?void 0:l.unstable_sxConfig},h.unstable_sx=function(m){return En({sx:m,theme:this})},h.toRuntimeSource=tu,h}function Qp(e){let t;return e<1?t=5.11916*e**2:t=4.5*Math.log(e+1)+2,Math.round(t*10)/1e3}const em=[...Array(25)].map((e,t)=>{if(t===0)return"none";const n=Qp(t);return`linear-gradient(rgba(255 255 255 / ${n}), rgba(255 255 255 / ${n}))`});function nu(e){return{inputPlaceholder:e==="dark"?.5:.42,inputUnderline:e==="dark"?.7:.42,switchTrackDisabled:e==="dark"?.2:.12,switchTrack:e==="dark"?.3:.38}}function ru(e){return e==="dark"?em:[]}function tm(e){const{palette:t={mode:"light"},opacity:n,overlays:r,...i}=e,o=ys(t);return{palette:o,opacity:{...nu(o.mode),...n},overlays:r||ru(o.mode),...i}}function nm(e){var t;return!!e[0].match(/(cssVarPrefix|colorSchemeSelector|rootSelector|typography|mixins|breakpoints|direction|transitions)/)||!!e[0].match(/sxConfig$/)||e[0]==="palette"&&!!((t=e[1])!=null&&t.match(/(mode|contrastThreshold|tonalOffset)/))}const rm=e=>[...[...Array(25)].map((t,n)=>`--${e?`${e}-`:""}overlays-${n}`),`--${e?`${e}-`:""}palette-AppBar-darkBg`,`--${e?`${e}-`:""}palette-AppBar-darkColor`],im=e=>(t,n)=>{const r=e.rootSelector||":root",i=e.colorSchemeSelector;let o=i;if(i==="class"&&(o=".%s"),i==="data"&&(o="[data-%s]"),i!=null&&i.startsWith("data-")&&!i.includes("%s")&&(o=`[${i}="%s"]`),e.defaultColorScheme===t){if(t==="dark"){const s={};return rm(e.cssVarPrefix).forEach(a=>{s[a]=n[a],delete n[a]}),o==="media"?{[r]:n,"@media (prefers-color-scheme: dark)":{[r]:s}}:o?{[o.replace("%s",t)]:s,[`${r}, ${o.replace("%s",t)}`]:n}:{[r]:{...n,...s}}}if(o&&o!=="media")return`${r}, ${o.replace("%s",String(t))}`}else if(t){if(o==="media")return{[`@media (prefers-color-scheme: ${String(t)})`]:{[r]:n}};if(o)return o.replace("%s",String(t))}return r};function om(e,t){t.forEach(n=>{e[n]||(e[n]={})})}function D(e,t,n){!e[t]&&n&&(e[t]=n)}function Gn(e){return typeof e!="string"||!e.startsWith("hsl")?e:Zc(e)}function ft(e,t){`${t}Channel`in e||(e[`${t}Channel`]=Vn(Gn(e[t]),`MUI: Can't create \`palette.${t}Channel\` because \`palette.${t}\` is not one of these formats: #nnn, #nnnnnn, rgb(), rgba(), hsl(), hsla(), color().
+To suppress this warning, you need to explicitly provide the \`palette.${t}Channel\` as a string (in rgb format, for example "12 12 12") or undefined if you want to remove the channel token.`))}function sm(e){return typeof e=="number"?`${e}px`:typeof e=="string"||typeof e=="function"||Array.isArray(e)?e:"8px"}const et=e=>{try{return e()}catch{}},am=(e="mui")=>bp(e);function go(e,t,n,r){if(!t)return;t=t===!0?{}:t;const i=r==="dark"?"dark":"light";if(!n){e[r]=tm({...t,palette:{mode:i,...t==null?void 0:t.palette}});return}const{palette:o,...s}=Ho({...n,palette:{mode:i,...t==null?void 0:t.palette}});return e[r]={...t,palette:o,opacity:{...nu(i),...t==null?void 0:t.opacity},overlays:(t==null?void 0:t.overlays)||ru(i)},s}function lm(e={},...t){const{colorSchemes:n={light:!0},defaultColorScheme:r,disableCssColorScheme:i=!1,cssVarPrefix:o="mui",shouldSkipGeneratingVar:s=nm,colorSchemeSelector:a=n.light&&n.dark?"media":void 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+ * @license React
+ * use-sync-external-store-shim.production.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var Ga;function Nm(){if(Ga)return xo;Ga=1;var e=$;function t(d,h){return d===h&&(d!==0||1/d===1/h)||d!==d&&h!==h}var n=typeof Object.is=="function"?Object.is:t,r=e.useState,i=e.useEffect,o=e.useLayoutEffect,s=e.useDebugValue;function a(d,h){var f=h(),m=r({inst:{value:f,getSnapshot:h}}),p=m[0].inst,b=m[1];return o(function(){p.value=f,p.getSnapshot=h,c(p)&&b({inst:p})},[d,f,h]),i(function(){return c(p)&&b({inst:p}),d(function(){c(p)&&b({inst:p})})},[d]),s(f),f}function c(d){var h=d.getSnapshot;d=d.value;try{var f=h();return!n(d,f)}catch{return!0}}function l(d,h){return h()}var u=typeof window>"u"||typeof window.document>"u"||typeof window.document.createElement>"u"?l:a;return xo.useSyncExternalStore=e.useSyncExternalStore!==void 0?e.useSyncExternalStore:u,xo}var bo={};/**
+ * @license React
+ * use-sync-external-store-shim.development.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var Ua;function Lm(){return Ua||(Ua=1,process.env.NODE_ENV!=="production"&&function(){function e(f,m){return f===m&&(f!==0||1/f===1/m)||f!==f&&m!==m}function t(f,m){u||i.startTransition===void 0||(u=!0,console.error("You are using an outdated, pre-release alpha of React 18 that does not support useSyncExternalStore. The use-sync-external-store shim will not work correctly. Upgrade to a newer pre-release."));var p=m();if(!d){var b=m();o(p,b)||(console.error("The result of getSnapshot should be cached to avoid an infinite loop"),d=!0)}b=s({inst:{value:p,getSnapshot:m}});var v=b[0].inst,M=b[1];return c(function(){v.value=p,v.getSnapshot=m,n(v)&&M({inst:v})},[f,p,m]),a(function(){return n(v)&&M({inst:v}),f(function(){n(v)&&M({inst:v})})},[f]),l(p),p}function n(f){var m=f.getSnapshot;f=f.value;try{var p=m();return!o(f,p)}catch{return!0}}function r(f,m){return m()}typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart(Error());var i=$,o=typeof Object.is=="function"?Object.is:e,s=i.useState,a=i.useEffect,c=i.useLayoutEffect,l=i.useDebugValue,u=!1,d=!1,h=typeof window>"u"||typeof window.document>"u"||typeof window.document.createElement>"u"?r:t;bo.useSyncExternalStore=i.useSyncExternalStore!==void 0?i.useSyncExternalStore:h,typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop(Error())}()),bo}var Wa;function lu(){return Wa||(Wa=1,process.env.NODE_ENV==="production"?jr.exports=Nm():jr.exports=Lm()),jr.exports}/**
+ * @license React
+ * use-sync-external-store-shim/with-selector.production.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var Ha;function zm(){if(Ha)return yo;Ha=1;var e=$,t=lu();function n(l,u){return l===u&&(l!==0||1/l===1/u)||l!==l&&u!==u}var r=typeof Object.is=="function"?Object.is:n,i=t.useSyncExternalStore,o=e.useRef,s=e.useEffect,a=e.useMemo,c=e.useDebugValue;return yo.useSyncExternalStoreWithSelector=function(l,u,d,h,f){var m=o(null);if(m.current===null){var p={hasValue:!1,value:null};m.current=p}else p=m.current;m=a(function(){function v(w){if(!M){if(M=!0,S=w,w=h(w),f!==void 0&&p.hasValue){var E=p.value;if(f(E,w))return T=E}return T=w}if(E=T,r(S,w))return E;var j=h(w);return f!==void 0&&f(E,j)?(S=w,E):(S=w,T=j)}var M=!1,S,T,C=d===void 0?null:d;return[function(){return v(u())},C===null?void 0:function(){return v(C())}]},[u,d,h,f]);var b=i(l,m[0],m[1]);return s(function(){p.hasValue=!0,p.value=b},[b]),c(b),b},yo}var vo={};/**
+ * @license React
+ * use-sync-external-store-shim/with-selector.development.js
+ *
