@wandelbots/wandelbots-js-react-components 3.4.0-pr.feat-add-yaskawa-gp200s.438.0503e4b → 3.4.0-pr.feat-yaskawa-gp200s.437.1b5737e

package/dist/index.cjs

@@ -1,155 +0,0 @@
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- *
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- * react-jsx-runtime.development.js
- *
- * Copyright (c) Meta Platforms, Inc. and affiliates.
- *
- * This source code is licensed under the MIT license found in the
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g.jsx("mesh",{geometry:c,children:g.jsx("meshStandardMaterial",{attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-s},n)},`${n}-${s}`)})})})}function $g({trajectory:e,...t}){var n;const r=((n=e.trajectory)==null?void 0:n.map(a=>a.tcp_pose?new ve.Vector3(a.tcp_pose.position.x/1e3,a.tcp_pose.position.z/1e3,-a.tcp_pose.position.y/1e3):null).filter(a=>a!==null))||[];return g.jsx("group",{...t,children:r.length>0&&g.jsx(dt.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}const Ug={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Geschwindigkeit","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Cartesian.MotionType.lb":"Bewegungstyp","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Gelenkwerte","Jogging.Increment.Continuous.dd":"Fortlaufend","Jogging.Cartesian.Orientation.lb":"Orientierung","Jogging.JointLimitsReached.lb":"Gelenkgrenzen für Gelenk {{jointNumbers}} erreicht","Jogging.Orientation.coordsys":"Roboterbasis","Jogging.Orientation.tool":"Werkzeug","SafetyBar.ActivationToggle.Activate.bt":"Aktivieren","SafetyBar.ActivationToggle.Activated.bt":"Aktiviert","SafetyBar.ActivationToggle.Activating.bt":"Wird aktiviert…","SafetyBar.ActivationToggle.Deactivating.bt":"Wird deaktiviert…","SafetyBar.ControllerType.Physical.lb":"Physisch","SafetyBar.ControllerType.Virtual.lb":"Virtuell","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> ist ein physische Robotersteuerung. Für die Bewegung dieses Roboters sind <strong>Sicherheitsmaßnahmen</strong> aktiv.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> ist eine virtuelle Robotersteuerung ohne physisches Gegenstück. Der Roboter kann ohne Sicherheitsmaßnahmen bewegt werden.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatischer Betriebsmodus der Robotersteuerung aktiv. Automatisierte Bewegung ohne manuelle Bestätigung freigegeben.","SafetyBar.OperationMode.Automatic.ti":"Automatisch","SafetyBar.OperationMode.Error.Explanation.lb":"Fehler beim Abrufen des Betriebsmodus. Originalhandbediengerät des Roboters verwenden, um Fehler zu lösen.","SafetyBar.OperationMode.Error.lb":"Fehler","SafetyBar.OperationMode.Manual.Explanation.lb":`Die Robotersteuerung befindet sich im manuellen Betriebsmodus. 
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Bis der Stoppzustand aufgelöst ist, ist keine Bewegung mehr möglich.","SafetyBar.SafetyState.Stop.lb":"Stopp","SafetyBar.SafetyState.ti":"Sicherheitszustand","SafetyBar.StopState.Estop.Explanation.lb":"NOT-AUS aktiviert. NOT-AUS freischalten, um Roboter zu bewegen.","Jogging.Increment.hlb":"Schrittgröße","Jogging.CoordinateSystem.hlb":"Koordinatensystem","Jogging.Cartesian.bt":"Kartesisch","Jogging.Joints.bt":"Gelenke","Jogging.Velocity.bt":"Geschwindigkeit","CycleTimer.RemainingTime.lb":"Verbleibende Zeit","CycleTimer.OfTime.lb":"von {{time}}","CycleTimer.Time.lb":"{{time}}","CycleTimer.Error.lb":"Fehler","CycleTimer.WaitingForCycle.lb":"Warten auf Programmzyklus","CycleTimer.CycleTime.lb":"Zykluszeit","CycleTimer.Measuring.lb":"wird gemessen...","CycleTimer.Determined.lb":"bestimmt","Timer.error":"Fehler","ProgramControl.Start.bt":"Start","ProgramControl.Resume.bt":"Weiter","ProgramControl.Retry.bt":"Wiederholen","ProgramControl.Pause.bt":"Pause","ProgramControl.Stop.bt":"Stopp","ProgramStateIndicator.Preparing.lb":"Vorbereitung","ProgramStateIndicator.Starting.lb":"Startet","ProgramStateIndicator.Running.lb":"In Betrieb","ProgramStateIndicator.Pausing.lb":"Pausiert","ProgramStateIndicator.Stopping.lb":"Stoppt","ProgramStateIndicator.Completed.lb":"Abgeschlossen","ProgramStateIndicator.Failed.lb":"Fehlgeschlagen","ProgramStateIndicator.Error.lb":"Fehler","ProgramStateIndicator.EStop.lb":"Not-Aus","ProgramStateIndicator.Idle.lb":"Leerlauf","ProgramStateIndicator.Paused.lb":"Pausiert","ProgramStateIndicator.Ready.lb":"Bereit","ProgramStateIndicator.Stopped.lb":"Gestoppt","ProgramStateIndicator.Auto.lb":"Auto","ProgramStateIndicator.Manual.lb":"Manuell","ProgramStateIndicator.ManualT1.lb":"Manuell T1","ProgramStateIndicator.ManualT2.lb":"Manuell T2","RobotSetupReadinessIndicator.Ready.lb":"Bereit","RobotSetupReadinessIndicator.RobotDisconnected.lb":"Roboter getrennt","RobotSetupReadinessIndicator.CellOpen.lb":"Zelle offen","RobotSetupReadinessIndicator.EStop.lb":"Not-Stopp","RobotSetupReadinessIndicator.ManualMode.lb":"Manueller Modus","RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb":"Voraussetzung nicht erfüllt","RobotCard.Runtime.lb":"Laufzeit","RobotCard.DriveToHome.bt":"Zur Home-Position fahren"},Dg={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Velocity","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Cartesian.MotionType.lb":"Motion type","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Joint values","Jogging.Increment.Continuous.dd":"Continuous","Jogging.Cartesian.Orientation.lb":"Orientation","Jogging.Activating.lb":"Activating jogging","Jogging.JointLimitsReached.lb":"Joint limit reached for joint {{jointNumbers}}","Jogging.Orientation.coordsys":"Robot base","Jogging.Orientation.tool":"Tool","SafetyBar.ActivationToggle.Activate.bt":"Activate","SafetyBar.ActivationToggle.Activated.bt":"Activated","SafetyBar.ActivationToggle.Activating.bt":"Activating","SafetyBar.ActivationToggle.Deactivating.bt":"Deactivating","SafetyBar.ControllerType.Physical.lb":"Physical","SafetyBar.ControllerType.Virtual.lb":"Virtual","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> is a physical robot controller. <strong>Safety precautions</strong> are active for the movement of this robot.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> is a virtual robot controller with no physical counterpart. It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully.","SafetyBar.OperationMode.Manual.lb":"Manual","SafetyBar.OperationMode.ti":"Operation mode","SafetyBar.SafetyState.Error.Explanation.lb":"The robot controller has entered an unexpected safety state.","SafetyBar.SafetyState.Error.lb":"Error","SafetyBar.SafetyState.Estop.lb":"E-Stop","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"The robot controller has entered a safety state requiring manual action to resolve.","SafetyBar.SafetyState.ManualActionRequired.lb":"Action required","SafetyBar.SafetyState.Normal.Explanation.lb":"The robot controller is in a safe state. Robot movement is enabled.","SafetyBar.SafetyState.Normal.lb":"Safe","SafetyBar.SafetyState.Stop.Explanation.lb":"The robot controller has entered a stop state. 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-
-Did you intend to use one of the following approaches?
-
-import { green } from "@mui/material/colors";
-
-const theme1 = createTheme({ palette: {
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-} });
-
-const theme2 = createTheme({ palette: {
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-
-const theme = ${JSON.stringify(t,null,2)};
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-
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- * 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 gu;function Gb(){if(gu)return oi;gu=1;var e=z,t=pp();function r(c,u){return c===u&&(c!==0||1/c===1/u)||c!==c&&u!==u}var n=typeof Object.is=="function"?Object.is:r,a=t.useSyncExternalStore,o=e.useRef,s=e.useEffect,i=e.useMemo,l=e.useDebugValue;return oi.useSyncExternalStoreWithSelector=function(c,u,d,h,p){var f=o(null);if(f.current===null){var m={hasValue:!1,value:null};f.current=m}else m=f.current;f=i(function(){function S(C){if(!A){if(A=!0,w=C,C=h(C),p!==void 0&&m.hasValue){var R=m.value;if(p(R,C))return O=R}return O=C}if(R=O,n(w,C))return R;var E=h(C);return p!==void 0&&p(R,E)?(w=C,R):(w=C,O=E)}var A=!1,w,O,T=d===void 0?null:d;return[function(){return S(u())},T===null?void 0:function(){return S(T())}]},[u,d,h,p]);var y=a(c,f[0],f[1]);return s(function(){m.hasValue=!0,m.value=y},[y]),l(y),y},oi}var li={};/**
- * @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 yu;function Hb(){return yu||(yu=1,process.env.NODE_ENV!=="production"&&function(){function e(c,u){return c===u&&(c!==0||1/c===1/u)||c!==c&&u!==u}typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStart(Error());var t=z,r=pp(),n=typeof Object.is=="function"?Object.is:e,a=r.useSyncExternalStore,o=t.useRef,s=t.useEffect,i=t.useMemo,l=t.useDebugValue;li.useSyncExternalStoreWithSelector=function(c,u,d,h,p){var f=o(null);if(f.current===null){var m={hasValue:!1,value:null};f.current=m}else m=f.current;f=i(function(){function S(C){if(!A){if(A=!0,w=C,C=h(C),p!==void 0&&m.hasValue){var R=m.value;if(p(R,C))return O=R}return O=C}if(R=O,n(w,C))return R;var E=h(C);return p!==void 0&&p(R,E)?(w=C,R):(w=C,O=E)}var A=!1,w,O,T=d===void 0?null:d;return[function(){return S(u())},T===null?void 0:function(){return S(T())}]},[u,d,h,p]);var y=a(c,f[0],f[1]);return s(function(){m.hasValue=!0,m.value=y},[y]),l(y),y},typeof __REACT_DEVTOOLS_GLOBAL_HOOK__<"u"&&typeof __REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop=="function"&&__REACT_DEVTOOLS_GLOBAL_HOOK__.registerInternalModuleStop(Error())}()),li}var bu;function qb(){return bu||(bu=1,process.env.NODE_ENV==="production"?Ja.exports=Gb():Ja.exports=Hb()),Ja.exports}var Wb=qb();const Jb=Object.is,ot=(e,t,r=[],n=Jb)=>{const a=o=>t(o,...r);return Wb.useSyncExternalStoreWithSelector(e.subscribe,e.getSnapshot,e.getSnapshot,a,n)},Yb="DEFAULT_X_AXIS_KEY",Kb="DEFAULT_Y_AXIS_KEY",Qb={top:20,bottom:20,left:20,right:20},Xb=45,Zb=25,mp=20,Tn=e=>{var t;return(t=e.cartesianAxis)==null?void 0:t.x},Pn=e=>{var t;return(t=e.cartesianAxis)==null?void 0:t.y},ex=pe([Pn],e=>(e??[]).reduce((t,r)=>{var n;return r.position==="left"?t+(r.width||0)+((n=r.zoom)!=null&&n.slider.enabled?r.zoom.slider.size:0):t},0)),tx=pe([Pn],e=>(e??[]).reduce((t,r)=>{var n;return r.position==="right"?t+(r.width||0)+((n=r.zoom)!=null&&n.slider.enabled?r.zoom.slider.size:0):t},0)),rx=pe([Tn],e=>(e??[]).reduce((t,r)=>{var n;return r.position==="top"?t+(r.height||0)+((n=r.zoom)!=null&&n.slider.enabled?r.zoom.slider.size:0):t},0)),nx=pe([Tn],e=>(e??[]).reduce((t,r)=>{var n;return r.position==="bottom"?t+(r.height||0)+((n=r.zoom)!=null&&n.slider.enabled?r.zoom.slider.size:0):t},0)),ax=e=>e.dimensions,fp=e=>e.dimensions.width,gp=e=>e.dimensions.height,ox=e=>e.dimensions.margin.top,sx=e=>e.dimensions.margin.right,ix=e=>e.dimensions.margin.bottom,lx=e=>e.dimensions.margin.left,Ra=pe([fp,gp,ox,sx,ix,lx,rx,tx,nx,ex],(e,t,r,n,a,o,s,i,l,c)=>({width:e-o-n-c-i,left:o+c,right:n+i,height:t-r-a-s-l,top:r+s,bottom:a+l})),cx=pe([ax],e=>({width:e.propsWidth,height:e.propsHeight})),ux=pe([fp,gp],(e,t)=>({width:e,height:t}));function yp(e,t){return typeof e=="number"?{top:e,bottom:e,left:e,right:e}:t?K({},t,e):e}const dx=10,fs=({params:e,store:t,svgRef:r})=>{const n=e.width!==void 0&&e.height!==void 0,a=N.useRef({displayError:!1,initialCompute:!0,computeRun:0}),[o,s]=N.useState(0),[i,l]=N.useState(0),c=N.useCallback(()=>{const f=r==null?void 0:r.current;if(!f)return{};const y=Fb(f).getComputedStyle(f),S=Math.floor(parseFloat(y.height))||0,A=Math.floor(parseFloat(y.width))||0;return t.update(w=>w.dimensions.width===A&&w.dimensions.height===S?w:K({},w,{dimensions:{margin:{top:e.margin.top,right:e.margin.right,bottom:e.margin.bottom,left:e.margin.left},width:e.width??A,height:e.height??S,propsWidth:e.width,propsHeight:e.height}})),{height:S,width:A}},[t,r,e.height,e.width,e.margin.left,e.margin.right,e.margin.top,e.margin.bottom]);N.useEffect(()=>{t.update(f=>{const m=e.width??f.dimensions.width,y=e.height??f.dimensions.height;return K({},f,{dimensions:{margin:{top:e.margin.top,right:e.margin.right,bottom:e.margin.bottom,left:e.margin.left},width:m,height:y,propsHeight:e.height,propsWidth:e.width}})})},[t,e.height,e.width,e.margin.left,e.margin.right,e.margin.top,e.margin.bottom]),N.useEffect(()=>{a.current.displayError=!0},[]),Dt(()=>{if(n||!a.current.initialCompute||a.current.computeRun>dx)return;const f=c();f.width!==o||f.height!==i?(a.current.computeRun+=1,f.width!==void 0&&s(f.width),f.height!==void 0&&l(f.height)):a.current.initialCompute&&(a.current.initialCompute=!1)},[i,o,c,n]),Dt(()=>{if(n)return()=>{};c();const f=r.current;if(typeof ResizeObserver>"u")return()=>{};let m;const y=new ResizeObserver(()=>{m=requestAnimationFrame(()=>{c()})});return f&&y.observe(f),()=>{m&&cancelAnimationFrame(m),f&&y.unobserve(f)}},[c,n,r]),process.env.NODE_ENV!=="production"&&(a.current.displayError&&e.width===void 0&&o===0&&(console.error("MUI X Charts: ChartContainer does not have `width` prop, and its container has no `width` defined."),a.current.displayError=!1),a.current.displayError&&e.height===void 0&&i===0&&(console.error("MUI X Charts: ChartContainer does not have `height` prop, and its container has no `height` defined."),a.current.displayError=!1));const u=ot(t,Ra),d=N.useCallback(f=>f>=u.left-1&&f<=u.left+u.width,[u.left,u.width]),h=N.useCallback(f=>f>=u.top-1&&f<=u.top+u.height,[u.height,u.top]);return{instance:{isPointInside:N.useCallback((f,m,y)=>y&&"closest"in y&&y.closest("[data-drawing-container]")?!0:d(f)&&h(m),[d,h]),isXInside:d,isYInside:h}}};fs.params={width:!0,height:!0,margin:!0};fs.getDefaultizedParams=({params:e})=>K({},e,{margin:yp(e.margin,Qb)});fs.getInitialState=({width:e,height:t,margin:r})=>({dimensions:{margin:r,width:e??0,height:t??0,propsWidth:e,propsHeight:t}});const Dl=({params:e,store:t})=>(Dt(()=>{t.update(r=>K({},r,{experimentalFeatures:e.experimentalFeatures}))},[t,e.experimentalFeatures]),{});Dl.params={experimentalFeatures:!0};Dl.getInitialState=({experimentalFeatures:e})=>({experimentalFeatures:e});const hx=e=>e.experimentalFeatures,bp=pe([hx],e=>!!(e!=null&&e.preferStrictDomainInLineCharts));let xu=0;const px=()=>(xu+=1,`mui-chart-${xu}`),Ll=({params:e,store:t})=>(N.useEffect(()=>{t.update(r=>e.id===void 0||e.id===r.id.providedChartId&&r.id.chartId!==void 0?r:K({},r,{id:K({},r.id,{chartId:e.id??px()})}))},[t,e.id]),{});Ll.params={id:!0};Ll.getInitialState=({id:e})=>({id:{chartId:e,providedChartId:e}});const mx=e=>e.id,fx=pe([mx],e=>e.chartId),gx=["#4254FB","#FFB422","#FA4F58","#0DBEFF","#22BF75","#FA83B4","#FF7511"],yx=["#495AFB","#FFC758","#F35865","#30C8FF","#44CE8D","#F286B3","#FF8C39"],xp=e=>e==="dark"?yx:gx,vp=({series:e,colors:t,seriesConfig:r,dataset:n})=>{const a={};e.forEach((s,i)=>{var u;const l=r[s.type].getSeriesWithDefaultValues(s,i,t),c=l.id;if(a[s.type]===void 0&&(a[s.type]={series:{},seriesOrder:[]}),((u=a[s.type])==null?void 0:u.series[c])!==void 0)throw new Error(`MUI X Charts: series' id "${c}" is not unique.`);a[s.type].series[c]=l,a[s.type].seriesOrder.push(c)});const o={};return Object.keys(r).forEach(s=>{var l,c;const i=a[s];i!==void 0&&(o[s]=((c=(l=r[s])==null?void 0:l.seriesProcessor)==null?void 0:c.call(l,i,n))??a[s])}),o},gs=({params:e,store:t,seriesConfig:r})=>{const{series:n,dataset:a,theme:o,colors:s}=e,i=N.useRef(!0);return N.useEffect(()=>{if(i.current){i.current=!1;return}t.update(l=>K({},l,{series:K({},l.series,{processedSeries:vp({series:n,colors:typeof s=="function"?s(o):s,seriesConfig:r,dataset:a})})}))},[s,a,n,o,r,t]),{}};gs.params={dataset:!0,series:!0,colors:!0,theme:!0};const bx=[];gs.getDefaultizedParams=({params:e})=>{var t;return K({},e,{series:(t=e.series)!=null&&t.length?e.series:bx,colors:e.colors??xp,theme:e.theme??"light"})};gs.getInitialState=({series:e=[],colors:t,theme:r,dataset:n},a,o)=>({series:{seriesConfig:o,processedSeries:vp({series:e,colors:typeof t=="function"?t(r):t,seriesConfig:o,dataset:n})}});const Sp=e=>e.series,Aa=pe([Sp],e=>e.processedSeries),ys=pe([Sp],e=>e.seriesConfig),xx={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 wp{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 xx)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,r,n,a){this.element=t,this.pointerManager=r,this.gesturesRegistry=n,this.keyboardManager=a;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 r=this.gesturesRegistry.getActiveGestures(t);return this.preventIf.some(n=>r[n])}isPointerTypeAllowed(t){return!this.pointerMode||this.pointerMode.length===0?!0:this.pointerMode.includes(t)}destroy(){const t=`${this.name}ChangeOptions`;this.element.removeEventListener(t,this.handleOptionsChange.bind(this));const r=`${this.name}ChangeState`;this.element.removeEventListener(r,this.handleStateChange.bind(this))}}class vx{constructor(){this.activeGestures=new Map}registerActiveGesture(t,r){this.activeGestures.has(t)||this.activeGestures.set(t,new Set);const n=this.activeGestures.get(t),a={gesture:r,element:t};n.add(a)}unregisterActiveGesture(t,r){const n=this.activeGestures.get(t);n&&(n.forEach(a=>{a.gesture===r&&n.delete(a)}),n.size===0&&this.activeGestures.delete(t))}getActiveGestures(t){const r=this.activeGestures.get(t);return r?Array.from(r).reduce((n,a)=>(n[a.gesture.name]=!0,n),{}):{}}isGestureActive(t,r){const n=this.activeGestures.get(t);return n?Array.from(n).some(a=>a.gesture===r):!1}destroy(){this.activeGestures.clear()}unregisterElement(t){this.activeGestures.delete(t)}}class Sx{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(r=>r==="ControlOrMeta"?this.pressedKeys.has("Control")||this.pressedKeys.has("Meta"):this.pressedKeys.has(r))}destroy(){typeof window<"u"&&(window.removeEventListener("keydown",this.handleKeyDown),window.removeEventListener("keyup",this.handleKeyUp),window.removeEventListener("blur",this.clearKeys)),this.clearKeys()}}class wx{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=r=>{if(this.preventEventInterruption&&"pointerType"in r&&r.pointerType==="touch"){r.preventDefault();return}const n=new PointerEvent("forceCancel",{bubbles:!1,cancelable:!1}),a=this.pointers.values().next().value;if(this.pointers.size>0&&a){Object.defineProperties(n,{clientX:{value:a.clientX},clientY:{value:a.clientY},pointerId:{value:a.pointerId},pointerType:{value:a.pointerType}});for(const[o,s]of this.pointers.entries()){const i=K({},s,{type:"forceCancel"});this.pointers.set(o,i)}}this.notifyHandlers(n),this.pointers.clear()},this.handlePointerEvent=r=>{const{type:n,pointerId:a}=r;if(n==="pointerdown"){if(this.pointers.set(a,this.createPointerData(r)),r.target instanceof Element)try{r.target.setPointerCapture(a)}catch{}}else if(n==="pointermove")this.pointers.set(a,this.createPointerData(r));else if(n==="pointerup"||n==="pointercancel"||n==="forceCancel"){if(r.target instanceof Element)try{r.target.releasePointerCapture(a)}catch{}this.pointers.set(a,this.createPointerData(r)),this.notifyHandlers(r),this.pointers.delete(a);return}this.notifyHandlers(r)},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(r=>r(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 Cx{constructor(t){this.gestureTemplates=new Map,this.elementGestureMap=new Map,this.activeGesturesRegistry=new vx,this.pointerManager=void 0,this.keyboardManager=new Sx,this.pointerManager=new wx({root:t.root,touchAction:t.touchAction,passive:t.passive}),t.gestures&&t.gestures.length>0&&t.gestures.forEach(r=>{this.addGestureTemplate(r)})}addGestureTemplate(t){this.gestureTemplates.has(t.name)&&console.warn(`Gesture template with name "${t.name}" already exists. It will be overwritten.`),this.gestureTemplates.set(t.name,t)}setGestureOptions(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeOptions`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}setGestureState(t,r,n){const a=this.elementGestureMap.get(r);if(!a||!a.has(t)){console.error(`Gesture "${t}" not found on the provided element.`);return}const o=new CustomEvent(`${t}ChangeState`,{detail:n,bubbles:!1,cancelable:!1});r.dispatchEvent(o)}registerElement(t,r,n){if(Array.isArray(t))return t.forEach(o=>{const s=n==null?void 0:n[o];this.registerSingleGesture(o,r,s)}),r;const a=n==null?void 0:n[t];return this.registerSingleGesture(t,r,a),r}registerSingleGesture(t,r,n){const a=this.gestureTemplates.get(t);if(!a)return console.error(`Gesture template "${t}" not found.`),!1;this.elementGestureMap.has(r)||this.elementGestureMap.set(r,new Map);const o=this.elementGestureMap.get(r);o.has(t)&&(console.warn(`Element already has gesture "${t}" registered. It will be replaced.`),this.unregisterElement(t,r));const s=a.clone(n);return s.init(r,this.pointerManager,this.activeGesturesRegistry,this.keyboardManager),o.set(t,s),!0}unregisterElement(t,r){const n=this.elementGestureMap.get(r);return!n||!n.has(t)?!1:(n.get(t).destroy(),n.delete(t),this.activeGesturesRegistry.unregisterElement(r),n.size===0&&this.elementGestureMap.delete(r),!0)}unregisterAllGestures(t){const r=this.elementGestureMap.get(t);if(r){for(const[,n]of r)n.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 Ia extends wp{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,r,n,a){super.init(t,r,n,a),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,r){return t.filter(n=>this.isPointerTypeAllowed(n.pointerType)&&(r===n.target||n.target===this.originalTarget||r===this.originalTarget||r.contains(n.target)))}destroy(){this.unregisterHandler&&(this.unregisterHandler(),this.unregisterHandler=null),super.destroy()}}function Ox(e,t){const r=t.x-e.x,n=t.y-e.y;return Math.sqrt(r*r+n*n)}function ci(e){if(e.length<2)return 0;let t=0,r=0;for(let n=0;n<e.length;n+=1)for(let a=n+1;a<e.length;a+=1)t+=Ox({x:e[n].clientX,y:e[n].clientY},{x:e[a].clientX,y:e[a].clientY}),r+=1;return r>0?t/r:0}function Yt(e){if(e.length===0)return{x:0,y:0};const t=e.reduce((r,n)=>(r.x+=n.clientX,r.y+=n.clientY,r),{x:0,y:0});return{x:t.x/e.length,y:t.y/e.length}}function Rn(e,t){return`${e}${t==="ongoing"?"":t.charAt(0).toUpperCase()+t.slice(1)}`}const Ka=1e-5,ar=1e-5,vu=.15;function Tx(e,t){const r=t.x-e.x,n=t.y-e.y,a={vertical:null,horizontal:null,mainAxis:null},o=Px(t,e),s=Math.abs(r)>Math.abs(n)?"horizontal":"vertical",i=o||s==="horizontal"?Ka:vu,l=o?Ka:s==="horizontal"?vu:Ka;return Math.abs(r)>i&&(a.horizontal=r>0?"right":"left"),Math.abs(n)>l&&(a.vertical=n>0?"down":"up"),a.mainAxis=o?"diagonal":s,a}function Px(e,t){const r=t.x-e.x,n=t.y-e.y,a=Math.atan2(n,r)*180/Math.PI;return a>=-45+ar&&a<=-22.5+ar||a>=22.5+ar&&a<=45+ar||a>=135+ar&&a<=157.5+ar||a>=-157.5+ar&&a<=-135+ar}function Rx(e,t){if(!e.vertical&&!e.horizontal)return!1;if(t.length===0)return!0;const r=e.vertical===null||t.includes(e.vertical),n=e.horizontal===null||t.includes(e.horizontal);return r&&n}const Ax=0,Ix=e=>e>Ax?1:e<-0?-1:0;class Bl extends Ia{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 Bl(K({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,r,n,a){super.init(t,r,n,a),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 r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());if(n.length>=this.minPointers&&n.length<=this.maxPointers){this.isActive=!0;const a={x:t.clientX,y:t.clientY};this.state.lastPosition=a,this.emitMoveEvent(this.element,"start",n,t),this.emitMoveEvent(this.element,"ongoing",n,t)}}handleElementLeave(t){if(t.pointerType!=="mouse"&&t.pointerType!=="pen"||!this.isActive)return;const r=this.pointerManager.getPointers()||new Map,n=Array.from(r.values());this.emitMoveEvent(this.element,"end",n,t),this.resetState()}handlePointerEvent(t,r){if(r.type!=="pointermove"||r.pointerType!=="mouse"&&r.pointerType!=="pen")return;this.preventDefault&&r.preventDefault(),this.stopPropagation&&r.stopPropagation();const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a||n.length<this.minPointers||n.length>this.maxPointers)return;if(this.shouldPreventGesture(a)){if(!this.isActive)return;this.resetState(),this.emitMoveEvent(a,"end",n,r);return}const o={x:r.clientX,y:r.clientY};this.state.lastPosition=o,this.isActive||(this.isActive=!0,this.emitMoveEvent(a,"start",n,r)),this.emitMoveEvent(a,"ongoing",n,r)}emitMoveEvent(t,r,n,a){const o=this.state.lastPosition||Yt(n),s=this.gesturesRegistry.getActiveGestures(t),i={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,activeGestures:s,customData:this.customData},l=Rn(this.name,r),c=new CustomEvent(l,{bubbles:!0,cancelable:!0,detail:i});t.dispatchEvent(c)}}class Fl extends Ia{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 Fl(K({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=K({},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,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancel(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.cancel(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.cancel(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(o.forEach(s=>{this.state.startPointers.set(s.pointerId,s)}),this.originalTarget=a,this.state.startCentroid=Yt(o),this.state.lastCentroid=K({},this.state.startCentroid));break;case"pointermove":if(this.state.startCentroid&&o.length>=this.minPointers){const s=Yt(o),i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y,c=Math.sqrt(i*i+l*l),u=Tx(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&&c>=this.threshold&&Rx(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(a,"start",o,r,s),this.emitPanEvent(a,"ongoing",o,r,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(a,"ongoing",o,r,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;r.type==="pointercancel"&&this.emitPanEvent(a,"cancel",o,r,s),this.emitPanEvent(a,"end",o,r,s),this.resetState()}}else this.resetState();break}}emitPanEvent(t,r,n,a,o){var S,A;if(!this.state.startCentroid)return;const s=((S=this.state.lastDeltas)==null?void 0:S.x)??0,i=((A=this.state.lastDeltas)==null?void 0:A.y)??0,l=this.state.startPointers.values().next().value,c=l?(a.timeStamp-l.timeStamp)/1e3:0,u=c>0?s/c:0,d=c>0?i/c:0,h=Math.sqrt(u*u+d*d),p=this.gesturesRegistry.getActiveGestures(t),f={gestureName:this.name,initialCentroid:this.state.startCentroid,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,deltaX:s,deltaY:i,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:p,customData:this.customData},m=Rn(this.name,r),y=new CustomEvent(m,{bubbles:!0,cancelable:!0,detail:f});t.dispatchEvent(y),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancel(t,r,n){if(this.isActive){const a=t??this.element;this.emitPanEvent(a,"cancel",r,n,this.state.lastCentroid),this.emitPanEvent(a,"end",r,n,this.state.lastCentroid)}this.resetState()}}class Nl extends Ia{constructor(t){super(K({},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 Nl(K({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=K({},this.state,{startDistance:0,lastDistance:0,lastScale:1,lastTime:0,velocity:0,deltaScale:0})}handlePointerEvent(t,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&(this.emitPinchEvent(a,"cancel",n,r),this.resetState());return}const o=this.getRelevantPointers(n,a);switch(r.type){case"pointerdown":if(o.length>=2&&!this.isActive){const s=ci(o);this.state.startDistance=s,this.state.lastDistance=s,this.state.lastTime=r.timeStamp,this.originalTarget=a}break;case"pointermove":if(this.state.startDistance&&o.length>=this.minPointers){const s=ci(o),i=Math.abs(s-this.state.lastDistance);if(i!==0&&i>=this.threshold){const l=this.state.startDistance?s/this.state.startDistance:1,c=l/this.state.lastScale;this.state.totalScale*=c;const u=(r.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=l-this.state.lastScale,this.state.lastScale=l,this.state.lastTime=r.timeStamp,this.isActive?this.emitPinchEvent(a,"ongoing",o,r):(this.isActive=!0,this.emitPinchEvent(a,"start",o,r),this.emitPinchEvent(a,"ongoing",o,r))}}break;case"pointerup":case"pointercancel":case"forceCancel":if(this.isActive){const s=o.filter(i=>i.type!=="pointerup"&&i.type!=="pointercancel");if(s.length<this.minPointers)r.type==="pointercancel"&&this.emitPinchEvent(a,"cancel",o,r),this.emitPinchEvent(a,"end",o,r),this.resetState();else if(s.length>=2){const i=ci(s);this.state.startDistance=i/this.state.lastScale}}break}}emitPinchEvent(t,r,n,a){const o=Yt(n),s=this.state.lastDistance,i=this.state.lastScale,l=this.gesturesRegistry.getActiveGestures(t),c={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,scale:i,deltaScale:this.state.deltaScale,totalScale:this.state.totalScale,distance:s,velocity:this.state.velocity,activeGestures:l,direction:Ix(this.state.velocity),customData:this.customData};this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation();const u=Rn(this.name,r),d=new CustomEvent(u,{bubbles:!0,cancelable:!0,detail:c});t.dispatchEvent(d)}}class zl extends Ia{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 zl(K({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=K({},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,r){const n=Array.from(t.values());if(r.type==="forceCancel"){this.cancelPress(r.target,n,r);return}const a=this.getTargetElement(r);if(!a)return;if(this.shouldPreventGesture(a)){this.isActive&&this.cancelPress(a,n,r);return}const o=this.getRelevantPointers(n,a);if(o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelPress(a,o,r);return}switch(r.type){case"pointerdown":!this.isActive&&!this.state.startCentroid&&(this.state.startCentroid=Yt(o),this.state.lastPosition=K({},this.state.startCentroid),this.state.startTime=r.timeStamp,this.isActive=!0,this.originalTarget=a,this.clearPressTimer(),this.state.timerId=setTimeout(()=>{if(this.isActive&&this.state.startCentroid){this.state.pressThresholdReached=!0;const s=this.state.lastPosition;this.emitPressEvent(a,"start",o,r,s),this.emitPressEvent(a,"ongoing",o,r,s)}},this.duration));break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=Yt(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelPress(a,o,r)}break;case"pointerup":if(this.isActive){if(this.state.pressThresholdReached){const s=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(a,"end",o,r,s)}this.resetState()}break;case"pointercancel":case"forceCancel":this.cancelPress(a,o,r);break}}emitPressEvent(t,r,n,a,o){const s=this.gesturesRegistry.getActiveGestures(t),i=a.timeStamp-this.state.startTime,l={gestureName:this.name,centroid:o,target:a.target,srcEvent:a,phase:r,pointers:n,timeStamp:a.timeStamp,x:o.x,y:o.y,duration:i,activeGestures:s,customData:this.customData},c=Rn(this.name,r),u=new CustomEvent(c,{bubbles:!0,cancelable:!0,detail:l});t.dispatchEvent(u),this.preventDefault&&a.preventDefault(),this.stopPropagation&&a.stopPropagation()}cancelPress(t,r,n){if(this.isActive&&this.state.pressThresholdReached){const a=this.state.lastPosition||this.state.startCentroid;this.emitPressEvent(t??this.element,"cancel",r,n,a),this.emitPressEvent(t??this.element,"end",r,n,a)}this.resetState()}}class Gl extends Ia{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 Gl(K({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,r){const n=Array.from(t.values()),a=this.getTargetElement(r);if(!a)return;const o=this.getRelevantPointers(n,a);if(this.shouldPreventGesture(a)||o.length<this.minPointers||o.length>this.maxPointers){this.isActive&&this.cancelTap(a,o,r);return}switch(r.type){case"pointerdown":this.isActive||(this.state.startCentroid=Yt(o),this.state.lastPosition=K({},this.state.startCentroid),this.isActive=!0,this.originalTarget=a);break;case"pointermove":if(this.isActive&&this.state.startCentroid){const s=Yt(o);this.state.lastPosition=s;const i=s.x-this.state.startCentroid.x,l=s.y-this.state.startCentroid.y;Math.sqrt(i*i+l*l)>this.maxDistance&&this.cancelTap(a,o,r)}break;case"pointerup":if(this.isActive){this.state.currentTapCount+=1;const s=this.state.lastPosition||this.state.startCentroid;if(!s){this.cancelTap(a,o,r);return}this.state.currentTapCount>=this.taps?(this.fireTapEvent(a,o,r,s),this.resetState()):(this.state.lastTapTime=r.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(a,o,r);break}}fireTapEvent(t,r,n,a){const o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"end",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=new CustomEvent(this.name,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(i),this.preventDefault&&n.preventDefault(),this.stopPropagation&&n.stopPropagation()}cancelTap(t,r,n){if(this.state.startCentroid||this.state.lastPosition){const a=this.state.lastPosition||this.state.startCentroid,o=this.gesturesRegistry.getActiveGestures(t),s={gestureName:this.name,centroid:a,target:n.target,srcEvent:n,phase:"cancel",pointers:r,timeStamp:n.timeStamp,x:a.x,y:a.y,tapCount:this.state.currentTapCount,activeGestures:o,customData:this.customData},i=Rn(this.name,"cancel"),l=new CustomEvent(i,{bubbles:!0,cancelable:!0,detail:s});t.dispatchEvent(l)}this.resetState()}}class Hl extends wp{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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wf(e){const t=new Rr(e),r=Xm(Rr.prototype.request,t);return q.extend(r,Rr.prototype,t,{allOwnKeys:!0}),q.extend(r,t,null,{allOwnKeys:!0}),r.create=function(a){return wf(Vr(e,a))},r}const _=wf(ka);_.Axios=Rr;_.CanceledError=jn;_.CancelToken=aE;_.isCancel=pf;_.VERSION=vf;_.toFormData=Bs;_.AxiosError=de;_.Cancel=_.CanceledError;_.all=function(t){return Promise.all(t)};_.spread=oE;_.isAxiosError=sE;_.mergeConfig=Vr;_.AxiosHeaders=it;_.formToJSON=e=>hf(q.isHTMLForm(e)?new FormData(e):e);_.getAdapter=xf.getAdapter;_.HttpStatusCode=bl;_.default=_;const{Axios:jj,AxiosError:xl,CanceledError:kj,isCancel:$j,CancelToken:Uj,VERSION:Dj,all:Lj,Cancel:Bj,isAxiosError:iE,spread:Fj,toFormData:Nj,AxiosHeaders:zj,HttpStatusCode:Gj,formToJSON:Hj,getAdapter:qj,mergeConfig:Wj}=_,j="/api/v1".replace(/\/+$/,"");class Ve{constructor(t,r=j,n=_){$n(this,"basePath");$n(this,"axios");$n(this,"configuration");this.basePath=r,this.axios=n,t&&(this.configuration=t,this.basePath=t.basePath??r)}}class lE extends 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i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listApps:async(t,r={})=>{v("listApps","cell",t);const n="/cells/{cell}/apps".