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */var Ya;function Fm(){return Ya||(Ya=1,process.env.NODE_ENV!=="production"&&function(){function e(l,u){return l===u&&(l!==0||1/l===1/u)||l!==l&&u!==u}typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart(Error());var t=$,n=lu(),r=typeof Object.is=="function"?Object.is:e,i=n.useSyncExternalStore,o=t.useRef,s=t.useEffect,a=t.useMemo,c=t.useDebugValue;vo.useSyncExternalStoreWithSelector=function(l,u,d,h,f){var m=o(null);if(m.current===null){var p={hasValue:!1,value:null};m.current=p}else p=m.current;m=a(function(){function v(w){if(!M){if(M=!0,S=w,w=h(w),f!==void 0&&p.hasValue){var E=p.value;if(f(E,w))return T=E}return T=w}if(E=T,r(S,w))return E;var j=h(w);return f!==void 0&&f(E,j)?(S=w,E):(S=w,T=j)}var M=!1,S,T,C=d===void 0?null:d;return[function(){return v(u())},C===null?void 0:function(){return v(C())}]},[u,d,h,f]);var b=i(l,m[0],m[1]);return 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L({},e,{series:(t=e.series)!=null&&t.length?e.series:fg,colors:e.colors??pu,theme:e.theme??"light"})};Di.getInitialState=({series:e=[],colors:t,theme:n,dataset:r},i,o)=>({series:{seriesConfig:o,processedSeries:mu({series:e,colors:typeof t=="function"?t(n):t,seriesConfig:o,dataset:r})}});const gu=e=>e.series,dr=X([gu],e=>e.processedSeries),$i=X([gu],e=>e.seriesConfig),pg={abort:!0,animationcancel:!0,animationend:!0,animationiteration:!0,animationstart:!0,auxclick:!0,beforeinput:!0,beforetoggle:!0,blur:!0,cancel:!0,canplay:!0,canplaythrough:!0,change:!0,click:!0,close:!0,compositionend:!0,compositionstart:!0,compositionupdate:!0,contextlost:!0,contextmenu:!0,contextrestored:!0,copy:!0,cuechange:!0,cut:!0,dblclick:!0,drag:!0,dragend:!0,dragenter:!0,dragleave:!0,dragover:!0,dragstart:!0,drop:!0,durationchange:!0,emptied:!0,ended:!0,error:!0,focus:!0,focusin:!0,focusout:!0,formdata:!0,gotpointercapture:!0,input:!0,invalid:!0,keydown:!0,keypress:!0,keyup:!0,load:!0,loadeddata:!0,loadedmetadata:!0,loadstart:!0,lostpointercapture:!0,mousedown:!0,mouseenter:!0,mouseleave:!0,mousemove:!0,mouseout:!0,mouseover:!0,mouseup:!0,paste:!0,pause:!0,play:!0,playing:!0,pointercancel:!0,pointerdown:!0,pointerenter:!0,pointerleave:!0,pointermove:!0,pointerout:!0,pointerover:!0,pointerup:!0,progress:!0,ratechange:!0,reset:!0,resize:!0,scroll:!0,scrollend:!0,securitypolicyviolation:!0,seeked:!0,seeking:!0,select:!0,selectionchange:!0,selectstart:!0,slotchange:!0,stalled:!0,submit:!0,suspend:!0,timeupdate:!0,toggle:!0,touchcancel:!0,touchend:!0,touchmove:!0,touchstart:!0,transitioncancel:!0,transitionend:!0,transitionrun:!0,transitionstart:!0,volumechange:!0,waiting:!0,webkitanimationend:!0,webkitanimationiteration:!0,webkitanimationstart:!0,webkittransitionend:!0,wheel:!0};class yu{constructor(t){if(this.name=void 0,this.preventDefault=void 0,this.stopPropagation=void 0,this.preventIf=void 0,this.requiredKeys=void 0,this.keyboardManager=void 0,this.pointerMode=void 0,this.customData={},this.pointerManager=void 0,this.gesturesRegistry=void 0,this.element=void 0,this.state=void 0,this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,!t||!t.name)throw new Error("Gesture must be initialized with a valid name.");if(t.name in pg)throw new Error(`Gesture can't be created with a native event name. Tried to use "${t.name}". Please use a custom name instead.`);this.name=t.name,this.preventDefault=t.preventDefault??!1,this.stopPropagation=t.stopPropagation??!1,this.preventIf=t.preventIf??[],this.requiredKeys=t.requiredKeys??[],this.pointerMode=t.pointerMode??[]}init(t,n,r,i){this.element=t,this.pointerManager=n,this.gesturesRegistry=r,this.keyboardManager=i;const o=`${this.name}ChangeOptions`;this.element.addEventListener(o,this.handleOptionsChange.bind(this));const s=`${this.name}ChangeState`;this.element.addEventListener(s,this.handleStateChange.bind(this))}handleOptionsChange(t){t&&t.detail&&this.updateOptions(t.detail)}updateOptions(t){this.preventDefault=t.preventDefault??this.preventDefault,this.stopPropagation=t.stopPropagation??this.stopPropagation,this.preventIf=t.preventIf??this.preventIf,this.requiredKeys=t.requiredKeys??this.requiredKeys,this.pointerMode=t.pointerMode??this.pointerMode}handleStateChange(t){t&&t.detail&&this.updateState(t.detail)}updateState(t){Object.assign(this.state,t)}getTargetElement(t){return this.isActive||this.element===t.target||this.element.contains(t.target)?this.element:null}set isActive(t){t?this.gesturesRegistry.registerActiveGesture(this.element,this):this.gesturesRegistry.unregisterActiveGesture(this.element,this)}get isActive(){return this.gesturesRegistry.isGestureActive(this.element,this)??!1}shouldPreventGesture(t){if(!this.keyboardManager.areKeysPressed(this.requiredKeys))return!0;if(this.preventIf.length===0)return!1;const n=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(r=>n[r])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange.bind(this));const n=`${this.name}ChangeState`;this.element.removeEventListener(n,this.handleStateChange.bind(this))}}class mg{constructor(){this.activeGestures=new Map}registerActiveGesture(t,n){this.activeGestures.has(t)||this.activeGestures.set(t,new Set);const r=this.activeGestures.get(t),i={gesture:n,element:t};r.add(i)}unregisterActiveGesture(t,n){const r=this.activeGestures.get(t);r&&(r.forEach(i=>{i.gesture===n&&r.delete(i)}),r.size===0&&this.activeGestures.delete(t))}getActiveGestures(t){const n=this.activeGestures.get(t);return n?Array.from(n).reduce((r,i)=>(r[i.gesture.name]=!0,r),{}):{}}isGestureActive(t,n){const r=this.activeGestures.get(t);return r?Array.from(r).some(i=>i.gesture===n):!1}destroy(){this.activeGestures.clear()}unregisterElement(t){this.activeGestures.delete(t)}}class gg{constructor(){this.pressedKeys=new Set,this.handleKeyDown=t=>{this.pressedKeys.add(t.key)},this.handleKeyUp=t=>{this.pressedKeys.delete(t.key)},this.clearKeys=()=>{this.pressedKeys.clear()},this.initialize()}initialize(){typeof window>"u"||(window.addEventListener("keydown",this.handleKeyDown),window.addEventListener("keyup",this.handleKeyUp),window.addEventListener("blur",this.clearKeys))}areKeysPressed(t){return!t||t.length===0?!0:t.every(n=>n==="ControlOrMeta"?this.pressedKeys.has("Control")||this.pressedKeys.has("Meta"):this.pressedKeys.has(n))}destroy(){typeof window<"u"&&(window.removeEventListener("keydown",this.handleKeyDown),window.removeEventListener("keyup",this.handleKeyUp),window.removeEventListener("blur",this.clearKeys)),this.clearKeys()}}class yg{constructor(t){this.root=void 0,this.touchAction=void 0,this.passive=void 0,this.preventEventInterruption=!0,this.pointers=new Map,this.gestureHandlers=new Set,this.handleInterruptEvents=n=>{if(this.preventEventInterruption&&"pointerType"in n&&n.pointerType==="touch"){n.preventDefault();return}const r=new PointerEvent("forceCancel",{bubbles:!1,cancelable:!1}),i=this.pointers.values().next().value;if(this.pointers.size>0&&i){Object.defineProperties(r,{clientX:{value:i.clientX},clientY:{value:i.clientY},pointerId:{value:i.pointerId},pointerType:{value:i.pointerType}});for(const[o,s]of this.pointers.entries()){const a=L({},s,{type:"forceCancel"});this.pointers.set(o,a)}}this.notifyHandlers(r),this.pointers.clear()},this.handlePointerEvent=n=>{const{type:r,pointerId:i}=n;if(r==="pointerdown"){if(this.pointers.set(i,this.createPointerData(n)),n.target instanceof Element)try{n.target.setPointerCapture(i)}catch{}}else if(r==="pointermove")this.pointers.set(i,this.createPointerData(n));else if(r==="pointerup"||r==="pointercancel"||r==="forceCancel"){if(n.target instanceof Element)try{n.target.releasePointerCapture(i)}catch{}this.pointers.set(i,this.createPointerData(n)),this.notifyHandlers(n),this.pointers.delete(i);return}this.notifyHandlers(n)},this.root=t.root??document.documentElement,this.touchAction=t.touchAction||"auto",this.passive=t.passive!==!1,this.preventEventInterruption=t.preventEventInterruption!==!1,this.setupEventListeners()}registerGestureHandler(t){return this.gestureHandlers.add(t),()=>{this.gestureHandlers.delete(t)}}getPointers(){return new Map(this.pointers)}setupEventListeners(){this.touchAction!