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},updateApp:async(t,r,n,a,o={})=>{v("updateApp","cell",t),v("updateApp","app",r),v("updateApp","app2",n);const s="/cells/{cell}/apps/{app}".replace("{cell}",encodeURIComponent(String(t))).replace("{app}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};U(c,e),await D(u,e),a!==void 0&&(d.completionTimeout=a),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:B(i),options:c}}}},Zr=function(e){const t=cE(e);return{async addApp(r,n,a,o){var c,u;const 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0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async updateApp(r,n,a,o,s){var u,d;const i=await t.updateApp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["ApplicationApi.updateApp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)}}};class ih extends Ve{addApp(t,r,n,a){return Zr(this.configuration).addApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearApps(t,r,n){return Zr(this.configuration).clearApps(t,r,n).then(a=>a(this.axios,this.basePath))}deleteApp(t,r,n,a){return Zr(this.configuration).deleteApp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getApp(t,r,n){return Zr(this.configuration).getApp(t,r,n).then(a=>a(this.axios,this.basePath))}listApps(t,r){return Zr(this.configuration).listApps(t,r).then(n=>n(this.axios,this.basePath))}updateApp(t,r,n,a,o){return Zr(this.configuration).updateApp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const uE=function(e){return{deleteCell:async(t,r,n={})=>{v("deleteCell","cell",t);const a="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),r!==void 0&&(c.completionTimeout=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},deployCell:async(t,r,n={})=>{v("deployCell","cell",t);const a="/cells",o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),r!==void 0&&(c.completionTimeout=r),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(t,i,e),{url:B(o),options:i}},getCell:async(t,r={})=>{v("getCell","cell",t);const n="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},getCellStatus:async(t,r={})=>{v("getCellStatus","cell",t);const n="/cells/{cell}/status".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},listCells:async(t={})=>{const r="/cells",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};U(o,e),await D(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:B(n),options:o}},updateCell:async(t,r,n,a={})=>{v("updateCell","cell",t),v("updateCell","cell2",r);const o="/cells/{cell}".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:B(s),options:l}}}},en=function(e){const t=uE(e);return{async deleteCell(r,n,a){var l,c;const o=await t.deleteCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["CellApi.deleteCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deployCell(r,n,a){var l,c;const o=await t.deployCell(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["CellApi.deployCell"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getCell(r,n){var i,l;const a=await t.getCell(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["CellApi.getCell"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async getCellStatus(r,n){var i,l;const a=await t.getCellStatus(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["CellApi.getCellStatus"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async listCells(r){var s,i;const n=await t.listCells(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=k["CellApi.listCells"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>F(n,_,j,e)(l,o||c)},async updateCell(r,n,a,o){var c,u;const s=await t.updateCell(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["CellApi.updateCell"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class dE extends Ve{deleteCell(t,r,n){return en(this.configuration).deleteCell(t,r,n).then(a=>a(this.axios,this.basePath))}deployCell(t,r,n){return en(this.configuration).deployCell(t,r,n).then(a=>a(this.axios,this.basePath))}getCell(t,r){return en(this.configuration).getCell(t,r).then(n=>n(this.axios,this.basePath))}getCellStatus(t,r){return en(this.configuration).getCellStatus(t,r).then(n=>n(this.axios,this.basePath))}listCells(t){return en(this.configuration).listCells(t).then(r=>r(this.axios,this.basePath))}updateCell(t,r,n,a){return en(this.configuration).updateCell(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const hE=function(e){return{addRobotController:async(t,r,n,a={})=>{v("addRobotController","cell",t),v("addRobotController","robotController",r);const o="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.completionTimeout=n),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:B(s),options:l}},clearRobotControllers:async(t,r,n={})=>{v("clearRobotControllers","cell",t);const a="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),r!==void 0&&(c.completionTimeout=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},deleteRobotController:async(t,r,n,a={})=>{v("deleteRobotController","cell",t),v("deleteRobotController","controller",r);const o="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"DELETE",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.completionTimeout=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},getCurrentRobotControllerState:async(t,r,n={})=>{v("getCurrentRobotControllerState","cell",t),v("getCurrentRobotControllerState","controller",r);const a="/cells/{cell}/controllers/{controller}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getMode:async(t,r,n={})=>{v("getMode","cell",t),v("getMode","controller",r);const a="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getRobotController:async(t,r,n={})=>{v("getRobotController","cell",t),v("getRobotController","controller",r);const a="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getSupportedModes:async(t,r,n={})=>{v("getSupportedModes","cell",t),v("getSupportedModes","controller",r);const a="/cells/{cell}/controllers/{controller}/controller-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getVirtualRobotConfiguration:async(t,r,n={})=>{v("getVirtualRobotConfiguration","cell",t),v("getVirtualRobotConfiguration","controller",r);const a="/cells/{cell}/controllers/{controller}/virtual-robot-configuration".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listControllers:async(t,r={})=>{v("listControllers","cell",t);const n="/cells/{cell}/controllers".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},setDefaultMode:async(t,r,n,a={})=>{v("setDefaultMode","cell",t),v("setDefaultMode","controller",r),v("setDefaultMode","mode",n);const o="/cells/{cell}/controllers/{controller}/mode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.mode=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},streamFreeDrive:async(t,r,n,a={})=>{v("streamFreeDrive","cell",t),v("streamFreeDrive","controller",r);const o="/cells/{cell}/controllers/{controller}/free-drive-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.response_rate=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},streamModeChange:async(t,r,n={})=>{v("streamModeChange","cell",t),v("streamModeChange","controller",r);const a="/cells/{cell}/controllers/{controller}/mode-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},streamRobotControllerState:async(t,r,n,a={})=>{v("streamRobotControllerState","cell",t),v("streamRobotControllerState","controller",r);const o="/cells/{cell}/controllers/{controller}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.response_rate=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},updateRobotController:async(t,r,n,a,o={})=>{v("updateRobotController","cell",t),v("updateRobotController","controller",r),v("updateRobotController","robotController",n);const s="/cells/{cell}/controllers/{controller}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};U(c,e),await D(u,e),a!==void 0&&(d.completionTimeout=a),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:B(i),options:c}}}},nt=function(e){const t=hE(e);return{async addRobotController(r,n,a,o){var c,u;const s=await t.addRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ControllerApi.addRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async clearRobotControllers(r,n,a){var l,c;const o=await t.clearRobotControllers(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ControllerApi.clearRobotControllers"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deleteRobotController(r,n,a,o){var c,u;const s=await t.deleteRobotController(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ControllerApi.deleteRobotController"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async getCurrentRobotControllerState(r,n,a){var l,c;const o=await t.getCurrentRobotControllerState(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ControllerApi.getCurrentRobotControllerState"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getMode(r,n,a){var l,c;const o=await t.getMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ControllerApi.getMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getRobotController(r,n,a){var l,c;const o=await t.getRobotController(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ControllerApi.getRobotController"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getSupportedModes(r,n,a){var l,c;const o=await t.getSupportedModes(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ControllerApi.getSupportedModes"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getVirtualRobotConfiguration(r,n,a){var l,c;const o=await t.getVirtualRobotConfiguration(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ControllerApi.getVirtualRobotConfiguration"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listControllers(r,n){var i,l;const a=await t.listControllers(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["ControllerApi.listControllers"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async setDefaultMode(r,n,a,o){var c,u;const s=await t.setDefaultMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ControllerApi.setDefaultMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async streamFreeDrive(r,n,a,o){var c,u;const s=await t.streamFreeDrive(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ControllerApi.streamFreeDrive"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async streamModeChange(r,n,a){var l,c;const o=await t.streamModeChange(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ControllerApi.streamModeChange"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async streamRobotControllerState(r,n,a,o){var c,u;const s=await t.streamRobotControllerState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ControllerApi.streamRobotControllerState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async updateRobotController(r,n,a,o,s){var u,d;const i=await t.updateRobotController(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["ControllerApi.updateRobotController"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)}}};class pE extends Ve{addRobotController(t,r,n,a){return nt(this.configuration).addRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}clearRobotControllers(t,r,n){return nt(this.configuration).clearRobotControllers(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRobotController(t,r,n,a){return nt(this.configuration).deleteRobotController(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentRobotControllerState(t,r,n){return nt(this.configuration).getCurrentRobotControllerState(t,r,n).then(a=>a(this.axios,this.basePath))}getMode(t,r,n){return nt(this.configuration).getMode(t,r,n).then(a=>a(this.axios,this.basePath))}getRobotController(t,r,n){return nt(this.configuration).getRobotController(t,r,n).then(a=>a(this.axios,this.basePath))}getSupportedModes(t,r,n){return nt(this.configuration).getSupportedModes(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotConfiguration(t,r,n){return nt(this.configuration).getVirtualRobotConfiguration(t,r,n).then(a=>a(this.axios,this.basePath))}listControllers(t,r){return nt(this.configuration).listControllers(t,r).then(n=>n(this.axios,this.basePath))}setDefaultMode(t,r,n,a){return nt(this.configuration).setDefaultMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamFreeDrive(t,r,n,a){return nt(this.configuration).streamFreeDrive(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamModeChange(t,r,n){return nt(this.configuration).streamModeChange(t,r,n).then(a=>a(this.axios,this.basePath))}streamRobotControllerState(t,r,n,a){return nt(this.configuration).streamRobotControllerState(t,r,n,a).then(o=>o(this.axios,this.basePath))}updateRobotController(t,r,n,a,o){return nt(this.configuration).updateRobotController(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const mE=function(e){return{listIODescriptions:async(t,r,n,a={})=>{v("listIODescriptions","cell",t),v("listIODescriptions","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/description".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},listIOValues:async(t,r,n,a={})=>{v("listIOValues","cell",t),v("listIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},setOutputValues:async(t,r,n,a={})=>{v("setOutputValues","cell",t),v("setOutputValues","controller",r),v("setOutputValues","iOValue",n);const o="/cells/{cell}/controllers/{controller}/ios/values".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},streamIOValues:async(t,r,n,a={})=>{v("streamIOValues","cell",t),v("streamIOValues","controller",r);const o="/cells/{cell}/controllers/{controller}/ios/stream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n&&(u.ios=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},waitForIOEvent:async(t,r,n,a,o,s,i,l={})=>{v("waitForIOEvent","cell",t),v("waitForIOEvent","controller",r),v("waitForIOEvent","io",n),v("waitForIOEvent","comparisonType",a);const c="/cells/{cell}/controllers/{controller}/ios/wait-for".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),u=new URL(c,$);let d;e&&(d=e.baseOptions);const h={method:"GET",...d,...l},p={},f={};U(h,e),await D(p,e),n!==void 0&&(f.io=n),a!==void 0&&(f.comparison_type=a),o!==void 0&&(f.boolean_value=o),s!==void 0&&(f.integer_value=s),i!==void 0&&(f.floating_value=i),L(u,f);let m=d&&d.headers?d.headers:{};return h.headers={...p,...m,...l.headers},{url:B(u),options:h}}}},Jn=function(e){const t=mE(e);return{async listIODescriptions(r,n,a,o){var c,u;const s=await t.listIODescriptions(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ControllerIOsApi.listIODescriptions"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async listIOValues(r,n,a,o){var c,u;const s=await t.listIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ControllerIOsApi.listIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async setOutputValues(r,n,a,o){var c,u;const s=await t.setOutputValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ControllerIOsApi.setOutputValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async streamIOValues(r,n,a,o){var c,u;const s=await t.streamIOValues(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ControllerIOsApi.streamIOValues"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async waitForIOEvent(r,n,a,o,s,i,l,c){var p,f;const u=await t.waitForIOEvent(r,n,a,o,s,i,l,c),d=(e==null?void 0:e.serverIndex)??0,h=(f=(p=k["ControllerIOsApi.waitForIOEvent"])==null?void 0:p[d])==null?void 0:f.url;return(m,y)=>F(u,_,j,e)(m,h||y)}}};class fE extends Ve{listIODescriptions(t,r,n,a){return Jn(this.configuration).listIODescriptions(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOValues(t,r,n,a){return Jn(this.configuration).listIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}setOutputValues(t,r,n,a){return Jn(this.configuration).setOutputValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamIOValues(t,r,n,a){return Jn(this.configuration).streamIOValues(t,r,n,a).then(o=>o(this.axios,this.basePath))}waitForIOEvent(t,r,n,a,o,s,i,l){return Jn(this.configuration).waitForIOEvent(t,r,n,a,o,s,i,l).then(c=>c(this.axios,this.basePath))}}const gE=function(e){return{addCoordinateSystem:async(t,r,n={})=>{v("addCoordinateSystem","cell",t),v("addCoordinateSystem","addRequest",r);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},deleteCoordinateSystem:async(t,r,n={})=>{v("deleteCoordinateSystem","cell",t),v("deleteCoordinateSystem","coordinateSystem",r);const a="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getCoordinateSystem:async(t,r,n,a={})=>{v("getCoordinateSystem","cell",t),v("getCoordinateSystem","coordinateSystem",r);const o="/cells/{cell}/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},listCoordinateSystems:async(t,r,n={})=>{v("listCoordinateSystems","cell",t);const a="/cells/{cell}/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),r!