=="auto"&&(this.root.style.touchAction=this.touchAction),this.root.addEventListener("pointerdown",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointermove",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointerup",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("pointercancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("forceCancel",this.handlePointerEvent,{passive:this.passive}),this.root.addEventListener("blur",this.handleInterruptEvents),this.root.addEventListener("contextmenu",this.handleInterruptEvents)}notifyHandlers(t){this.gestureHandlers.forEach(n=>n(this.pointers,t))}createPointerData(t){return{pointerId:t.pointerId,clientX:t.clientX,clientY:t.clientY,pageX:t.pageX,pageY:t.pageY,target:t.target,timeStamp:t.timeStamp,type:t.type,isPrimary:t.isPrimary,pressure:t.pressure,width:t.width,height:t.height,pointerType:t.pointerType,srcEvent:t}}destroy(){this.root.removeEventListener("pointerdown",this.handlePointerEvent),this.root.removeEventListener("pointermove",this.handlePointerEvent),this.root.removeEventListener("pointerup",this.handlePointerEvent),this.root.removeEventListener("pointercancel",this.handlePointerEvent),this.root.removeEventListener("forceCancel",this.handlePointerEvent),this.root.removeEventListener("blur",this.handleInterruptEvents),this.root.removeEventListener("contextmenu",this.handleInterruptEvents),this.pointers.clear(),this.gestureHandlers.clear()}}class xg{constructor(t){this.gestureTemplates=new Map,this.elementGestureMap=new Map,this.activeGesturesRegistry=new mg,this.pointerManager=void 0,this.keyboardManager=new gg,this.pointerManager=new yg({root:t.root,touchAction:t.touchAction,passive:t.passive}),t.gestures&&t.gestures.length>0&&t.gestures.forEach(n=>{this.addGestureTemplate(n)})}addGestureTemplate(t){this.gestureTemplates.has(t.name)&&console.warn(`Gesture template with name "${t.name}" already exists. It will be overwritten.`),this.gestureTemplates.set(t.name,t)}setGestureOptions(t,n,r){const i=this.elementGestureMap.get(n);if(!i||!i.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeOptions`,{detail:r,bubbles:!1,cancelable:!1});n.dispatchEvent(o)}setGestureState(t,n,r){const i=this.elementGestureMap.get(n);if(!i||!i.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeState`,{detail:r,bubbles:!1,cancelable:!1});n.dispatchEvent(o)}registerElement(t,n,r){if(Array.isArray(t))return t.forEach(o=>{const s=r==null?void 0:r[o];this.registerSingleGesture(o,n,s)}),n;const i=r==null?void 0:r[t];return this.registerSingleGesture(t,n,i),n}registerSingleGesture(t,n,r){const i=this.gestureTemplates.get(t);if(!i)return console.error(`Gesture template "${t}" not found.`),!1;this.elementGestureMap.has(n)||this.elementGestureMap.set(n,new Map);const o=this.elementGestureMap.get(n);o.has(t)&&(console.warn(`Element already has gesture "${t}" registered. It will be replaced.`),this.unregisterElement(t,n));const s=i.clone(r);return s.init(n,this.pointerManager,this.activeGesturesRegistry,this.keyboardManager),o.set(t,s),!0}unregisterElement(t,n){const r=this.elementGestureMap.get(n);return!r||!r.has(t)?!1:(r.get(t).destroy(),r.delete(t),this.activeGesturesRegistry.unregisterElement(n),r.size===0&&this.elementGestureMap.delete(n),!0)}unregisterAllGestures(t){const n=this.elementGestureMap.get(t);if(n){for(const[,r]of n)r.destroy(),this.activeGesturesRegistry.unregisterElement(t);this.elementGestureMap.delete(t)}}destroy(){for(const[t]of this.elementGestureMap)this.unregisterAllGestures(t);this.gestureTemplates.clear(),this.elementGestureMap.clear(),this.activeGesturesRegistry.destroy(),this.keyboardManager.destroy()}}class hr extends yu{constructor(t){super(t),this.unregisterHandler=null,this.originalTarget=null,this.optionsType=void 0,this.mutableOptionsType=void 0,this.minPointers=void 0,this.maxPointers=void 0,this.minPointers=t.minPointers??1,this.maxPointers=t.maxPointers??1/0}init(t,n,r,i){super.init(t,n,r,i),this.unregisterHandler=this.pointerManager.registerGestureHandler((o,s)=>this.handlePointerEvent(o,s))}updateOptions(t){super.updateOptions(t),this.minPointers=t.minPointers??this.minPointers,this.maxPointers=t.maxPointers??this.maxPointers}getRelevantPointers(t,n){return t.filter(r=>this.isPointerTypeAllowed(r.pointerType)&&(n===r.target||r.target===this.originalTarget||n===this.originalTarget||n.contains(r.target)))}destroy(){this.unregisterHandler&&(this.unregisterHandler(),this.unregisterHandler=null),super.destroy()}}function bg(e,t){const n=t.x-e.x,r=t.y-e.y;return Math.sqrt(n*n+r*r)}function So(e){if(e.length<2)return 0;let t=0,n=0;for(let r=0;r<e.length;r+=1)for(let i=r+1;i<e.length;i+=1)t+=bg({x:e[r].clientX,y:e[r].clientY},{x:e[i].clientX,y:e[i].clientY}),n+=1;return n>0?t/n:0}function bt(e){if(e.length===0)return{x:0,y:0};const t=e.reduce((n,r)=>(n.x+=r.clientX,n.y+=r.clientY,n),{x:0,y:0});return{x:t.x/e.length,y:t.y/e.length}}function On(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Ir=1e-5,Rt=1e-5,Ka=.15;function vg(e,t){const n=t.x-e.x,r=t.y-e.y,i={vertical:null,horizontal:null,mainAxis:null},o=Sg(t,e),s=Math.abs(n)>Math.abs(r)?"horizontal":"vertical",a=o||s==="horizontal"?Ir:Ka,c=o?Ir:s==="horizontal"?Ka:Ir;return Math.abs(n)>a&&(i.horizontal=n>0?"right":"left"),Math.abs(r)>c&&(i.vertical=r>0?"down":"up"),i.mainAxis=o?"diagonal":s,i}function Sg(e,t){const n=t.x-e.x,r=t.y-e.y,i=Math.atan2(r,n)*180/Math.PI;return i>=-45+Rt&&i<=-22.5+Rt||i>=22.5+Rt&&i<=45+Rt||i>=135+Rt&&i<=157.5+Rt||i>=-157.5+Rt&&i<=-135+Rt}function Eg(e,t){if(!e.vertical&&!e.horizontal)return!1;if(t.length===0)return!0;const n=e.vertical===null||t.includes(e.vertical),r=e.horizontal===null||t.includes(e.horizontal);return n&&r}const wg=0,Tg=e=>e>wg?1:e<-0?-1:0;class Es extends hr{constructor(t){super(t),this.state={lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.handleElementEnterBound=void 0,this.handleElementLeaveBound=void 0,this.handleElementEnterBound=this.handleElementEnter.bind(this),this.handleElementLeaveBound=this.handleElementLeave.bind(this),this.threshold=t.threshold||0}clone(t){return new Es(L({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}init(t,n,r,i){super.init(t,n,r,i),this.element.addEventListener("pointerenter",this.handleElementEnterBound),this.element.addEventListener("pointerleave",this.handleElementLeaveBound)}destroy(){this.element.removeEventListener("pointerenter",this.handleElementEnterBound),this.element.removeEventListener("pointerleave",this.handleElementLeaveBound),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state={lastPosition:null}}handleElementEnter(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen")return;const n=this.pointerManager.getPointers()||new Map,r=Array.from(n.values());if(r.length>=this.minPointers&&r.length<=this.maxPointers){this.isActive=!0;const i={x:t.clientX,y:t.clientY};this.state.lastPosition=i,this.emitMoveEvent(this.element,"start",r,t),this.emitMoveEvent(this.element,"ongoing",r,t)}}handleElementLeave(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen"||!this.isActive)return;const n=this.pointerManager.getPointers()||new Map,r=Array.from(n.values());this.emitMoveEvent(this.element,"end",r,t),this.resetState()}handlePointerEvent(t,n){if(n.type!=="pointermove"||n.pointerType!=="mouse"&&n.pointerType!=="pen")return;this.preventDefault&&n.preventDefault(),this.stopPropagation&&n.stopPropagation();const r=Array.from(t.values()),i=this.getTargetElement(n);if(!i||r.length<this.minPointers||r.length>this.maxPointers)return;if(this.shouldPreventGesture(i)){if(!this.isActive)return;this.resetState(),this.emitMoveEvent(i,"end",r,n);return}const o={x:n.clientX,y:n.clientY};this.state.lastPosition=o,this.isActive||(this.isActive=!0,this.emitMoveEvent(i,"start",r,n)),this.emitMoveEvent(i,"ongoing",r,n)}emitMoveEvent(t,n,r,i){const o=this.state.lastPosition||bt(r),s=this.gesturesRegistry.getActiveGestures(t),a={gestureName:this.name,centroid:o,target:i.target,srcEvent:i,phase:n,pointers:r,timeStamp:i.timeStamp,activeGestures:s,customData:this.customData},c=On(this.name,n),l=new CustomEvent(c,{bubbles:!0,cancelable:!0,detail:a});t.dispatchEvent(l)}}class ws extends hr{constructor(t){super(t),this.state={startPointers:new Map,startCentroid:null,lastCentroid:null,movementThresholdReached:!1,totalDeltaX:0,totalDeltaY:0,activeDeltaX:0,activeDeltaY:0,lastDirection:{vertical:null,horizontal:null,mainAxis:null},lastDeltas:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.direction=void 0,this.direction=t.direction||["up","down","left","right"],this.threshold=t.threshold||0}clone(t){return new ws(L({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,direction:[...this.direction],requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.direction=t.direction||this.direction}resetState(){this.isActive=!1,this.state=L({},this.state,{startPointers:new Map,startCentroid:null,lastCentroid:null,lastDeltas:null,activeDeltaX:0,activeDeltaY:0,movementThresholdReached:!1,lastDirection:{vertical:null,horizontal:null,mainAxis:null}})}handlePointerEvent(t,n){const r=Array.from(t.values());if(n.type==="forceCancel"){this.cancel(n.target,r,n);return}const i=this.getTargetElement(n);if(!i)return;if(this.shouldPreventGesture(i)){this.cancel(i,r,n);return}const o=this.getRelevantPointers(r,i);if(o.length<this.minPointers||o.length>this.maxPointers){this.cancel(i,o,n);return}switch(n.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(o.forEach(s=>{this.state.startPointers.set(s.pointerId,s)}),this.originalTarget=i,this.state.startCentroid=bt(o),this.state.lastCentroid=L({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&o.length>=this.minPointers){const s=bt(o),a=s.x-this.state.startCentroid.x,c=s.y-this.state.startCentroid.y,l=Math.sqrt(a*a+c*c),u=vg(this.state.lastCentroid??this.state.startCentroid,s),d=this.state.lastCentroid?s.x-this.state.lastCentroid.x:0,h=this.state.lastCentroid?s.y-this.state.lastCentroid.y:0;!this.state.movementThresholdReached&&l>=this.threshold&&Eg(u,this.direction)?(this.state.movementThresholdReached=!0,this.isActive=!0,this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(i,"start",o,n,s),this.emitPanEvent(i,"ongoing",o,n,s)):this.state.movementThresholdReached&&this.isActive&&(this.state.lastDeltas={x:d,y:h},this.state.totalDeltaX+=d,this.state.totalDeltaY+=h,this.state.activeDeltaX+=d,this.state.activeDeltaY+=h,this.emitPanEvent(i,"ongoing",o,n,s)),this.state.lastCentroid=s,this.state.lastDirection=u}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive&&this.state.movementThresholdReached){if(o.filter(s=>s.type!=="pointerup"&&s.type!=="pointercancel").length<this.minPointers){const s=this.state.lastCentroid||this.state.startCentroid;n.type==="pointercancel"&&this.emitPanEvent(i,"cancel",o,n,s),this.emitPanEvent(i,"end",o,n,s),this.resetState()}}else this.resetState();break}}emitPanEvent(t,n,r,i,o){var v,M;if(!this.state.startCentroid)return;const s=((v=this.state.lastDeltas)==null?void 0:v.x)??0,a=((M=this.state.lastDeltas)==null?void 0:M.y)??0,c=this.state.startPointers.values().next().value,l=c?(i.timeStamp-c.timeStamp)/1e3:0,u=l>0?s/l:0,d=l>0?a/l:0,h=Math.sqrt(u*u+d*d),f=this.gesturesRegistry.getActiveGestures(t),m={gestureName:this.name,initialCentroid:this.state.startCentroid,centroid:o,target:i.target,srcEvent:i,phase:n,pointers:r,timeStamp:i.timeStamp,deltaX:s,deltaY:a,direction:this.state.lastDirection,velocityX:u,velocityY:d,velocity:h,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,activeDeltaX:this.state.activeDeltaX,activeDeltaY:this.state.activeDeltaY,activeGestures:f,customData:this.customData},p=On(this.name,n),b=new CustomEvent(p,{bubbles:!0,cancelable:!0,detail:m});t.dispatchEvent(b),this.preventDefault&&i.preventDefault(),this.stopPropagation&&i.stopPropagation()}cancel(t,n,r){if(this.isActive){const i=t??this.element;this.emitPanEvent(i,"cancel",n,r,this.state.lastCentroid),this.emitPanEvent(i,"end",n,r,this.state.lastCentroid)}this.resetState()}}class Ts extends hr{constructor(t){super(L({},t,{minPointers:t.minPointers??2})),this.state={startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,totalScale:1,deltaScale:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.threshold=void 0,this.threshold=t.threshold??0}clone(t){return new Ts(L({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,threshold:this.threshold,minPointers:this.minPointers,maxPointers:this.maxPointers,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t)}resetState(){this.isActive=!1,this.state=L({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}handlePointerEvent(t,n){const r=Array.from(t.values()),i=this.getTargetElement(n);if(!i)return;if(this.shouldPreventGesture(i)){this.isActive&&(this.emitPinchEvent(i,"cancel",r,n),this.resetState());return}const o=this.getRelevantPointers(r,i);switch(n.type){case"pointerdown":if(o.length>=2&&!this.isActive){const s=So(o);this.state.startDistance=s,this.state.lastDistance=s,this.state.lastTime=n.timeStamp,this.originalTarget=i}break;case"pointermove":if(this.state.startDistance&&o.length>=this.minPointers){const s=So(o),a=Math.abs(s-this.state.lastDistance);if(a!==0&&a>=this.threshold){const c=this.state.startDistance?s/this.state.startDistance:1,l=c/this.state.lastScale;this.state.totalScale*=l;const u=(n.timeStamp-this.state.lastTime)/1e3;if(this.state.lastDistance){const h=(s-this.state.lastDistance)/u;this.state.velocity=Number.isNaN(h)?0:h}this.state.lastDistance=s,this.state.deltaScale=c-this.state.lastScale,this.state.lastScale=c,this.state.lastTime=n.timeStamp,this.isActive?this.emitPinchEvent(i,"ongoing",o,n):(this.isActive=!0,this.emitPinchEvent(i,"start",o,n),this.emitPinchEvent(i,"ongoing",o,n))}}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive){const s=o.filter(a=>a.type!=="pointerup"&&a.type!=="pointercancel");if(s.length<this.minPointers)n.type==="pointercancel"&&this.emitPinchEvent(i,"cancel",o,n),this.emitPinchEvent(i,"end",o,n),this.resetState();else if(s.length>=2){const a=So(s);this.state.startDistance=a/this.state.lastScale}}break}}emitPinchEvent(t,n,r,i){const o=bt(r),s=this.state.lastDistance,a=this.state.lastScale,c=this.gesturesRegistry.getActiveGestures(t),l={gestureName:this.name,centroid:o,target:i.target,srcEvent:i,phase:n,pointers:r,timeStamp:i.timeStamp,scale:a,deltaScale:this.state.deltaScale,totalScale:this.state.totalScale,distance:s,velocity:this.state.velocity,activeGestures:c,direction:Tg(this.state.velocity),customData:this.customData};this.preventDefault&&i.preventDefault(),this.stopPropagation&&i.stopPropagation();const u=On(this.name,n),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,detail:l});t.dispatchEvent(d)}}class Cs extends hr{constructor(t){super(t),this.state={startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.duration=void 0,this.maxDistance=void 0,this.duration=t.duration??500,this.maxDistance=t.maxDistance??10}clone(t){return new Cs(L({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,duration:this.duration,maxDistance:this.maxDistance,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.clearPressTimer(),this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.duration=t.duration??this.duration,this.maxDistance=t.maxDistance??this.maxDistance}resetState(){this.clearPressTimer(),this.isActive=!1,this.state=L({},this.state,{startCentroid:null,lastPosition:null,timerId:null,startTime:0,pressThresholdReached:!1})}clearPressTimer(){this.state.timerId!