==void 0&&(c.rotation_type=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},transformInCoordinateSystem:async(t,r,n,a={})=>{v("transformInCoordinateSystem","cell",t),v("transformInCoordinateSystem","coordinateSystem",r),v("transformInCoordinateSystem","pose",n);const o="/cells/{cell}/coordinate-systems/{coordinate-system}/transform".replace("{cell}",encodeURIComponent(String(t))).replace("{coordinate-system}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}}}},Yn=function(e){const t=gE(e);return{async addCoordinateSystem(r,n,a){var l,c;const o=await t.addCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["CoordinateSystemsApi.addCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deleteCoordinateSystem(r,n,a){var l,c;const o=await t.deleteCoordinateSystem(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["CoordinateSystemsApi.deleteCoordinateSystem"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getCoordinateSystem(r,n,a,o){var c,u;const s=await t.getCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["CoordinateSystemsApi.getCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async listCoordinateSystems(r,n,a){var l,c;const o=await t.listCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["CoordinateSystemsApi.listCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async transformInCoordinateSystem(r,n,a,o){var c,u;const s=await t.transformInCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["CoordinateSystemsApi.transformInCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class yE extends Ve{addCoordinateSystem(t,r,n){return Yn(this.configuration).addCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}deleteCoordinateSystem(t,r,n){return Yn(this.configuration).deleteCoordinateSystem(t,r,n).then(a=>a(this.axios,this.basePath))}getCoordinateSystem(t,r,n,a){return Yn(this.configuration).getCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}listCoordinateSystems(t,r,n){return Yn(this.configuration).listCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}transformInCoordinateSystem(t,r,n,a){return Yn(this.configuration).transformInCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const bE=function(e){return{clearDevices:async(t,r={})=>{v("clearDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},createDevice:async(t,r,n={})=>{v("createDevice","cell",t),v("createDevice","createDeviceRequestInner",r);const a="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},deleteDevice:async(t,r,n={})=>{v("deleteDevice","cell",t),v("deleteDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getDevice:async(t,r,n={})=>{v("getDevice","cell",t),v("getDevice","identifier",r);const a="/cells/{cell}/devices/{identifier}".replace("{cell}",encodeURIComponent(String(t))).replace("{identifier}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listDevices:async(t,r={})=>{v("listDevices","cell",t);const n="/cells/{cell}/devices".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}}}},Kn=function(e){const t=bE(e);return{async clearDevices(r,n){var i,l;const a=await t.clearDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["DeviceConfigurationApi.clearDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async createDevice(r,n,a){var l,c;const o=await t.createDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["DeviceConfigurationApi.createDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deleteDevice(r,n,a){var l,c;const o=await t.deleteDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["DeviceConfigurationApi.deleteDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getDevice(r,n,a){var l,c;const o=await t.getDevice(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["DeviceConfigurationApi.getDevice"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listDevices(r,n){var i,l;const a=await t.listDevices(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["DeviceConfigurationApi.listDevices"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)}}};class xE extends Ve{clearDevices(t,r){return Kn(this.configuration).clearDevices(t,r).then(n=>n(this.axios,this.basePath))}createDevice(t,r,n){return Kn(this.configuration).createDevice(t,r,n).then(a=>a(this.axios,this.basePath))}deleteDevice(t,r,n){return Kn(this.configuration).deleteDevice(t,r,n).then(a=>a(this.axios,this.basePath))}getDevice(t,r,n){return Kn(this.configuration).getDevice(t,r,n).then(a=>a(this.axios,this.basePath))}listDevices(t,r){return Kn(this.configuration).listDevices(t,r).then(n=>n(this.axios,this.basePath))}}const vE=function(e){return{createProgram:async(t,r,n,a={})=>{v("createProgram","cell",t),v("createProgram","body",r);const o="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.name=n),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:B(s),options:l}},deleteProgram:async(t,r,n={})=>{v("deleteProgram","cell",t),v("deleteProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},deleteProgramList:async(t,r,n={})=>{v("deleteProgramList","cell",t),v("deleteProgramList","programIds",r);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),r&&(c.program_ids=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getProgram:async(t,r,n={})=>{v("getProgram","cell",t),v("getProgram","program",r);const a="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},updateProgram:async(t,r,n,a={})=>{v("updateProgram","cell",t),v("updateProgram","program",r),v("updateProgram","body",n);const o="/cells/{cell}/store/programs/{program}".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}}}},Qn=function(e){const t=vE(e);return{async createProgram(r,n,a,o){var c,u;const s=await t.createProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["LibraryProgramApi.createProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async deleteProgram(r,n,a){var l,c;const o=await t.deleteProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["LibraryProgramApi.deleteProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deleteProgramList(r,n,a){var l,c;const o=await t.deleteProgramList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["LibraryProgramApi.deleteProgramList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getProgram(r,n,a){var l,c;const o=await t.getProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["LibraryProgramApi.getProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async updateProgram(r,n,a,o){var c,u;const s=await t.updateProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["LibraryProgramApi.updateProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class SE extends Ve{createProgram(t,r,n,a){return Qn(this.configuration).createProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}deleteProgram(t,r,n){return Qn(this.configuration).deleteProgram(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramList(t,r,n){return Qn(this.configuration).deleteProgramList(t,r,n).then(a=>a(this.axios,this.basePath))}getProgram(t,r,n){return Qn(this.configuration).getProgram(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgram(t,r,n,a){return Qn(this.configuration).updateProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const wE=function(e){return{getProgramMetadata:async(t,r,n={})=>{v("getProgramMetadata","cell",t),v("getProgramMetadata","program",r);const a="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listProgramMetadata:async(t,r,n={})=>{v("listProgramMetadata","cell",t);const a="/cells/{cell}/store/programs".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),r!==void 0&&(c.show_hidden=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},updateProgramMetadata:async(t,r,n,a={})=>{v("updateProgramMetadata","cell",t),v("updateProgramMetadata","program",r),v("updateProgramMetadata","updateProgramMetadataRequest",n);const o="/cells/{cell}/store/programs/{program}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},uploadProgramMetadataImage:async(t,r,n,a={})=>{v("uploadProgramMetadataImage","cell",t),v("uploadProgramMetadataImage","program",r),v("uploadProgramMetadataImage","file",n);const o="/cells/{cell}/store/programs/{program}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{program}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);U(l,e),await D(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",L(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:B(s),options:l}}}},ao=function(e){const t=wE(e);return{async getProgramMetadata(r,n,a){var l,c;const o=await t.getProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["LibraryProgramMetadataApi.getProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listProgramMetadata(r,n,a){var l,c;const o=await t.listProgramMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["LibraryProgramMetadataApi.listProgramMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async updateProgramMetadata(r,n,a,o){var c,u;const s=await t.updateProgramMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["LibraryProgramMetadataApi.updateProgramMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async uploadProgramMetadataImage(r,n,a,o){var c,u;const s=await t.uploadProgramMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["LibraryProgramMetadataApi.uploadProgramMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class CE extends Ve{getProgramMetadata(t,r,n){return ao(this.configuration).getProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramMetadata(t,r,n){return ao(this.configuration).listProgramMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}updateProgramMetadata(t,r,n,a){return ao(this.configuration).updateProgramMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadProgramMetadataImage(t,r,n,a){return ao(this.configuration).uploadProgramMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const OE=function(e){return{createRecipe:async(t,r,n,a,o={})=>{v("createRecipe","cell",t),v("createRecipe","programId",r),v("createRecipe","body",n);const s="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"POST",...l,...o},u={},d={};U(c,e),await D(u,e),r!==void 0&&(d.program_id=r),a!==void 0&&(d.name=a),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(n,c,e),{url:B(i),options:c}},deleteRecipe:async(t,r,n={})=>{v("deleteRecipe","cell",t),v("deleteRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},deleteRecipeList:async(t,r,n={})=>{v("deleteRecipeList","cell",t),v("deleteRecipeList","recipeIds",r);const a="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),r&&(c.recipe_ids=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getRecipe:async(t,r,n={})=>{v("getRecipe","cell",t),v("getRecipe","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},updateRecipe:async(t,r,n,a={})=>{v("updateRecipe","cell",t),v("updateRecipe","recipe",r),v("updateRecipe","body",n);const o="/cells/{cell}/store/recipes/{recipe}".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}}}},Xn=function(e){const t=OE(e);return{async createRecipe(r,n,a,o,s){var u,d;const i=await t.createRecipe(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["LibraryRecipeApi.createRecipe"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)},async deleteRecipe(r,n,a){var l,c;const o=await t.deleteRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["LibraryRecipeApi.deleteRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deleteRecipeList(r,n,a){var l,c;const o=await t.deleteRecipeList(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["LibraryRecipeApi.deleteRecipeList"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getRecipe(r,n,a){var l,c;const o=await t.getRecipe(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["LibraryRecipeApi.getRecipe"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async updateRecipe(r,n,a,o){var c,u;const s=await t.updateRecipe(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["LibraryRecipeApi.updateRecipe"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class TE extends Ve{createRecipe(t,r,n,a,o){return Xn(this.configuration).createRecipe(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteRecipe(t,r,n){return Xn(this.configuration).deleteRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}deleteRecipeList(t,r,n){return Xn(this.configuration).deleteRecipeList(t,r,n).then(a=>a(this.axios,this.basePath))}getRecipe(t,r,n){return Xn(this.configuration).getRecipe(t,r,n).then(a=>a(this.axios,this.basePath))}updateRecipe(t,r,n,a){return Xn(this.configuration).updateRecipe(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const PE=function(e){return{getRecipeMetadata:async(t,r,n={})=>{v("getRecipeMetadata","cell",t),v("getRecipeMetadata","recipe",r);const a="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listRecipeMetadata:async(t,r={})=>{v("listRecipeMetadata","cell",t);const n="/cells/{cell}/store/recipes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},updateRecipeMetadata:async(t,r,n,a={})=>{v("updateRecipeMetadata","cell",t),v("updateRecipeMetadata","recipe",r),v("updateRecipeMetadata","updateRecipeMetadataRequest",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},uploadRecipeMetadataImage:async(t,r,n,a={})=>{v("uploadRecipeMetadataImage","cell",t),v("uploadRecipeMetadataImage","recipe",r),v("uploadRecipeMetadataImage","file",n);const o="/cells/{cell}/store/recipes/{recipe}/metadata/image".replace("{cell}",encodeURIComponent(String(t))).replace("{recipe}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={},d=new(e&&e.formDataCtor||FormData);U(l,e),await D(c,e),n!==void 0&&d.append("file",n),c["Content-Type"]="multipart/form-data",L(s,u);let h=i&&i.headers?i.headers:{};return l.headers={...c,...h,...a.headers},l.data=d,{url:B(s),options:l}}}},oo=function(e){const t=PE(e);return{async getRecipeMetadata(r,n,a){var l,c;const o=await t.getRecipeMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["LibraryRecipeMetadataApi.getRecipeMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listRecipeMetadata(r,n){var i,l;const a=await t.listRecipeMetadata(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["LibraryRecipeMetadataApi.listRecipeMetadata"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async updateRecipeMetadata(r,n,a,o){var c,u;const s=await t.updateRecipeMetadata(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["LibraryRecipeMetadataApi.updateRecipeMetadata"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async uploadRecipeMetadataImage(r,n,a,o){var c,u;const s=await t.uploadRecipeMetadataImage(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["LibraryRecipeMetadataApi.uploadRecipeMetadataImage"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class RE extends Ve{getRecipeMetadata(t,r,n){return oo(this.configuration).getRecipeMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listRecipeMetadata(t,r){return oo(this.configuration).listRecipeMetadata(t,r).then(n=>n(this.axios,this.basePath))}updateRecipeMetadata(t,r,n,a){return oo(this.configuration).updateRecipeMetadata(t,r,n,a).then(o=>o(this.axios,this.basePath))}uploadRecipeMetadataImage(t,r,n,a){return oo(this.configuration).uploadRecipeMetadataImage(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const AE=function(e){return{deleteAllMotions:async(t,r={})=>{v("deleteAllMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},deleteMotion:async(t,r,n={})=>{v("deleteMotion","cell",t),v("deleteMotion","motion",r);const a="/cells/{cell}/motions/{motion}/delete".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},executeTrajectory:async(t,r,n={})=>{v("executeTrajectory","cell",t),v("executeTrajectory","executeTrajectoryRequest",r);const a="/cells/{cell}/motions/executetrajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},getMotionTrajectory:async(t,r,n,a,o={})=>{v("getMotionTrajectory","cell",t),v("getMotionTrajectory","motion",r),v("getMotionTrajectory","sampleTime",n);const s="/cells/{cell}/motions/{motion}/trajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};U(c,e),await D(u,e),n!==void 0&&(d.sample_time=n),a!==void 0&&(d.responses_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:B(i),options:c}},getMotionTrajectorySample:async(t,r,n,a,o={})=>{v("getMotionTrajectorySample","cell",t),v("getMotionTrajectorySample","motion",r);const s="/cells/{cell}/motions/{motion}/trajectorysample".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};U(c,e),await D(u,e),n!==void 0&&(d.location_on_trajectory=n),a!==void 0&&(d.response_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:B(i),options:c}},getPlannedMotion:async(t,r,n,a={})=>{v("getPlannedMotion","cell",t),v("getPlannedMotion","motion",r);const o="/cells/{cell}/motions/{motion}/planned-motion".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.sample_time=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},getPlanningMotionGroupModels:async(t,r={})=>{v("getPlanningMotionGroupModels","cell",t);const n="/cells/{cell}/motion-planning/motion-group-models".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},listMotions:async(t,r={})=>{v("listMotions","cell",t);const n="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},loadPlannedMotion:async(t,r,n={})=>{v("loadPlannedMotion","cell",t),v("loadPlannedMotion","plannedMotion",r);const a="/cells/{cell}/planned-motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},planCollisionFreePTP:async(t,r,n={})=>{v("planCollisionFreePTP","cell",t);const a="/cells/{cell}/motion-planning/plan-collision-free-ptp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},planMotion:async(t,r,n={})=>{v("planMotion","cell",t),v("planMotion","planRequest",r);const a="/cells/{cell}/motions".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},planTrajectory:async(t,r,n={})=>{v("planTrajectory","cell",t);const a="/cells/{cell}/motion-planning/plan-trajectory".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},stopExecution:async(t,r,n={})=>{v("stopExecution","cell",t),v("stopExecution","motion",r);const a="/cells/{cell}/motions/{motion}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},streamMove:async(t,r,n={})=>{v("streamMove","cell",t),v("streamMove","streamMoveRequest",r);const a="/cells/{cell}/motions/streammove".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},streamMoveBackward:async(t,r,n,a,o,s,i={})=>{v("streamMoveBackward","cell",t),v("streamMoveBackward","motion",r),v("streamMoveBackward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executebackward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};U(d,e),await D(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:B(c),options:d}},streamMoveForward:async(t,r,n,a,o,s,i={})=>{v("streamMoveForward","cell",t),v("streamMoveForward","motion",r),v("streamMoveForward","playbackSpeedInPercent",n);const l="/cells/{cell}/motions/{motion}/executeforward".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"GET",...u,...i},h={},p={};U(d,e),await D(h,e),n!==void 0&&(p.playback_speed_in_percent=n),a!==void 0&&(p.response_rate=a),o!==void 0&&(p.response_coordinate_system=o),s!==void 0&&(p.start_location_on_trajectory=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:B(c),options:d}},streamMoveToTrajectoryViaJointPTP:async(t,r,n,a,o,s,i,l,c,u,d={})=>{v("streamMoveToTrajectoryViaJointPTP","cell",t),v("streamMoveToTrajectoryViaJointPTP","motion",r),v("streamMoveToTrajectoryViaJointPTP","locationOnTrajectory",n);const h="/cells/{cell}/motions/{motion}/executetotrajectory".replace("{cell}",encodeURIComponent(String(t))).replace("{motion}",encodeURIComponent(String(r))),p=new URL(h,$);let f;e&&(f=e.baseOptions);const m={method:"GET",...f,...d},y={},S={};U(m,e),await D(y,e),n!==void 0&&(S.location_on_trajectory=n),a&&(S["limit_override.joint_velocity_limits.joints"]=a),o&&(S["limit_override.joint_acceleration_limits.joints"]=o),s!==void 0&&(S["limit_override.tcp_velocity_limit"]=s),i!==void 0&&(S["limit_override.tcp_acceleration_limit"]=i),l!==void 0&&(S["limit_override.tcp_orientation_velocity_limit"]=l),c!==void 0&&(S["limit_override.tcp_orientation_acceleration_limit"]=c),u!==void 0&&(S.responses_coordinate_system=u),L(p,S);let A=f&&f.headers?f.headers:{};return m.headers={...y,...A,...d.headers},{url:B(p),options:m}}}},Ke=function(e){const t=AE(e);return{async deleteAllMotions(r,n){var i,l;const a=await t.deleteAllMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["MotionApi.deleteAllMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async deleteMotion(r,n,a){var l,c;const o=await t.deleteMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionApi.deleteMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async executeTrajectory(r,n,a){var l,c;const o=await t.executeTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionApi.executeTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getMotionTrajectory(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectory(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["MotionApi.getMotionTrajectory"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)},async getMotionTrajectorySample(r,n,a,o,s){var u,d;const i=await t.getMotionTrajectorySample(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["MotionApi.getMotionTrajectorySample"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)},async getPlannedMotion(r,n,a,o){var c,u;const s=await t.getPlannedMotion(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["MotionApi.getPlannedMotion"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async getPlanningMotionGroupModels(r,n){var i,l;const a=await t.getPlanningMotionGroupModels(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["MotionApi.getPlanningMotionGroupModels"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async listMotions(r,n){var i,l;const a=await t.listMotions(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["MotionApi.listMotions"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async loadPlannedMotion(r,n,a){var l,c;const o=await t.loadPlannedMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionApi.loadPlannedMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async planCollisionFreePTP(r,n,a){var l,c;const o=await t.planCollisionFreePTP(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionApi.planCollisionFreePTP"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async planMotion(r,n,a){var l,c;const o=await t.planMotion(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionApi.planMotion"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async planTrajectory(r,n,a){var l,c;const o=await t.planTrajectory(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionApi.planTrajectory"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async stopExecution(r,n,a){var l,c;const o=await t.stopExecution(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionApi.stopExecution"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async streamMove(r,n,a){var l,c;const o=await t.streamMove(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionApi.streamMove"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async streamMoveBackward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveBackward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=k["MotionApi.streamMoveBackward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>F(c,_,j,e)(f,d||m)},async streamMoveForward(r,n,a,o,s,i,l){var h,p;const c=await t.streamMoveForward(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=k["MotionApi.streamMoveForward"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>F(c,_,j,e)(f,d||m)},async streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h){var y,S;const p=await t.streamMoveToTrajectoryViaJointPTP(r,n,a,o,s,i,l,c,u,d,h),f=(e==null?void 0:e.serverIndex)??0,m=(S=(y=k["MotionApi.streamMoveToTrajectoryViaJointPTP"])==null?void 0:y[f])==null?void 0:S.url;return(A,w)=>F(p,_,j,e)(A,m||w)}}};class IE extends Ve{deleteAllMotions(t,r){return Ke(this.configuration).deleteAllMotions(t,r).then(n=>n(this.axios,this.basePath))}deleteMotion(t,r,n){return Ke(this.configuration).deleteMotion(t,r,n).then(a=>a(this.axios,this.basePath))}executeTrajectory(t,r,n){return Ke(this.configuration).executeTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionTrajectory(t,r,n,a,o){return Ke(this.configuration).getMotionTrajectory(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getMotionTrajectorySample(t,r,n,a,o){return Ke(this.configuration).getMotionTrajectorySample(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getPlannedMotion(t,r,n,a){return Ke(this.configuration).getPlannedMotion(t,r,n,a).then(o=>o(this.axios,this.basePath))}getPlanningMotionGroupModels(t,r){return Ke(this.configuration).getPlanningMotionGroupModels(t,r).then(n=>n(this.axios,this.basePath))}listMotions(t,r){return Ke(this.configuration).listMotions(t,r).then(n=>n(this.axios,this.basePath))}loadPlannedMotion(t,r,n){return Ke(this.configuration).loadPlannedMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planCollisionFreePTP(t,r,n){return Ke(this.configuration).planCollisionFreePTP(t,r,n).then(a=>a(this.axios,this.basePath))}planMotion(t,r,n){return Ke(this.configuration).planMotion(t,r,n).then(a=>a(this.axios,this.basePath))}planTrajectory(t,r,n){return Ke(this.configuration).planTrajectory(t,r,n).then(a=>a(this.axios,this.basePath))}stopExecution(t,r,n){return Ke(this.configuration).stopExecution(t,r,n).then(a=>a(this.axios,this.basePath))}streamMove(t,r,n){return Ke(this.configuration).streamMove(t,r,n).then(a=>a(this.axios,this.basePath))}streamMoveBackward(t,r,n,a,o,s,i){return Ke(this.configuration).streamMoveBackward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveForward(t,r,n,a,o,s,i){return Ke(this.configuration).streamMoveForward(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d){return Ke(this.configuration).streamMoveToTrajectoryViaJointPTP(t,r,n,a,o,s,i,l,c,u,d).then(h=>h(this.axios,this.basePath))}}const EE=function(e){return{activateAllMotionGroups:async(t,r,n={})=>{v("activateAllMotionGroups","cell",t),v("activateAllMotionGroups","controller",r);const a="/cells/{cell}/motion-groups/all".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),r!==void 0&&(c.controller=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},activateMotionGroup:async(t,r,n={})=>{v("activateMotionGroup","cell",t),v("activateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),r!==void 0&&(c.motion_group=r),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},deactivateMotionGroup:async(t,r,n={})=>{v("deactivateMotionGroup","cell",t),v("deactivateMotionGroup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listMotionGroups:async(t,r={})=>{v("listMotionGroups","cell",t);const n="/cells/{cell}/motion-groups".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}}}},so=function(e){const t=EE(e);return{async activateAllMotionGroups(r,n,a){var l,c;const o=await t.activateAllMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupApi.activateAllMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async activateMotionGroup(r,n,a){var l,c;const o=await t.activateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupApi.activateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deactivateMotionGroup(r,n,a){var l,c;const o=await t.deactivateMotionGroup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupApi.deactivateMotionGroup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listMotionGroups(r,n){var i,l;const a=await t.listMotionGroups(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["MotionGroupApi.listMotionGroups"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)}}};class _E extends Ve{activateAllMotionGroups(t,r,n){return so(this.configuration).activateAllMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}activateMotionGroup(t,r,n){return so(this.configuration).activateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}deactivateMotionGroup(t,r,n){return so(this.configuration).deactivateMotionGroup(t,r,n).then(a=>a(this.axios,this.basePath))}listMotionGroups(t,r){return so(this.configuration).listMotionGroups(t,r).then(n=>n(this.axios,this.basePath))}}const VE=function(e){return{getActivePayload:async(t,r,n={})=>{v("getActivePayload","cell",t),v("getActivePayload","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getActiveTcp:async(t,r,n,a={})=>{v("getActiveTcp","cell",t),v("getActiveTcp","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps/current".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},getCurrentMotionGroupState:async(t,r,n,a,o={})=>{v("getCurrentMotionGroupState","cell",t),v("getCurrentMotionGroupState","motionGroup",r);const s="/cells/{cell}/motion-groups/{motion-group}/state".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"GET",...l,...o},u={},d={};U(c,e),await D(u,e),n!==void 0&&(d.tcp=n),a!==void 0&&(d.response_coordinate_system=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:B(i),options:c}},getInfoCapabilities:async(t,r,n={})=>{v("getInfoCapabilities","cell",t),v("getInfoCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/info-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getMotionGroupSpecification:async(t,r,n={})=>{v("getMotionGroupSpecification","cell",t),v("getMotionGroupSpecification","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/specification".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getMounting:async(t,r,n={})=>{v("getMounting","cell",t),v("getMounting","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getOptimizerConfiguration:async(t,r,n,a={})=>{v("getOptimizerConfiguration","cell",t),v("getOptimizerConfiguration","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/optimizer-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.tcp=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},getSafetySetup:async(t,r,n={})=>{v("getSafetySetup","cell",t),v("getSafetySetup","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/safety-setup".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listPayloads:async(t,r,n={})=>{v("listPayloads","cell",t),v("listPayloads","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/payloads".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listTcps:async(t,r,n,a={})=>{v("listTcps","cell",t),v("listTcps","motionGroup",r);const o="/cells/{cell}/motion-groups/{motion-group}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.rotation_type=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},streamMotionGroupState:async(t,r,n,a,o,s={})=>{v("streamMotionGroupState","cell",t),v("streamMotionGroupState","motionGroup",r);const i="/cells/{cell}/motion-groups/{motion-group}/state-stream".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),l=new URL(i,$);let c;e&&(c=e.baseOptions);const u={method:"GET",...c,...s},d={},h={};U(u,e),await D(d,e),n!==void 0&&(h.response_rate=n),a!==void 0&&(h.response_coordinate_system=a),o!==void 0&&(h.tcp=o),L(l,h);let p=c&&c.headers?c.headers:{};return u.headers={...d,...p,...s.headers},{url:B(l),options:u}}}},wt=function(e){const t=VE(e);return{async getActivePayload(r,n,a){var l,c;const o=await t.getActivePayload(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupInfosApi.getActivePayload"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getActiveTcp(r,n,a,o){var c,u;const s=await t.getActiveTcp(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["MotionGroupInfosApi.getActiveTcp"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async getCurrentMotionGroupState(r,n,a,o,s){var u,d;const i=await t.getCurrentMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["MotionGroupInfosApi.getCurrentMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)},async getInfoCapabilities(r,n,a){var l,c;const o=await t.getInfoCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupInfosApi.getInfoCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getMotionGroupSpecification(r,n,a){var l,c;const o=await t.getMotionGroupSpecification(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupInfosApi.getMotionGroupSpecification"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getMounting(r,n,a){var l,c;const o=await t.getMounting(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupInfosApi.getMounting"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getOptimizerConfiguration(r,n,a,o){var c,u;const s=await t.getOptimizerConfiguration(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["MotionGroupInfosApi.getOptimizerConfiguration"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async getSafetySetup(r,n,a){var l,c;const o=await t.getSafetySetup(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupInfosApi.getSafetySetup"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listPayloads(r,n,a){var l,c;const o=await t.listPayloads(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupInfosApi.listPayloads"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listTcps(r,n,a,o){var c,u;const s=await t.listTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["MotionGroupInfosApi.listTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async streamMotionGroupState(r,n,a,o,s,i){var d,h;const l=await t.streamMotionGroupState(r,n,a,o,s,i),c=(e==null?void 0:e.serverIndex)??0,u=(h=(d=k["MotionGroupInfosApi.streamMotionGroupState"])==null?void 0:d[c])==null?void 0:h.url;return(p,f)=>F(l,_,j,e)(p,u||f)}}};class ME extends Ve{getActivePayload(t,r,n){return wt(this.configuration).getActivePayload(t,r,n).then(a=>a(this.axios,this.basePath))}getActiveTcp(t,r,n,a){return wt(this.configuration).getActiveTcp(t,r,n,a).then(o=>o(this.axios,this.basePath))}getCurrentMotionGroupState(t,r,n,a,o){return wt(this.configuration).getCurrentMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getInfoCapabilities(t,r,n){return wt(this.configuration).getInfoCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}getMotionGroupSpecification(t,r,n){return wt(this.configuration).getMotionGroupSpecification(t,r,n).then(a=>a(this.axios,this.basePath))}getMounting(t,r,n){return wt(this.configuration).getMounting(t,r,n).then(a=>a(this.axios,this.basePath))}getOptimizerConfiguration(t,r,n,a){return wt(this.configuration).getOptimizerConfiguration(t,r,n,a).then(o=>o(this.axios,this.basePath))}getSafetySetup(t,r,n){return wt(this.configuration).getSafetySetup(t,r,n).then(a=>a(this.axios,this.basePath))}listPayloads(t,r,n){return wt(this.configuration).listPayloads(t,r,n).then(a=>a(this.axios,this.basePath))}listTcps(t,r,n,a){return wt(this.configuration).listTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}streamMotionGroupState(t,r,n,a,o,s){return wt(this.configuration).streamMotionGroupState(t,r,n,a,o,s).then(i=>i(this.axios,this.basePath))}}const jE=function(e){return{directionJogging:async(t,r,n={})=>{v("directionJogging","cell",t),v("directionJogging","directionJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-tcp".