==null&&(clearTimeout(this.state.timerId),this.state.timerId=null)}handlePointerEvent(t,n){const r=Array.from(t.values());if(n.type==="forceCancel"){this.cancelPress(n.target,r,n);return}const i=this.getTargetElement(n);if(!i)return;if(this.shouldPreventGesture(i)){this.isActive&&this.cancelPress(i,r,n);return}const o=this.getRelevantPointers(r,i);if(o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelPress(i,o,n);return}switch(n.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(this.state.startCentroid=bt(o),this.state.lastPosition=L({},this.state.startCentroid),this.state.startTime=n.timeStamp,this.isActive=!0,this.originalTarget=i,this.clearPressTimer(),this.state.timerId=setTimeout(()=>{if(this.isActive&&this.state.startCentroid){this.state.pressThresholdReached=!0;const s=this.state.lastPosition;this.emitPressEvent(i,"start",o,n,s),this.emitPressEvent(i,"ongoing",o,n,s)}},this.duration));break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=bt(o);this.state.lastPosition=s;const a=s.x-this.state.startCentroid.x,c=s.y-this.state.startCentroid.y;Math.sqrt(a*a+c*c)>this.maxDistance&&this.cancelPress(i,o,n)}break;case"pointerup":if(this.isActive){if(this.state.pressThresholdReached){const s=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(i,"end",o,n,s)}this.resetState()}break;case"pointercancel":case"forceCancel":this.cancelPress(i,o,n);break}}emitPressEvent(t,n,r,i,o){const s=this.gesturesRegistry.getActiveGestures(t),a=i.timeStamp-this.state.startTime,c={gestureName:this.name,centroid:o,target:i.target,srcEvent:i,phase:n,pointers:r,timeStamp:i.timeStamp,x:o.x,y:o.y,duration:a,activeGestures:s,customData:this.customData},l=On(this.name,n),u=new CustomEvent(l,{bubbles:!0,cancelable:!0,detail:c});t.dispatchEvent(u),this.preventDefault&&i.preventDefault(),this.stopPropagation&&i.stopPropagation()}cancelPress(t,n,r){if(this.isActive&&this.state.pressThresholdReached){const i=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(t??this.element,"cancel",n,r,i),this.emitPressEvent(t??this.element,"end",n,r,i)}this.resetState()}}class _s extends hr{constructor(t){super(t),this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.maxDistance=void 0,this.taps=void 0,this.maxDistance=t.maxDistance??10,this.taps=t.taps??1}clone(t){return new _s(L({name:this.name,preventDefault:this.preventDefault,stopPropagation:this.stopPropagation,minPointers:this.minPointers,maxPointers:this.maxPointers,maxDistance:this.maxDistance,taps:this.taps,requiredKeys:[...this.requiredKeys],pointerMode:[...this.pointerMode],preventIf:[...this.preventIf]},t))}destroy(){this.resetState(),super.destroy()}updateOptions(t){super.updateOptions(t),this.maxDistance=t.maxDistance??this.maxDistance,this.taps=t.taps??this.taps}resetState(){this.isActive=!1,this.state={startCentroid:null,currentTapCount:0,lastTapTime:0,lastPosition:null}}handlePointerEvent(t,n){const r=Array.from(t.values()),i=this.getTargetElement(n);if(!i)return;const o=this.getRelevantPointers(r,i);if(this.shouldPreventGesture(i)||o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelTap(i,o,n);return}switch(n.type){case"pointerdown":this.isActive||(this.state.startCentroid=bt(o),this.state.lastPosition=L({},this.state.startCentroid),this.isActive=!0,this.originalTarget=i);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=bt(o);this.state.lastPosition=s;const a=s.x-this.state.startCentroid.x,c=s.y-this.state.startCentroid.y;Math.sqrt(a*a+c*c)>this.maxDistance&&this.cancelTap(i,o,n)}break;case"pointerup":if(this.isActive){this.state.currentTapCount+=1;const s=this.state.lastPosition||this.state.startCentroid;if(!s){this.cancelTap(i,o,n);return}this.state.currentTapCount>=this.taps?(this.fireTapEvent(i,o,n,s),this.resetState()):(this.state.lastTapTime=n.timeStamp,this.isActive=!1,this.state.startCentroid=null,setTimeout(()=>{this.state&&this.state.currentTapCount>0&&this.state.currentTapCount<this.taps&&(this.state.currentTapCount=0)},300))}break;case"pointercancel":case"forceCancel":this.cancelTap(i,o,n);break}}fireTapEvent(t,n,r,i){const o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:i,target:r.target,srcEvent:r,phase:"end",pointers:n,timeStamp:r.timeStamp,x:i.x,y:i.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},a=new CustomEvent(this.name,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(a),this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation()}cancelTap(t,n,r){if(this.state.startCentroid||this.state.lastPosition){const i=this.state.lastPosition||this.state.startCentroid,o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:i,target:r.target,srcEvent:r,phase:"cancel",pointers:n,timeStamp:r.timeStamp,x:i.x,y:i.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},a=On(this.name,"cancel"),c=new CustomEvent(a,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(c)}this.resetState()}}class Rs extends yu{constructor(t){super(t),this.state={totalDeltaX:0,totalDeltaY:0,totalDeltaZ:0},this.isSinglePhase=void 0,this.eventType=void 0,this.optionsType=void 0,this.mutableOptionsType=void 0,this.mutableStateType=void 0,this.sensitivity=void 0,this.max=void 0,this.min=void 0,this.initialDelta=void 0,this.invert=void 0,this.handleWheelEventBound=void 0,this.sensitivity=t.sensitivity??1,this.max=t.max??Number.MAX_SAFE_INTEGER,this.min=t.min??Number.MIN_SAFE_INTEGER,this.initialDelta=t.initialDelta??0,this.invert=t.invert??!1,this.state.totalDeltaX=this.initialDelta,this.state.totalDeltaY=this.initialDelta,this.state.totalDeltaZ=this.initialDelta,this.handleWheelEventBound=this.handleWheelEvent.bind(this)}clone(t){return new 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r=t.length>0?bt(t):{x:n.clientX,y:n.clientY},i=this.gesturesRegistry.getActiveGestures(this.element),o={gestureName:this.name,centroid:r,target:n.target,srcEvent:n,phase:"ongoing",pointers:t,timeStamp:n.timeStamp,deltaX:n.deltaX*this.sensitivity*(this.invert?-1:1),deltaY:n.deltaY*this.sensitivity*(this.invert?-1:1),deltaZ:n.deltaZ*this.sensitivity*(this.invert?-1:1),deltaMode:n.deltaMode,totalDeltaX:this.state.totalDeltaX,totalDeltaY:this.state.totalDeltaY,totalDeltaZ:this.state.totalDeltaZ,activeGestures:i,customData:this.customData};this.preventDefault&&n.preventDefault(),this.stopPropagation&&n.stopPropagation();const s=On(this.name,"ongoing"),a=new CustomEvent(s,{bubbles:!0,cancelable:!0,detail:o});this.element.dispatchEvent(a)}}const dn=e=>e.preventDefault(),Ms=({svgRef:e})=>{k.useEffect(()=>{const n=e.current;if(!n)return;const r=new xg({gestures:[new ws({name:"pan",threshold:0,maxPointers:1}),new Es({name:"move",preventIf:["pan","pinch"]}),new 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c=r[i+0],l=r[i+1],u=r[i+2],d=r[i+3];const h=o[s+0],f=o[s+1],m=o[s+2],p=o[s+3];if(a===0){t[n+0]=c,t[n+1]=l,t[n+2]=u,t[n+3]=d;return}if(a===1){t[n+0]=h,t[n+1]=f,t[n+2]=m,t[n+3]=p;return}if(d!==p||c!==h||l!==f||u!