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},getJoggingCapabilities:async(t,r,n={})=>{v("getJoggingCapabilities","cell",t),v("getJoggingCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/jogging-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},jointJogging:async(t,r,n={})=>{v("jointJogging","cell",t),v("jointJogging","jointJoggingRequest",r);const a="/cells/{cell}/motion-groups/move-joint".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},stopJogging:async(t,r,n={})=>{v("stopJogging","cell",t),v("stopJogging","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}}}},io=function(e){const t=jE(e);return{async directionJogging(r,n,a){var l,c;const o=await t.directionJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupJoggingApi.directionJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getJoggingCapabilities(r,n,a){var l,c;const o=await t.getJoggingCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupJoggingApi.getJoggingCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async jointJogging(r,n,a){var l,c;const o=await t.jointJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupJoggingApi.jointJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async stopJogging(r,n,a){var l,c;const o=await t.stopJogging(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupJoggingApi.stopJogging"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)}}};class kE extends Ve{directionJogging(t,r,n){return io(this.configuration).directionJogging(t,r,n).then(a=>a(this.axios,this.basePath))}getJoggingCapabilities(t,r,n){return io(this.configuration).getJoggingCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}jointJogging(t,r,n){return io(this.configuration).jointJogging(t,r,n).then(a=>a(this.axios,this.basePath))}stopJogging(t,r,n){return io(this.configuration).stopJogging(t,r,n).then(a=>a(this.axios,this.basePath))}}const $E=function(e){return{calculateAllInverseKinematic:async(t,r,n,a={})=>{v("calculateAllInverseKinematic","cell",t),v("calculateAllInverseKinematic","motionGroup",r),v("calculateAllInverseKinematic","allJointPositionsRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-all-joint-positions".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},calculateForwardKinematic:async(t,r,n,a={})=>{v("calculateForwardKinematic","cell",t),v("calculateForwardKinematic","motionGroup",r),v("calculateForwardKinematic","tcpPoseRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-tcp-pose".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},calculateInverseKinematic:async(t,r,n,a={})=>{v("calculateInverseKinematic","cell",t),v("calculateInverseKinematic","motionGroup",r),v("calculateInverseKinematic","jointPositionRequest",n);const o="/cells/{cell}/motion-groups/{motion-group}/kinematic/calculate-joint-position".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},getKinematicCapabilities:async(t,r,n={})=>{v("getKinematicCapabilities","cell",t),v("getKinematicCapabilities","motionGroup",r);const a="/cells/{cell}/motion-groups/{motion-group}/kinematic-capabilities".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}}}},lo=function(e){const t=$E(e);return{async calculateAllInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateAllInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["MotionGroupKinematicApi.calculateAllInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async calculateForwardKinematic(r,n,a,o){var c,u;const s=await t.calculateForwardKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["MotionGroupKinematicApi.calculateForwardKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async calculateInverseKinematic(r,n,a,o){var c,u;const s=await t.calculateInverseKinematic(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["MotionGroupKinematicApi.calculateInverseKinematic"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async getKinematicCapabilities(r,n,a){var l,c;const o=await t.getKinematicCapabilities(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["MotionGroupKinematicApi.getKinematicCapabilities"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)}}};class UE extends Ve{calculateAllInverseKinematic(t,r,n,a){return lo(this.configuration).calculateAllInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateForwardKinematic(t,r,n,a){return lo(this.configuration).calculateForwardKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}calculateInverseKinematic(t,r,n,a){return lo(this.configuration).calculateInverseKinematic(t,r,n,a).then(o=>o(this.axios,this.basePath))}getKinematicCapabilities(t,r,n){return lo(this.configuration).getKinematicCapabilities(t,r,n).then(a=>a(this.axios,this.basePath))}}const DE=function(e){return{createProgramRunner:async(t,r,n={})=>{v("createProgramRunner","cell",t),v("createProgramRunner","request",r);const a="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="text/plain",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},executeProgram:async(t,r,n={})=>{v("executeProgram","cell",t),v("executeProgram","codeWithArguments",r);const a="/cells/{cell}/programs/execute".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},getProgramRunner:async(t,r,n={})=>{v("getProgramRunner","cell",t),v("getProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listProgramRunners:async(t,r={})=>{v("listProgramRunners","cell",t);const n="/cells/{cell}/programs/runners".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},migrateProgram:async(t,r,n={})=>{v("migrateProgram","cell",t),v("migrateProgram","request1",r);const a="/cells/{cell}/programs/migrate".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="text/plain",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},planProgram:async(t,r,n,a={})=>{v("planProgram","cell",t),v("planProgram","request",r);const o="/cells/{cell}/programs/plan".replace("{cell}",encodeURIComponent(String(t))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"POST",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.identifier=n),c["Content-Type"]="text/plain",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(r,l,e),{url:B(s),options:l}},stopAllProgramRunner:async(t,r={})=>{v("stopAllProgramRunner","cell",t);const n="/cells/{cell}/programs/runners/stop".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"POST",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},stopProgramRunner:async(t,r,n={})=>{v("stopProgramRunner","cell",t),v("stopProgramRunner","runner",r);const a="/cells/{cell}/programs/runners/{runner}/stop".replace("{cell}",encodeURIComponent(String(t))).replace("{runner}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}}}},or=function(e){const t=DE(e);return{async createProgramRunner(r,n,a){var l,c;const o=await t.createProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ProgramApi.createProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async executeProgram(r,n,a){var l,c;const o=await t.executeProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ProgramApi.executeProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getProgramRunner(r,n,a){var l,c;const o=await t.getProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ProgramApi.getProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listProgramRunners(r,n){var i,l;const a=await t.listProgramRunners(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["ProgramApi.listProgramRunners"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async migrateProgram(r,n,a){var l,c;const o=await t.migrateProgram(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ProgramApi.migrateProgram"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async planProgram(r,n,a,o){var c,u;const s=await t.planProgram(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ProgramApi.planProgram"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async stopAllProgramRunner(r,n){var i,l;const a=await t.stopAllProgramRunner(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["ProgramApi.stopAllProgramRunner"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async stopProgramRunner(r,n,a){var l,c;const o=await t.stopProgramRunner(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ProgramApi.stopProgramRunner"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)}}};class LE extends Ve{createProgramRunner(t,r,n){return or(this.configuration).createProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}executeProgram(t,r,n){return or(this.configuration).executeProgram(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramRunner(t,r,n){return or(this.configuration).getProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramRunners(t,r){return or(this.configuration).listProgramRunners(t,r).then(n=>n(this.axios,this.basePath))}migrateProgram(t,r,n){return or(this.configuration).migrateProgram(t,r,n).then(a=>a(this.axios,this.basePath))}planProgram(t,r,n,a){return or(this.configuration).planProgram(t,r,n,a).then(o=>o(this.axios,this.basePath))}stopAllProgramRunner(t,r){return or(this.configuration).stopAllProgramRunner(t,r).then(n=>n(this.axios,this.basePath))}stopProgramRunner(t,r,n){return or(this.configuration).stopProgramRunner(t,r,n).then(a=>a(this.axios,this.basePath))}}const BE=function(e){return{clearProgramsValues:async(t,r={})=>{v("clearProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},createProgramsValue:async(t,r,n={})=>{v("createProgramsValue","cell",t),v("createProgramsValue","requestBody",r);const a="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"POST",...s,...n},l={},c={};U(i,e),await D(l,e),l["Content-Type"]="application/json",L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},i.data=ue(r,i,e),{url:B(o),options:i}},deleteProgramValue:async(t,r,n={})=>{v("deleteProgramValue","cell",t),v("deleteProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getProgramValue:async(t,r,n={})=>{v("getProgramValue","cell",t),v("getProgramValue","key",r);const a="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listProgramsValues:async(t,r={})=>{v("listProgramsValues","cell",t);const n="/cells/{cell}/programs/values".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},updateProgramValue:async(t,r,n,a={})=>{v("updateProgramValue","cell",t),v("updateProgramValue","key",r),v("updateProgramValue","value",n);const o="/cells/{cell}/programs/values/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}}}},tn=function(e){const t=BE(e);return{async clearProgramsValues(r,n){var i,l;const a=await t.clearProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["ProgramValuesApi.clearProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async createProgramsValue(r,n,a){var l,c;const o=await t.createProgramsValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ProgramValuesApi.createProgramsValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deleteProgramValue(r,n,a){var l,c;const o=await t.deleteProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ProgramValuesApi.deleteProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getProgramValue(r,n,a){var l,c;const o=await t.getProgramValue(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["ProgramValuesApi.getProgramValue"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listProgramsValues(r,n){var i,l;const a=await t.listProgramsValues(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["ProgramValuesApi.listProgramsValues"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async updateProgramValue(r,n,a,o){var c,u;const s=await t.updateProgramValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["ProgramValuesApi.updateProgramValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class FE extends Ve{clearProgramsValues(t,r){return tn(this.configuration).clearProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}createProgramsValue(t,r,n){return tn(this.configuration).createProgramsValue(t,r,n).then(a=>a(this.axios,this.basePath))}deleteProgramValue(t,r,n){return tn(this.configuration).deleteProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}getProgramValue(t,r,n){return tn(this.configuration).getProgramValue(t,r,n).then(a=>a(this.axios,this.basePath))}listProgramsValues(t,r){return tn(this.configuration).listProgramsValues(t,r).then(n=>n(this.axios,this.basePath))}updateProgramValue(t,r,n,a){return tn(this.configuration).updateProgramValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const NE=function(e){return{deleteStoredCollider:async(t,r,n={})=>{v("deleteStoredCollider","cell",t),v("deleteStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},deleteStoredCollisionLinkChain:async(t,r,n={})=>{v("deleteStoredCollisionLinkChain","cell",t),v("deleteStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},deleteStoredCollisionTool:async(t,r,n={})=>{v("deleteStoredCollisionTool","cell",t),v("deleteStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getDefaultLinkChain:async(t,r,n={})=>{v("getDefaultLinkChain","cell",t),v("getDefaultLinkChain","motionGroupModel",r);const a="/cells/{cell}/store/collision/default-link-chains/{motion-group-model}".replace("{cell}",encodeURIComponent(String(t))).replace("{motion-group-model}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getStoredCollider:async(t,r,n={})=>{v("getStoredCollider","cell",t),v("getStoredCollider","collider",r);const a="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getStoredCollisionLinkChain:async(t,r,n={})=>{v("getStoredCollisionLinkChain","cell",t),v("getStoredCollisionLinkChain","linkChain",r);const a="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getStoredCollisionTool:async(t,r,n={})=>{v("getStoredCollisionTool","cell",t),v("getStoredCollisionTool","tool",r);const a="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listCollisionLinkChains:async(t,r={})=>{v("listCollisionLinkChains","cell",t);const n="/cells/{cell}/store/collision/link-chains".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},listStoredColliders:async(t,r={})=>{v("listStoredColliders","cell",t);const n="/cells/{cell}/store/collision/colliders".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},listStoredCollisionTools:async(t,r={})=>{v("listStoredCollisionTools","cell",t);const n="/cells/{cell}/store/collision/tools".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},storeCollider:async(t,r,n,a={})=>{v("storeCollider","cell",t),v("storeCollider","collider",r),v("storeCollider","collider2",n);const o="/cells/{cell}/store/collision/colliders/{collider}".replace("{cell}",encodeURIComponent(String(t))).replace("{collider}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},storeCollisionLinkChain:async(t,r,n,a={})=>{v("storeCollisionLinkChain","cell",t),v("storeCollisionLinkChain","linkChain",r),v("storeCollisionLinkChain","collider",n);const o="/cells/{cell}/store/collision/link-chains/{link-chain}".replace("{cell}",encodeURIComponent(String(t))).replace("{link-chain}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},storeCollisionTool:async(t,r,n,a={})=>{v("storeCollisionTool","cell",t),v("storeCollisionTool","tool",r),v("storeCollisionTool","requestBody",n);const o="/cells/{cell}/store/collision/tools/{tool}".replace("{cell}",encodeURIComponent(String(t))).replace("{tool}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}}}},ct=function(e){const t=NE(e);return{async deleteStoredCollider(r,n,a){var l,c;const o=await t.deleteStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreCollisionComponentsApi.deleteStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deleteStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.deleteStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreCollisionComponentsApi.deleteStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async deleteStoredCollisionTool(r,n,a){var l,c;const o=await t.deleteStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreCollisionComponentsApi.deleteStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getDefaultLinkChain(r,n,a){var l,c;const o=await t.getDefaultLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreCollisionComponentsApi.getDefaultLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getStoredCollider(r,n,a){var l,c;const o=await t.getStoredCollider(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreCollisionComponentsApi.getStoredCollider"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getStoredCollisionLinkChain(r,n,a){var l,c;const o=await t.getStoredCollisionLinkChain(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreCollisionComponentsApi.getStoredCollisionLinkChain"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getStoredCollisionTool(r,n,a){var l,c;const o=await t.getStoredCollisionTool(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreCollisionComponentsApi.getStoredCollisionTool"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listCollisionLinkChains(r,n){var i,l;const a=await