==m){let b=1-a;const v=c*h+l*f+u*m+d*p,M=v>=0?1:-1,S=1-v*v;if(S>Number.EPSILON){const C=Math.sqrt(S),w=Math.atan2(C,v*M);b=Math.sin(b*w)/C,a=Math.sin(a*w)/C}const T=a*M;if(c=c*b+h*T,l=l*b+f*T,u=u*b+m*T,d=d*b+p*T,b===1-a){const C=1/Math.sqrt(c*c+l*l+u*u+d*d);c*=C,l*=C,u*=C,d*=C}}t[n]=c,t[n+1]=l,t[n+2]=u,t[n+3]=d}static multiplyQuaternionsFlat(t,n,r,i,o,s){const a=r[i],c=r[i+1],l=r[i+2],u=r[i+3],d=o[s],h=o[s+1],f=o[s+2],m=o[s+3];return t[n]=a*m+u*d+c*f-l*h,t[n+1]=c*m+u*h+l*d-a*f,t[n+2]=l*m+u*f+a*h-c*d,t[n+3]=u*m-a*d-c*h-l*f,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,n,r,i){return this._x=t,this._y=n,this._z=r,this._w=i,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,n=!0){const r=t._x,i=t._y,o=t._z,s=t._order,a=Math.cos,c=Math.sin,l=a(r/2),u=a(i/2),d=a(o/2),h=c(r/2),f=c(i/2),m=c(o/2);switch(s){case"XYZ":this._x=h*u*d+l*f*m,this._y=l*f*d-h*u*m,this._z=l*u*m+h*f*d,this._w=l*u*d-h*f*m;break;case"YXZ":this._x=h*u*d+l*f*m,this._y=l*f*d-h*u*m,this._z=l*u*m-h*f*d,this._w=l*u*d+h*f*m;break;case"ZXY":this._x=h*u*d-l*f*m,this._y=l*f*d+h*u*m,this._z=l*u*m+h*f*d,this._w=l*u*d-h*f*m;break;case"ZYX":this._x=h*u*d-l*f*m,this._y=l*f*d+h*u*m,this._z=l*u*m-h*f*d,this._w=l*u*d+h*f*m;break;case"YZX":this._x=h*u*d+l*f*m,this._y=l*f*d+h*u*m,this._z=l*u*m-h*f*d,this._w=l*u*d-h*f*m;break;case"XZY":this._x=h*u*d-l*f*m,this._y=l*f*d-h*u*m,this._z=l*u*m+h*f*d,this._w=l*u*d+h*f*m;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return n===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,n){const r=n/2,i=Math.sin(r);return this._x=t.x*i,this._y=t.y*i,this._z=t.z*i,this._w=Math.cos(r),this._onChangeCallback(),this}setFromRotationMatrix(t){const n=t.elements,r=n[0],i=n[4],o=n[8],s=n[1],a=n[5],c=n[9],l=n[2],u=n[6],d=n[10],h=r+a+d;if(h>0){const f=.5/Math.sqrt(h+1);this._w=.25/f,this._x=(u-c)*f,this._y=(o-l)*f,this._z=(s-i)*f}else if(r>a&&r>d){const f=2*Math.sqrt(1+r-a-d);this._w=(u-c)/f,this._x=.25*f,this._y=(i+s)/f,this._z=(o+l)/f}else if(a>d){const f=2*Math.sqrt(1+a-r-d);this._w=(o-l)/f,this._x=(i+s)/f,this._y=.25*f,this._z=(c+u)/f}else{const f=2*Math.sqrt(1+d-r-a);this._w=(s-i)/f,this._x=(o+l)/f,this._y=(c+u)/f,this._z=.25*f}return this._onChangeCallback(),this}setFromUnitVectors(t,n){let r=t.dot(n)+1;return r<Number.EPSILON?(r=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=r):(this._x=0,this._y=-t.z,this._z=t.y,this._w=r)):(this._x=t.y*n.z-t.z*n.y,this._y=t.z*n.x-t.x*n.z,this._z=t.x*n.y-t.y*n.x,this._w=r),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(pt(this.dot(t),-1,1)))}rotateTowards(t,n){const r=this.angleTo(t);if(r===0)return this;const i=Math.min(1,n/r);return this.slerp(t,i),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,n){const r=t._x,i=t._y,o=t._z,s=t._w,a=n._x,c=n._y,l=n._z,u=n._w;return this._x=r*u+s*a+i*l-o*c,this._y=i*u+s*c+o*a-r*l,this._z=o*u+s*l+r*c-i*a,this._w=s*u-r*a-i*c-o*l,this._onChangeCallback(),this}slerp(t,n){if(n===0)return this;if(n===1)return this.copy(t);const r=this._x,i=this._y,o=this._z,s=this._w;let a=s*t._w+r*t._x+i*t._y+o*t._z;if(a<0?(this._w=-t._w,this._x=-t._x,this._y=-t._y,this._z=-t._z,a=-a):this.copy(t),a>=1)return this._w=s,this._x=r,this._y=i,this._z=o,this;const c=1-a*a;if(c<=Number.EPSILON){const f=1-n;return this._w=f*s+n*this._w,this._x=f*r+n*this._x,this._y=f*i+n*this._y,this._z=f*o+n*this._z,this.normalize(),this}const l=Math.sqrt(c),u=Math.atan2(l,a),d=Math.sin((1-n)*u)/l,h=Math.sin(n*u)/l;return this._w=s*d+this._w*h,this._x=r*d+this._x*h,this._y=i*d+this._y*h,this._z=o*d+this._z*h,this._onChangeCallback(),this}slerpQuaternions(t,n,r){return this.copy(t).slerp(n,r)}random(){const t=2*Math.PI*Math.random(),n=2*Math.PI*Math.random(),r=Math.random(),i=Math.sqrt(1-r),o=Math.sqrt(r);return this.set(i*Math.sin(t),i*Math.cos(t),o*Math.sin(n),o*Math.cos(n))}equals(t){return t._x===this._x&&t._y===this._y&&t._z===this._z&&t._w===this._w}fromArray(t,n=0){return this._x=t[n],this._y=t[n+1],this._z=t[n+2],this._w=t[n+3],this._onChangeCallback(),this}toArray(t=[],n=0){return t[n]=this._x,t[n+1]=this._y,t[n+2]=this._z,t[n+3]=this._w,t}fromBufferAttribute(t,n){return this._x=t.getX(n),this._y=t.getY(n),this._z=t.getZ(n),this._w=t.getW(n),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 Sn{constructor(t=0,n=0,r=0){Sn.prototype.isVector3=!0,this.x=t,this.y=n,this.z=r}set(t,n,r){return r===void 0&&(r=this.z),this.x=t,this.y=n,this.z=r,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,n){switch(t){case 0:this.x=n;break;case 1:this.y=n;break;case 2:this.z=n;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,n){return this.x=t.x+n.x,this.y=t.y+n.y,this.z=t.z+n.z,this}addScaledVector(t,n){return this.x+=t.x*n,this.y+=t.y*n,this.z+=t.z*n,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,n){return this.x=t.x-n.x,this.y=t.y-n.y,this.z=t.z-n.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,n){return this.x=t.x*n.x,this.y=t.y*n.y,this.z=t.z*n.z,this}applyEuler(t){return this.applyQuaternion(ec.setFromEuler(t))}applyAxisAngle(t,n){return this.applyQuaternion(ec.setFromAxisAngle(t,n))}applyMatrix3(t){const n=this.x,r=this.y,i=this.z,o=t.elements;return this.x=o[0]*n+o[3]*r+o[6]*i,this.y=o[1]*n+o[4]*r+o[7]*i,this.z=o[2]*n+o[5]*r+o[8]*i,this}applyNormalMatrix(t){return this.applyMatrix3(t).normalize()}applyMatrix4(t){const n=this.x,r=this.y,i=this.z,o=t.elements,s=1/(o[3]*n+o[7]*r+o[11]*i+o[15]);return this.x=(o[0]*n+o[4]*r+o[8]*i+o[12])*s,this.y=(o[1]*n+o[5]*r+o[9]*i+o[13])*s,this.z=(o[2]*n+o[6]*r+o[10]*i+o[14])*s,this}applyQuaternion(t){const n=this.x,r=this.y,i=this.z,o=t.x,s=t.y,a=t.z,c=t.w,l=2*(s*i-a*r),u=2*(a*n-o*i),d=2*(o*r-s*n);return this.x=n+c*l+s*d-a*u,this.y=r+c*u+a*l-o*d,this.z=i+c*d+o*u-s*l,this}project(t){return this.applyMatrix4(t.matrixWorldInverse).applyMatrix4(t.projectionMatrix)}unproject(t){return this.applyMatrix4(t.projectionMatrixInverse).applyMatrix4(t.matrixWorld)}transformDirection(t){const n=this.x,r=this.y,i=this.z,o=t.elements;return this.x=o[0]*n+o[4]*r+o[8]*i,this.y=o[1]*n+o[5]*r+o[9]*i,this.z=o[2]*n+o[6]*r+o[10]*i,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,n){return this.x=pt(this.x,t.x,n.x),this.y=pt(this.y,t.y,n.y),this.z=pt(this.z,t.z,n.z),this}clampScalar(t,n){return this.x=pt(this.x,t,n),this.y=pt(this.y,t,n),this.z=pt(this.z,t,n),this}clampLength(t,n){const r=this.length();return this.divideScalar(r||1).multiplyScalar(pt(r,t,n))}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,n){return this.x+=(t.x-this.x)*n,this.y+=(t.y-this.y)*n,this.z+=(t.z-this.z)*n,this}lerpVectors(t,n,r){return this.x=t.x+(n.x-t.x)*r,this.y=t.y+(n.y-t.y)*r,this.z=t.z+(n.z-t.z)*r,this}cross(t){return this.crossVectors(this,t)}crossVectors(t,n){const r=t.x,i=t.y,o=t.z,s=n.x,a=n.y,c=n.z;return this.x=i*c-o*a,this.y=o*s-r*c,this.z=r*a-i*s,this}projectOnVector(t){const n=t.lengthSq();if(n===0)return this.set(0,0,0);const r=t.dot(this)/n;return this.copy(t).multiplyScalar(r)}projectOnPlane(t){return Lo.copy(this).projectOnVector(t),this.sub(Lo)}reflect(t){return this.sub(Lo.copy(t).multiplyScalar(2*this.dot(t)))}angleTo(t){const n=Math.sqrt(this.lengthSq()*t.lengthSq());if(n===0)return Math.PI/2;const r=this.dot(t)/n;return Math.acos(pt(r,-1,1))}distanceTo(t){return Math.sqrt(this.distanceToSquared(t))}distanceToSquared(t){const n=this.x-t.x,r=this.y-t.y,i=this.z-t.z;return n*n+r*r+i*i}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,n,r){const i=Math.sin(n)*t;return this.x=i*Math.sin(r),this.y=Math.cos(n)*t,this.z=i*Math.cos(r),this}setFromCylindrical(t){return this.setFromCylindricalCoords(t.radius,t.theta,t.y)}setFromCylindricalCoords(t,n,r){return this.x=t*Math.sin(n),this.y=r,this.z=t*Math.cos(n),this}setFromMatrixPosition(t){const n=t.elements;return this.x=n[12],this.y=n[13],this.z=n[14],this}setFromMatrixScale(t){const n=this.setFromMatrixColumn(t,0).length(),r=this.setFromMatrixColumn(t,1).length(),i=this.setFromMatrixColumn(t,2).length();return this.x=n,this.y=r,this.z=i,this}setFromMatrixColumn(t,n){return this.fromArray(t.elements,n*4)}setFromMatrix3Column(t,n){return this.fromArray(t.elements,n*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,n=0){return this.x=t[n],this.y=t[n+1],this.z=t[n+2],this}toArray(t=[],n=0){return t[n]=this.x,t[n+1]=this.y,t[n+2]=this.z,t}fromBufferAttribute(t,n){return this.x=t.getX(n),this.y=t.getY(n),this.z=t.getZ(n),this}random(){return this.x=Math.random(),this.y=Math.random(),this.z=Math.random(),this}randomDirection(){const t=Math.random()*Math.PI*2,n=Math.random()*2-1,r=Math.sqrt(1-n*n);return this.x=r*Math.cos(t),this.y=n,this.z=r*Math.sin(t),this}*[Symbol.iterator](){yield this.x,yield this.y,yield this.z}}const Lo=new Sn,ec=new zv;function oa(e,t,n){if(t.length!