t.listCollisionLinkChains(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["StoreCollisionComponentsApi.listCollisionLinkChains"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async listStoredColliders(r,n){var i,l;const a=await t.listStoredColliders(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["StoreCollisionComponentsApi.listStoredColliders"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async listStoredCollisionTools(r,n){var i,l;const a=await t.listStoredCollisionTools(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["StoreCollisionComponentsApi.listStoredCollisionTools"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async storeCollider(r,n,a,o){var c,u;const s=await t.storeCollider(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["StoreCollisionComponentsApi.storeCollider"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async storeCollisionLinkChain(r,n,a,o){var c,u;const s=await t.storeCollisionLinkChain(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["StoreCollisionComponentsApi.storeCollisionLinkChain"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async storeCollisionTool(r,n,a,o){var c,u;const s=await t.storeCollisionTool(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["StoreCollisionComponentsApi.storeCollisionTool"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class zE extends Ve{deleteStoredCollider(t,r,n){return ct(this.configuration).deleteStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionLinkChain(t,r,n){return ct(this.configuration).deleteStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}deleteStoredCollisionTool(t,r,n){return ct(this.configuration).deleteStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}getDefaultLinkChain(t,r,n){return ct(this.configuration).getDefaultLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollider(t,r,n){return ct(this.configuration).getStoredCollider(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionLinkChain(t,r,n){return ct(this.configuration).getStoredCollisionLinkChain(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionTool(t,r,n){return ct(this.configuration).getStoredCollisionTool(t,r,n).then(a=>a(this.axios,this.basePath))}listCollisionLinkChains(t,r){return ct(this.configuration).listCollisionLinkChains(t,r).then(n=>n(this.axios,this.basePath))}listStoredColliders(t,r){return ct(this.configuration).listStoredColliders(t,r).then(n=>n(this.axios,this.basePath))}listStoredCollisionTools(t,r){return ct(this.configuration).listStoredCollisionTools(t,r).then(n=>n(this.axios,this.basePath))}storeCollider(t,r,n,a){return ct(this.configuration).storeCollider(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionLinkChain(t,r,n,a){return ct(this.configuration).storeCollisionLinkChain(t,r,n,a).then(o=>o(this.axios,this.basePath))}storeCollisionTool(t,r,n,a){return ct(this.configuration).storeCollisionTool(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const GE=function(e){return{deleteStoredCollisionScene:async(t,r,n={})=>{v("deleteStoredCollisionScene","cell",t),v("deleteStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getStoredCollisionScene:async(t,r,n={})=>{v("getStoredCollisionScene","cell",t),v("getStoredCollisionScene","scene",r);const a="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listStoredCollisionScenes:async(t,r={})=>{v("listStoredCollisionScenes","cell",t);const n="/cells/{cell}/store/collision/scenes".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},storeCollisionScene:async(t,r,n,a={})=>{v("storeCollisionScene","cell",t),v("storeCollisionScene","scene",r),v("storeCollisionScene","collisionSceneAssembly",n);const o="/cells/{cell}/store/collision/scenes/{scene}".replace("{cell}",encodeURIComponent(String(t))).replace("{scene}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}}}},co=function(e){const t=GE(e);return{async deleteStoredCollisionScene(r,n,a){var l,c;const o=await t.deleteStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreCollisionScenesApi.deleteStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getStoredCollisionScene(r,n,a){var l,c;const o=await t.getStoredCollisionScene(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreCollisionScenesApi.getStoredCollisionScene"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listStoredCollisionScenes(r,n){var i,l;const a=await t.listStoredCollisionScenes(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["StoreCollisionScenesApi.listStoredCollisionScenes"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async storeCollisionScene(r,n,a,o){var c,u;const s=await t.storeCollisionScene(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["StoreCollisionScenesApi.storeCollisionScene"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class HE extends Ve{deleteStoredCollisionScene(t,r,n){return co(this.configuration).deleteStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}getStoredCollisionScene(t,r,n){return co(this.configuration).getStoredCollisionScene(t,r,n).then(a=>a(this.axios,this.basePath))}listStoredCollisionScenes(t,r){return co(this.configuration).listStoredCollisionScenes(t,r).then(n=>n(this.axios,this.basePath))}storeCollisionScene(t,r,n,a){return co(this.configuration).storeCollisionScene(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const qE=function(e){return{clearAllObjects:async(t,r={})=>{v("clearAllObjects","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"DELETE",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},deleteObject:async(t,r,n={})=>{v("deleteObject","cell",t),v("deleteObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"DELETE",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getObject:async(t,r,n={})=>{v("getObject","cell",t),v("getObject","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getObjectMetadata:async(t,r,n={})=>{v("getObjectMetadata","cell",t),v("getObjectMetadata","key",r);const a="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"HEAD",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listAllObjectKeys:async(t,r={})=>{v("listAllObjectKeys","cell",t);const n="/cells/{cell}/store/objects".replace("{cell}",encodeURIComponent(String(t))),a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},storeObject:async(t,r,n,a,o={})=>{v("storeObject","cell",t),v("storeObject","key",r);const s="/cells/{cell}/store/objects/{key}".replace("{cell}",encodeURIComponent(String(t))).replace("{key}",encodeURIComponent(String(r))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={},h=new(e&&e.formDataCtor||FormData);U(c,e),await D(u,e),a!==void 0&&h.append("AnyValue",new Blob([JSON.stringify(a)],{type:"application/json"})),u["Content-Type"]="multipart/form-data",n!=null&&(u["X-Metadata"]=typeof n=="string"?n:JSON.stringify(n)),L(i,d);let p=l&&l.headers?l.headers:{};return c.headers={...u,...p,...o.headers},c.data=h,{url:B(i),options:c}}}},rn=function(e){const t=qE(e);return{async clearAllObjects(r,n){var i,l;const a=await t.clearAllObjects(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["StoreObjectApi.clearAllObjects"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async deleteObject(r,n,a){var l,c;const o=await t.deleteObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreObjectApi.deleteObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getObject(r,n,a){var l,c;const o=await t.getObject(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreObjectApi.getObject"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getObjectMetadata(r,n,a){var l,c;const o=await t.getObjectMetadata(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["StoreObjectApi.getObjectMetadata"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listAllObjectKeys(r,n){var i,l;const a=await t.listAllObjectKeys(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["StoreObjectApi.listAllObjectKeys"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async storeObject(r,n,a,o,s){var u,d;const i=await t.storeObject(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["StoreObjectApi.storeObject"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)}}};class WE extends Ve{clearAllObjects(t,r){return rn(this.configuration).clearAllObjects(t,r).then(n=>n(this.axios,this.basePath))}deleteObject(t,r,n){return rn(this.configuration).deleteObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObject(t,r,n){return rn(this.configuration).getObject(t,r,n).then(a=>a(this.axios,this.basePath))}getObjectMetadata(t,r,n){return rn(this.configuration).getObjectMetadata(t,r,n).then(a=>a(this.axios,this.basePath))}listAllObjectKeys(t,r){return rn(this.configuration).listAllObjectKeys(t,r).then(n=>n(this.axios,this.basePath))}storeObject(t,r,n,a,o){return rn(this.configuration).storeObject(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const JE=function(e){return{checkNovaVersionUpdate:async(t,r={})=>{v("checkNovaVersionUpdate","channel",t);const n="/system/update",a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"GET",...o,...r},i={},l={};U(s,e),await D(i,e),t!==void 0&&(l.channel=t),L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},{url:B(a),options:s}},getDiagnosePackage:async(t={})=>{const r="/system/diagnosis-package/zip",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};U(o,e),await D(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:B(n),options:o}},getSystemStatus:async(t={})=>{const r="/system/status",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};U(o,e),await D(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:B(n),options:o}},getSystemVersion:async(t={})=>{const r="/system/version",n=new URL(r,$);let a;e&&(a=e.baseOptions);const o={method:"GET",...a,...t},s={},i={};U(o,e),await D(s,e),L(n,i);let l=a&&a.headers?a.headers:{};return o.headers={...s,...l,...t.headers},{url:B(n),options:o}},updateNovaVersion:async(t,r={})=>{v("updateNovaVersion","updateNovaVersionRequest",t);const n="/system/update",a=new URL(n,$);let o;e&&(o=e.baseOptions);const s={method:"PUT",...o,...r},i={},l={};U(s,e),await D(i,e),i["Content-Type"]="application/json",L(a,l);let c=o&&o.headers?o.headers:{};return s.headers={...i,...c,...r.headers},s.data=ue(t,s,e),{url:B(a),options:s}}}},Zn=function(e){const t=JE(e);return{async checkNovaVersionUpdate(r,n){var i,l;const a=await t.checkNovaVersionUpdate(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["SystemApi.checkNovaVersionUpdate"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)},async getDiagnosePackage(r){var s,i;const n=await t.getDiagnosePackage(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=k["SystemApi.getDiagnosePackage"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>F(n,_,j,e)(l,o||c)},async getSystemStatus(r){var s,i;const n=await t.getSystemStatus(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=k["SystemApi.getSystemStatus"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>F(n,_,j,e)(l,o||c)},async getSystemVersion(r){var s,i;const n=await t.getSystemVersion(r),a=(e==null?void 0:e.serverIndex)??0,o=(i=(s=k["SystemApi.getSystemVersion"])==null?void 0:s[a])==null?void 0:i.url;return(l,c)=>F(n,_,j,e)(l,o||c)},async updateNovaVersion(r,n){var i,l;const a=await t.updateNovaVersion(r,n),o=(e==null?void 0:e.serverIndex)??0,s=(l=(i=k["SystemApi.updateNovaVersion"])==null?void 0:i[o])==null?void 0:l.url;return(c,u)=>F(a,_,j,e)(c,s||u)}}};class YE extends Ve{checkNovaVersionUpdate(t,r){return Zn(this.configuration).checkNovaVersionUpdate(t,r).then(n=>n(this.axios,this.basePath))}getDiagnosePackage(t){return Zn(this.configuration).getDiagnosePackage(t).then(r=>r(this.axios,this.basePath))}getSystemStatus(t){return Zn(this.configuration).getSystemStatus(t).then(r=>r(this.axios,this.basePath))}getSystemVersion(t){return Zn(this.configuration).getSystemVersion(t).then(r=>r(this.axios,this.basePath))}updateNovaVersion(t,r){return Zn(this.configuration).updateNovaVersion(t,r).then(n=>n(this.axios,this.basePath))}}const KE=function(e){return{getMotionGroupState:async(t,r,n,a={})=>{v("getMotionGroupState","cell",t),v("getMotionGroupState","controller",r),v("getMotionGroupState","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},getMotionGroups:async(t,r,n={})=>{v("getMotionGroups","cell",t),v("getMotionGroups","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/motiongroups".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getVirtualRobotIOValue:async(t,r,n,a={})=>{v("getVirtualRobotIOValue","cell",t),v("getVirtualRobotIOValue","controller",r),v("getVirtualRobotIOValue","io",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},listIOs:async(t,r,n={})=>{v("listIOs","cell",t),v("listIOs","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/ios".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},setMotionGroupState:async(t,r,n,a,o={})=>{v("setMotionGroupState","cell",t),v("setMotionGroupState","controller",r),v("setMotionGroupState","id",n),v("setMotionGroupState","motionGroupJoints",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};U(c,e),await D(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:B(i),options:c}},setVirtualRobotIOValue:async(t,r,n,a,o,s,i={})=>{v("setVirtualRobotIOValue","cell",t),v("setVirtualRobotIOValue","controller",r),v("setVirtualRobotIOValue","io",n);const l="/cells/{cell}/controllers/{controller}/teach-pendant/ios/{io}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{io}",encodeURIComponent(String(n))),c=new URL(l,$);let u;e&&(u=e.baseOptions);const d={method:"PUT",...u,...i},h={},p={};U(d,e),await D(h,e),a!==void 0&&(p.bool=a),o!==void 0&&(p.integer=o),s!==void 0&&(p.double=s),L(c,p);let f=u&&u.headers?u.headers:{};return d.headers={...h,...f,...i.headers},{url:B(c),options:d}}}},nn=function(e){const t=KE(e);return{async getMotionGroupState(r,n,a,o){var c,u;const s=await t.getMotionGroupState(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["VirtualRobotApi.getMotionGroupState"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async getMotionGroups(r,n,a){var l,c;const o=await t.getMotionGroups(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["VirtualRobotApi.getMotionGroups"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getVirtualRobotIOValue(r,n,a,o){var c,u;const s=await t.getVirtualRobotIOValue(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["VirtualRobotApi.getVirtualRobotIOValue"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async listIOs(r,n,a){var l,c;const o=await t.listIOs(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["VirtualRobotApi.listIOs"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async setMotionGroupState(r,n,a,o,s){var u,d;const i=await t.setMotionGroupState(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["VirtualRobotApi.setMotionGroupState"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)},async setVirtualRobotIOValue(r,n,a,o,s,i,l){var h,p;const c=await t.setVirtualRobotIOValue(r,n,a,o,s,i,l),u=(e==null?void 0:e.serverIndex)??0,d=(p=(h=k["VirtualRobotApi.setVirtualRobotIOValue"])==null?void 0:h[u])==null?void 0:p.url;return(f,m)=>F(c,_,j,e)(f,d||m)}}};class QE extends Ve{getMotionGroupState(t,r,n,a){return nn(this.configuration).getMotionGroupState(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroups(t,r,n){return nn(this.configuration).getMotionGroups(t,r,n).then(a=>a(this.axios,this.basePath))}getVirtualRobotIOValue(t,r,n,a){return nn(this.configuration).getVirtualRobotIOValue(t,r,n,a).then(o=>o(this.axios,this.basePath))}listIOs(t,r,n){return nn(this.configuration).listIOs(t,r,n).then(a=>a(this.axios,this.basePath))}setMotionGroupState(t,r,n,a,o){return nn(this.configuration).setMotionGroupState(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}setVirtualRobotIOValue(t,r,n,a,o,s,i){return nn(this.configuration).setVirtualRobotIOValue(t,r,n,a,o,s,i).then(l=>l(this.axios,this.basePath))}}const XE=function(e){return{externalJointsStream:async(t,r,n,a={})=>{v("externalJointsStream","cell",t),v("externalJointsStream","controller",r),v("externalJointsStream","externalJointStreamDatapoint",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/externalJointsStream".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},getMotionGroupBehavior:async(t,r,n,a={})=>{v("getMotionGroupBehavior","cell",t),v("getMotionGroupBehavior","controller",r),v("getMotionGroupBehavior","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},setMotionGroupBehavior:async(t,r,n,a,o={})=>{v("setMotionGroupBehavior","cell",t),v("setMotionGroupBehavior","controller",r),v("setMotionGroupBehavior","id",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/behavior".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};U(c,e),await D(u,e),a!