==e.length)return!0;for(let r=0;r<t.length;r++)if(Math.abs(t[r]-e[r])>n)return!1;return!0}function Id(e,t,n){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 r=0;return r+=Math.abs(e.orientation[0]-t.orientation[0]),r+=Math.abs(e.orientation[1]-t.orientation[1]),r+=Math.abs(e.orientation[2]-t.orientation[2]),r+=Math.abs(e.position[0]-t.position[0]),r+=Math.abs(e.position[1]-t.position[1]),r+=Math.abs(e.position[2]-t.position[2]),r<=n}function sa(e,t,n){return e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp&&Id(e.tcp_pose,t.tcp_pose,n)}function kd(e,t){const n=new Vo.Vector3(t[0],t[1],t[2]),r=new Vo.Vector3(e[0],e[1],e[2]),i=n.length(),o=n.normalize();let s=r.length(),a=r.normalize();a.dot(o)<0&&(s=-s,a=a.multiplyScalar(-1));let c=s-i;return c-=2*Math.PI*Math.floor((c+Math.PI)/(2*Math.PI)),s=i+c,[...a.multiplyScalar(s)]}const tc=1e-4;class Xi{constructor(t,n,r,i,o,s){this.nova=t,this.controller=n,this.motionGroup=r,this.description=i,this.initialMotionState=o,this.motionStateSocket=s,this.rapidlyChangingMotionState=o,s.addEventListener("message",a=>{var l;const c=(l=Ee.tryParseJson(a.data))==null?void 0:l.result;if(!c)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${a.data}`);oa(this.rapidlyChangingMotionState.joint_position,c.joint_position,tc)||de.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=c.joint_position}),sa(this.rapidlyChangingMotionState,c,tc)||de.runInAction(()=>{var u,d,h;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=c.tcp_pose:(u=c.tcp_pose)!=null&&u.orientation&&((d=c.tcp_pose)!=null&&d.position)&&((h=this.rapidlyChangingMotionState.tcp_pose)!=null&&h.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:c.tcp_pose.position,orientation:kd(c.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",c.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==c.standstill&&de.runInAction(()=>{this.rapidlyChangingMotionState.standstill=c.standstill})}),de.makeAutoObservable(this)}static async open(t,n){var d;const[r,i]=n.split("@"),o=await t.api.controller.getCurrentRobotControllerState(i),s=o==null?void 0:o.motion_groups.find(h=>h.motion_group===n);if(!o||!s)throw new Error(`Controller ${i} or motion group ${n} not found`);const a=t.openReconnectingWebsocket(`/controllers/${i}/motion-groups/${n}/state-stream`),c=await a.firstMessage(),l=(d=Ee.tryParseJson(c.data))==null?void 0:d.result;if(!l)throw new Error(`Unable to parse initial motion state message ${c.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. Initial state:
+  `,l);const u=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group);return new Xi(t,o,s,u,l,a)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const nc="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class Zi{constructor(t,n={}){this.motionStream=t,this.options=n,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=(n==null?void 0:n.tcp)||t.motionGroup.tcp||this.DEFAULT_TCP,this.orientation=(n==null?void 0:n.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(n==null?void 0:n.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(n==null?void 0:n.mode)||this.DEFAULT_MODE,this.onError=n==null?void 0:n.onError}static async open(t,n,r={}){const i=await Xi.open(t,n),o=new Zi(i,r);return await o.setJoggingMode(o.mode),o}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(n=>n!==null);return t.forEach(n=>{n.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(t.map(n=>n.closed()))}async setJoggingMode(t,n=!0){if(!(this.mode===t&&n)&&(this.dispose(),this.mode=t,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((t,n)=>{const r=setTimeout(()=>{n(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(this.ENDPOINT_JOGGING),this.joggingSocket.addEventListener("message",i=>{var s,a,c,l;const o=Ee.tryParseJson(i.data);if(((s=o==null?void 0:o.result)==null?void 0:s.kind)==="INITIALIZE_RECEIVED"){clearTimeout(r),t();return}if(((a=o==null?void 0:o.result)==null?void 0:a.kind)==="MOTION_ERROR")if(clearTimeout(r),this.onBlocked&&((c=o==null?void 0:o.result)!=null&&c.message.includes(nc))){(l=this.joggingSocket)==null||l.dispose(),this.onBlocked();return}else this.onError?this.onError(i.data):n(new Error(i.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,tcp:this.tcp})})}async rotateJoints({joint:t,direction:n,velocityRadsPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=new Array(this.numJoints).fill(0);i[t]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:t,direction:n,velocityMmPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=[0,0,0],o=[0,0,0];o[Ee.XYZ_TO_VECTOR[t]]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:o,rotation:i,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:t,direction:n,velocityRadsPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=[0,0,0],o=[0,0,0];i[Ee.XYZ_TO_VECTOR[t]]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:o,rotation:i})}async runIncrementalCartesianMotion({currentTcpPose:t,currentJoints:n,velocityInRelevantUnits:r,axis:i,direction:o,motion:s}){const a=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(s.type==="translate"){if(!t.position)throw new Error("Current pose has no position, cannot perform translation");const b=[...t.position];b[Ee.XYZ_TO_VECTOR[i]]+=s.distanceMm*(o==="-"?-1:1),a.push({limits_override:{tcp_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:b,orientation:t.orientation}}})}else if(s.type==="rotate"){if(!t.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const b=new Sn(t.orientation[0],t.orientation[1],t.orientation[2]),v=b.length(),M=b.clone().normalize(),S=s.distanceRads*(o==="-"?-1:1),T=new Sn(0,0,0);T[i]=1;const C=Math.cos(.5*S)*Math.cos(.5*v),w=Math.sin(.5*S)*Math.sin(.5*v),E=Math.sin(.5*S)*Math.cos(.5*v),j=Math.cos(.5*S)*Math.sin(.5*v),O=T.dot(M),y=T.clone().cross(M),_=2*Math.acos(C-w*O),A=_/Math.sin(.5*_),I=new Sn().addScaledVector(y,w).addScaledVector(T,E).addScaledVector(M,j).multiplyScalar(A);a.push({limits_override:{tcp_orientation_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:t.position,orientation:[...I]}}})}const c=this.motionStream.description;if(c.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const l={motion_group_model:c.motion_group_model,cycle_time:c.cycle_time,mounting:c.mounting,global:c.operation_limits.auto_limits},u=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:l,start_joint_position:n,motion_commands:a}),d=u.response;if(!d)throw new Error(`Failed to plan jogging increment motion 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xi{constructor(t,n,r,i,o,s,a,c,l,u){this.nova=t,this.controller=n,this.motionGroup=r,this.initialMotionState=i,this.motionStateSocket=o,this.isVirtual=s,this.tcps=a,this.description=c,this.initialControllerState=l,this.controllerStateSocket=u,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=i,this.controllerState=l,u.addEventListener("message",d=>{var f;const h=(f=Ee.tryParseJson(d.data))==null?void 0:f.result;h&&de.runInAction(()=>{this.controllerState=h})}),o.addEventListener("message",d=>{var f;const h=(f=Ee.tryParseJson(d.data))==null?void 0:f.result;if(!h)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${d.data}`);oa(this.rapidlyChangingMotionState.joint_position,h.joint_position,Ac)||de.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=h.joint_position}),sa(this.rapidlyChangingMotionState,h,Ac)||de.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=h.tcp_pose}),this.rapidlyChangingMotionState.standstill!==h.standstill&&de.runInAction(()=>{this.rapidlyChangingMotionState.standstill=h.standstill})}),de.makeAutoObservable(this)}static async connectMultiple(t,n){return Promise.all(n.map(r=>xi.connect(t,r)))}static async connect(t,n){var v,M;const[r,i]=n.split("@"),o=await t.api.controller.getCurrentRobotControllerState(i),s=o==null?void 0:o.motion_groups.find(S=>S.motion_group===n);if(!o||!s)throw new Error(`Controller ${i} or motion group ${n} not found`);const a=t.openReconnectingWebsocket(`/controllers/${i}/motion-groups/${n}/state-stream`),c=await a.firstMessage(),l=(v=Ee.tryParseJson(c.data))==null?void 0:v.result;if(!l)throw new Error(`Unable to parse initial motion state message ${c.data}`);console.log(`Connected motion state websocket to motion group ${s.motion_group}. Initial state:
+  `,l);const d=(await t.api.controller.getRobotController(o.controller)).configuration.kind==="VirtualController",h=await t.api.motionGroup.getMotionGroupDescription(i,s.motion_group),f=Object.entries(h.tcps||{}).map(([S,T])=>({id:S,readable_name:T.name,position:T.pose.position,orientation:T.pose.orientation})),m=t.openReconnectingWebsocket(`/controllers/${o.controller}/state-stream?response_rate=1000`),p=await m.firstMessage(),b=(M=Ee.tryParseJson(p.data))==null?void 0:M.result;if(!b)throw new Error(`Unable to parse initial controller state message ${p.data}`);return console.log(`Connected controller state websocket to controller ${o.controller}. Initial state:
+  `,b),new xi(t,o,s,l,a,d,f,h,b,m)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replace(/-/g,"_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((t,n)=>({index:n}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(t=>({...LT,...t}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var t,n,r;return this.description.mounting?[(((t=this.description.mounting.position)==null?void 0:t[0])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[1])||0)/1e3,(((r=this.description.mounting.position)==null?void 0:r[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var i,o,s,a,c,l;const t=new pa.Vector3(((o=(i=this.description.mounting)==null?void 0:i.orientation)==null?void 0:o[0])||0,((a=(s=this.description.mounting)==null?void 0:s.orientation)==null?void 0:a[1])||0,((l=(c=this.description.mounting)==null?void 0:c.orientation)==null?void 0:l[2])||0),n=t.length(),r=t.normalize();return new pa.Quaternion().setFromAxisAngle(r,n)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}async deactivate(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}de.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),de.runInAction(()=>{this.activationState="inactive"})}catch(t){throw de.runInAction(()=>{this.activationState="active"}),t}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}de.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),de.runInAction(()=>{this.activationState="active"})}catch(t){throw de.runInAction(()=>{this.activationState="inactive"}),t}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}}function 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0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...e,components:{MuiCssBaseline:{styleOverrides:{"html, body, *":{scrollbarWidth:"none",msOverflowStyle:"none"},"html:hover, body:hover, *:hover":{scrollbarWidth:"thin",scrollbarColor:`${e.palette.divider} transparent`},".MuiDataGrid-panelContent":{borderRadius:"16px !important","& .MuiPaper-root":{borderRadius:"16px !important"}},".MuiDataGrid-filterForm":{borderRadius:"16px !important","& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}},"& .MuiTextField-root":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}},".MuiDataGrid-filterFormValueInput":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}}},MuiDataGrid:{styleOverrides:{root:{},panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}}}},MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${e.palette.divider}`,background:(r=(n=(t=e.paletteExt)==null?void 0:t.secondary)==null?void 0:n.tonal)==null?void 0:r.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${e.palette.divider}`}}]},MuiTab:{styleOverrides:{root:{textTransform:"none",color:e.palette.text.secondary,"&.Mui-selected":{color:e.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(i=e.palette.backgroundPaperElevation)==null?void 0:i[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiDrawer:{styleOverrides:{paper:{border:"none",boxShadow:"4px 0 8px -4px rgba(0, 0, 0, 0.3)"}}},MuiFab:{styleOverrides:{root:{background:(s=(o=e.paletteExt)==null?void 0:o.secondary)==null?void 0:s.tonal}},variants:[{props:{color:"primary"},style:{background:e.palette.primary.main}}]}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:e.palette.text.primary},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:e.palette.text.primary},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:e.palette.text.primary}}},JoggingJoint:{Joint:{arrowColor:e.palette.text.primary}},VelocitySlider:{sliderLegendColor:e.palette.text.primary}},WandelscriptEditor:{monacoTheme:{base:"vs-dark",inherit:!0,rules:[{token:"keyword",foreground:"#b349a9ff"}],colors:{"editor.background":R.rgbToHex(((a=e.palette.backgroundPaperElevation)==null?void 0:a[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function zT(){const e=oh();return e.palette.mode="light",e}function FT(e){var r,i,o,s;let t=!0;((r=e.palette)==null?void 0:r.mode)==="light"?t=!1:((i=e.palette)==null?void 0:i.mode)!=="dark"&&(t=!(typeof window<"u"&&((s=(o=window.matchMedia)==null?void 0:o.call(window,"(prefers-color-scheme: light)"))==null?void 0:s.matches)));const n=t?oh():zT();return iu(n,e)}exports.AppHeader=Dh;exports.ConnectedMotionGroup=xi;exports.CycleTimer=ev;exports.JoggerConnection=Zi;exports.JoggingCartesianAxisControl=ss;exports.JoggingJointRotationControl=jd;exports.JoggingPanel=Vw;exports.JoggingStore=ro;exports.LogPanel=Kw;exports.LogStore=nh;exports.LogViewer=rh;exports.MotionStreamConnection=Xi;exports.NoMotionGroupModal=Zw;exports.PoseCartesianValues=Uw;exports.PoseJointValues=Ww;exports.RobotListItem=nT;exports.RobotSetupReadinessIndicator=ih;exports.RobotSetupReadinessState=fa;exports.SafetyBar=_T;exports.SelectableFab=MT;exports.TabBar=kT;exports.Timer=NT;exports.VelocitySlider=Qd;exports.VelocitySliderLabel=ha;exports.WandelbotsDataGrid=_d;exports.createDebugMessage=Hw;exports.createErrorMessage=Jw;exports.createInfoMessage=Yw;exports.createLogMessage=gr;exports.createNovaMuiTheme=FT;exports.createWarningMessage=qw;exports.jointValuesEqual=oa;exports.poseEqual=Id;exports.tcpMotionEqual=sa;exports.unwrapRotationVector=kd;
+//# sourceMappingURL=theming-ZJr8jTwS.cjs.map