==void 0&&(d.behavior=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:B(i),options:c}}}},ki=function(e){const t=XE(e);return{async externalJointsStream(r,n,a,o){var c,u;const s=await t.externalJointsStream(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["VirtualRobotBehaviorApi.externalJointsStream"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async getMotionGroupBehavior(r,n,a,o){var c,u;const s=await t.getMotionGroupBehavior(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["VirtualRobotBehaviorApi.getMotionGroupBehavior"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async setMotionGroupBehavior(r,n,a,o,s){var u,d;const i=await t.setMotionGroupBehavior(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["VirtualRobotBehaviorApi.setMotionGroupBehavior"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)}}};class ZE extends Ve{externalJointsStream(t,r,n,a){return ki(this.configuration).externalJointsStream(t,r,n,a).then(o=>o(this.axios,this.basePath))}getMotionGroupBehavior(t,r,n,a){return ki(this.configuration).getMotionGroupBehavior(t,r,n,a).then(o=>o(this.axios,this.basePath))}setMotionGroupBehavior(t,r,n,a,o){return ki(this.configuration).setMotionGroupBehavior(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}const e_=function(e){return{getCycleTime:async(t,r,n={})=>{v("getCycleTime","cell",t),v("getCycleTime","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getEStop:async(t,r,n={})=>{v("getEStop","cell",t),v("getEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},getOperationMode:async(t,r,n={})=>{v("getOperationMode","cell",t),v("getOperationMode","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},pushEStop:async(t,r,n={})=>{v("pushEStop","cell",t),v("pushEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/push".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},releaseEStop:async(t,r,n={})=>{v("releaseEStop","cell",t),v("releaseEStop","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/estop/release".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"PUT",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},setOperationMode:async(t,r,n,a={})=>{v("setOperationMode","cell",t),v("setOperationMode","controller",r),v("setOperationMode","mode",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/operationmode".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),n!==void 0&&(u.mode=n),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}}}},an=function(e){const t=e_(e);return{async getCycleTime(r,n,a){var l,c;const o=await t.getCycleTime(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["VirtualRobotModeApi.getCycleTime"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getEStop(r,n,a){var l,c;const o=await t.getEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["VirtualRobotModeApi.getEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async getOperationMode(r,n,a){var l,c;const o=await t.getOperationMode(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["VirtualRobotModeApi.getOperationMode"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async pushEStop(r,n,a){var l,c;const o=await t.pushEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["VirtualRobotModeApi.pushEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async releaseEStop(r,n,a){var l,c;const o=await t.releaseEStop(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["VirtualRobotModeApi.releaseEStop"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async setOperationMode(r,n,a,o){var c,u;const s=await t.setOperationMode(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["VirtualRobotModeApi.setOperationMode"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)}}};class t_ extends Ve{getCycleTime(t,r,n){return an(this.configuration).getCycleTime(t,r,n).then(a=>a(this.axios,this.basePath))}getEStop(t,r,n){return an(this.configuration).getEStop(t,r,n).then(a=>a(this.axios,this.basePath))}getOperationMode(t,r,n){return an(this.configuration).getOperationMode(t,r,n).then(a=>a(this.axios,this.basePath))}pushEStop(t,r,n){return an(this.configuration).pushEStop(t,r,n).then(a=>a(this.axios,this.basePath))}releaseEStop(t,r,n){return an(this.configuration).releaseEStop(t,r,n).then(a=>a(this.axios,this.basePath))}setOperationMode(t,r,n,a){return an(this.configuration).setOperationMode(t,r,n,a).then(o=>o(this.axios,this.basePath))}}const r_=function(e){return{addVirtualRobotCoordinateSystem:async(t,r,n,a={})=>{v("addVirtualRobotCoordinateSystem","cell",t),v("addVirtualRobotCoordinateSystem","controller",r),v("addVirtualRobotCoordinateSystem","coordinateSystem",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"PUT",...i,...a},c={},u={};U(l,e),await D(c,e),c["Content-Type"]="application/json",L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},l.data=ue(n,l,e),{url:B(s),options:l}},addVirtualRobotTcp:async(t,r,n,a,o={})=>{v("addVirtualRobotTcp","cell",t),v("addVirtualRobotTcp","controller",r),v("addVirtualRobotTcp","id",n),v("addVirtualRobotTcp","robotTcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};U(c,e),await D(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:B(i),options:c}},deleteVirtualRobotCoordinateSystem:async(t,r,n,a,o={})=>{v("deleteVirtualRobotCoordinateSystem","cell",t),v("deleteVirtualRobotCoordinateSystem","controller",r),v("deleteVirtualRobotCoordinateSystem","coordinateSystem",n);const s="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems/{coordinate-system}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{coordinate-system}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};U(c,e),await D(u,e),a!==void 0&&(d.delete_dependent=a),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:B(i),options:c}},deleteVirtualRobotTcp:async(t,r,n,a,o={})=>{v("deleteVirtualRobotTcp","cell",t),v("deleteVirtualRobotTcp","controller",r),v("deleteVirtualRobotTcp","id",n),v("deleteVirtualRobotTcp","tcp",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps/{tcp}".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))).replace("{tcp}",encodeURIComponent(String(a))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"DELETE",...l,...o},u={},d={};U(c,e),await D(u,e),L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},{url:B(i),options:c}},getVirtualRobotMounting:async(t,r,n,a={})=>{v("getVirtualRobotMounting","cell",t),v("getVirtualRobotMounting","controller",r),v("getVirtualRobotMounting","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},listVirtualRobotCoordinateSystems:async(t,r,n={})=>{v("listVirtualRobotCoordinateSystems","cell",t),v("listVirtualRobotCoordinateSystems","controller",r);const a="/cells/{cell}/controllers/{controller}/teach-pendant/coordinate-systems".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))),o=new URL(a,$);let s;e&&(s=e.baseOptions);const i={method:"GET",...s,...n},l={},c={};U(i,e),await D(l,e),L(o,c);let u=s&&s.headers?s.headers:{};return i.headers={...l,...u,...n.headers},{url:B(o),options:i}},listVirtualRobotTcps:async(t,r,n,a={})=>{v("listVirtualRobotTcps","cell",t),v("listVirtualRobotTcps","controller",r),v("listVirtualRobotTcps","id",n);const o="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/tcps".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),s=new URL(o,$);let i;e&&(i=e.baseOptions);const l={method:"GET",...i,...a},c={},u={};U(l,e),await D(c,e),L(s,u);let d=i&&i.headers?i.headers:{};return l.headers={...c,...d,...a.headers},{url:B(s),options:l}},setVirtualRobotMounting:async(t,r,n,a,o={})=>{v("setVirtualRobotMounting","cell",t),v("setVirtualRobotMounting","controller",r),v("setVirtualRobotMounting","id",n),v("setVirtualRobotMounting","coordinateSystem",a);const s="/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{id}/mounting".replace("{cell}",encodeURIComponent(String(t))).replace("{controller}",encodeURIComponent(String(r))).replace("{id}",encodeURIComponent(String(n))),i=new URL(s,$);let l;e&&(l=e.baseOptions);const c={method:"PUT",...l,...o},u={},d={};U(c,e),await D(u,e),u["Content-Type"]="application/json",L(i,d);let h=l&&l.headers?l.headers:{};return c.headers={...u,...h,...o.headers},c.data=ue(a,c,e),{url:B(i),options:c}}}},sr=function(e){const t=r_(e);return{async addVirtualRobotCoordinateSystem(r,n,a,o){var c,u;const s=await t.addVirtualRobotCoordinateSystem(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["VirtualRobotSetupApi.addVirtualRobotCoordinateSystem"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async addVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.addVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["VirtualRobotSetupApi.addVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)},async deleteVirtualRobotCoordinateSystem(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotCoordinateSystem(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)},async deleteVirtualRobotTcp(r,n,a,o,s){var u,d;const i=await t.deleteVirtualRobotTcp(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["VirtualRobotSetupApi.deleteVirtualRobotTcp"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)},async getVirtualRobotMounting(r,n,a,o){var c,u;const s=await t.getVirtualRobotMounting(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["VirtualRobotSetupApi.getVirtualRobotMounting"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async listVirtualRobotCoordinateSystems(r,n,a){var l,c;const o=await t.listVirtualRobotCoordinateSystems(r,n,a),s=(e==null?void 0:e.serverIndex)??0,i=(c=(l=k["VirtualRobotSetupApi.listVirtualRobotCoordinateSystems"])==null?void 0:l[s])==null?void 0:c.url;return(u,d)=>F(o,_,j,e)(u,i||d)},async listVirtualRobotTcps(r,n,a,o){var c,u;const s=await t.listVirtualRobotTcps(r,n,a,o),i=(e==null?void 0:e.serverIndex)??0,l=(u=(c=k["VirtualRobotSetupApi.listVirtualRobotTcps"])==null?void 0:c[i])==null?void 0:u.url;return(d,h)=>F(s,_,j,e)(d,l||h)},async setVirtualRobotMounting(r,n,a,o,s){var u,d;const i=await t.setVirtualRobotMounting(r,n,a,o,s),l=(e==null?void 0:e.serverIndex)??0,c=(d=(u=k["VirtualRobotSetupApi.setVirtualRobotMounting"])==null?void 0:u[l])==null?void 0:d.url;return(h,p)=>F(i,_,j,e)(h,c||p)}}};class n_ extends Ve{addVirtualRobotCoordinateSystem(t,r,n,a){return sr(this.configuration).addVirtualRobotCoordinateSystem(t,r,n,a).then(o=>o(this.axios,this.basePath))}addVirtualRobotTcp(t,r,n,a,o){return sr(this.configuration).addVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotCoordinateSystem(t,r,n,a,o){return sr(this.configuration).deleteVirtualRobotCoordinateSystem(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}deleteVirtualRobotTcp(t,r,n,a,o){return sr(this.configuration).deleteVirtualRobotTcp(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}getVirtualRobotMounting(t,r,n,a){return sr(this.configuration).getVirtualRobotMounting(t,r,n,a).then(o=>o(this.axios,this.basePath))}listVirtualRobotCoordinateSystems(t,r,n){return sr(this.configuration).listVirtualRobotCoordinateSystems(t,r,n).then(a=>a(this.axios,this.basePath))}listVirtualRobotTcps(t,r,n,a){return sr(this.configuration).listVirtualRobotTcps(t,r,n,a).then(o=>o(this.axios,this.basePath))}setVirtualRobotMounting(t,r,n,a,o){return sr(this.configuration).setVirtualRobotMounting(t,r,n,a,o).then(s=>s(this.axios,this.basePath))}}function zt(e,t,r){return Math.max(t,Math.min(r,e))}class a_{constructor(t=0,r=0,n=0,a=1){this.isQuaternion=!0,this._x=t,this._y=r,this._z=n,this._w=a}static slerpFlat(t,r,n,a,o,s,i){let l=n[a+0],c=n[a+1],u=n[a+2],d=n[a+3];const h=o[s+0],p=o[s+1],f=o[s+2],m=o[s+3];if(i===0){t[r+0]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d;return}if(i===1){t[r+0]=h,t[r+1]=p,t[r+2]=f,t[r+3]=m;return}if(d!==m||l!==h||c!==p||u!==f){let y=1-i;const S=l*h+c*p+u*f+d*m,A=S>=0?1:-1,w=1-S*S;if(w>Number.EPSILON){const T=Math.sqrt(w),C=Math.atan2(T,S*A);y=Math.sin(y*C)/T,i=Math.sin(i*C)/T}const O=i*A;if(l=l*y+h*O,c=c*y+p*O,u=u*y+f*O,d=d*y+m*O,y===1-i){const T=1/Math.sqrt(l*l+c*c+u*u+d*d);l*=T,c*=T,u*=T,d*=T}}t[r]=l,t[r+1]=c,t[r+2]=u,t[r+3]=d}static multiplyQuaternionsFlat(t,r,n,a,o,s){const i=n[a],l=n[a+1],c=n[a+2],u=n[a+3],d=o[s],h=o[s+1],p=o[s+2],f=o[s+3];return t[r]=i*f+u*d+l*p-c*h,t[r+1]=l*f+u*h+c*d-i*p,t[r+2]=c*f+u*p+i*h-l*d,t[r+3]=u*f-i*d-l*h-c*p,t}get x(){return this._x}set x(t){this._x=t,this._onChangeCallback()}get y(){return this._y}set y(t){this._y=t,this._onChangeCallback()}get z(){return this._z}set z(t){this._z=t,this._onChangeCallback()}get w(){return this._w}set w(t){this._w=t,this._onChangeCallback()}set(t,r,n,a){return this._x=t,this._y=r,this._z=n,this._w=a,this._onChangeCallback(),this}clone(){return new this.constructor(this._x,this._y,this._z,this._w)}copy(t){return this._x=t.x,this._y=t.y,this._z=t.z,this._w=t.w,this._onChangeCallback(),this}setFromEuler(t,r=!0){const n=t._x,a=t._y,o=t._z,s=t._order,i=Math.cos,l=Math.sin,c=i(n/2),u=i(a/2),d=i(o/2),h=l(n/2),p=l(a/2),f=l(o/2);switch(s){case"XYZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"YXZ":this._x=h*u*d+c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"ZXY":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d-h*p*f;break;case"ZYX":this._x=h*u*d-c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d+h*p*f;break;case"YZX":this._x=h*u*d+c*p*f,this._y=c*p*d+h*u*f,this._z=c*u*f-h*p*d,this._w=c*u*d-h*p*f;break;case"XZY":this._x=h*u*d-c*p*f,this._y=c*p*d-h*u*f,this._z=c*u*f+h*p*d,this._w=c*u*d+h*p*f;break;default:console.warn("THREE.Quaternion: .setFromEuler() encountered an unknown order: "+s)}return r===!0&&this._onChangeCallback(),this}setFromAxisAngle(t,r){const n=r/2,a=Math.sin(n);return this._x=t.x*a,this._y=t.y*a,this._z=t.z*a,this._w=Math.cos(n),this._onChangeCallback(),this}setFromRotationMatrix(t){const r=t.elements,n=r[0],a=r[4],o=r[8],s=r[1],i=r[5],l=r[9],c=r[2],u=r[6],d=r[10],h=n+i+d;if(h>0){const p=.5/Math.sqrt(h+1);this._w=.25/p,this._x=(u-l)*p,this._y=(o-c)*p,this._z=(s-a)*p}else if(n>i&&n>d){const p=2*Math.sqrt(1+n-i-d);this._w=(u-l)/p,this._x=.25*p,this._y=(a+s)/p,this._z=(o+c)/p}else if(i>d){const p=2*Math.sqrt(1+i-n-d);this._w=(o-c)/p,this._x=(a+s)/p,this._y=.25*p,this._z=(l+u)/p}else{const p=2*Math.sqrt(1+d-n-i);this._w=(s-a)/p,this._x=(o+c)/p,this._y=(l+u)/p,this._z=.25*p}return this._onChangeCallback(),this}setFromUnitVectors(t,r){let n=t.dot(r)+1;return n<Number.EPSILON?(n=0,Math.abs(t.x)>Math.abs(t.z)?(this._x=-t.y,this._y=t.x,this._z=0,this._w=n):(this._x=0,this._y=-t.z,this._z=t.y,this._w=n)):(this._x=t.y*r.z-t.z*r.y,this._y=t.z*r.x-t.x*r.z,this._z=t.x*r.y-t.y*r.x,this._w=n),this.normalize()}angleTo(t){return 2*Math.acos(Math.abs(zt(this.dot(t),-1,1)))}rotateTowards(t,r){const n=this.angleTo(t);if(n===0)return this;const a=Math.min(1,r/n);return this.slerp(t,a),this}identity(){return this.set(0,0,0,1)}invert(){return this.conjugate()}conjugate(){return this._x*=-1,this._y*=-1,this._z*=-1,this._onChangeCallback(),this}dot(t){return this._x*t._x+this._y*t._y+this._z*t._z+this._w*t._w}lengthSq(){return this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w}length(){return Math.sqrt(this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w)}normalize(){let t=this.length();return t===0?(this._x=0,this._y=0,this._z=0,this._w=1):(t=1/t,this._x=this._x*t,this._y=this._y*t,this._z=this._z*t,this._w=this._w*t),this._onChangeCallback(),this}multiply(t){return this.multiplyQuaternions(this,t)}premultiply(t){return this.multiplyQuaternions(t,this)}multiplyQuaternions(t,r){const n=t._x,a=t._y,o=t._z,s=t._w,i=r._x,l=r._y,c=r._z,u=r._w;return 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n+=Math.abs(e.orientation.x-t.orientation.x),n+=Math.abs(e.orientation.y-t.orientation.y),n+=Math.abs(e.orientation.z-t.orientation.z),n+=Math.abs(e.position.x-t.position.x),n+=Math.abs(e.position.y-t.position.y),n+=Math.abs(e.position.z-t.position.z),n>r?!1:e.coordinate_system===t.coordinate_system&&e.tcp===t.tcp}var uh=1e-4,l_=class Tf{constructor(t,r,n,a,o,s,i,l,c,u,d,h){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.isVirtual=s,this.tcps=i,this.motionGroupSpecification=l,this.safetySetup=c,this.mounting=u,this.initialControllerState=d,this.controllerStateSocket=h,this.connectedJoggingCartesianSocket=null,this.connectedJoggingJointsSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=a,this.controllerState=d,h.addEventListener("message",p=>{var f;const m=(f=ur(p.data))==null?void 0:f.result;m&&ke.runInAction(()=>{this.controllerState=m})}),o.addEventListener("message",p=>{var f;const m=(f=ur(p.data))==null?void 0:f.result;if(!m)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);Cf(this.rapidlyChangingMotionState.state.joint_position.joints,m.state.joint_position.joints,uh)||ke.runInAction(()=>{this.rapidlyChangingMotionState.state=m.state}),Of(this.rapidlyChangingMotionState.tcp_pose,m.tcp_pose,uh)||ke.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=m.tcp_pose})}),ke.makeAutoObservable(this)}static connect(t,r,n){return _e(this,null,function*(){var a,o;const[s,i]=r.split("@"),l=n.find(C=>C.controller===i),c=l==null?void 0:l.physical_motion_groups.find(C=>C.motion_group===r);if(!l||!c)throw new Error(`Controller ${i} or motion group ${r} not found`);const u=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),d=yield u.firstMessage(),h=(a=ur(d.data))==null?void 0:a.result;if(!h)throw new Error(`Unable to parse initial motion state message ${d.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
-  `,h);const f=(yield t.api.controller.getRobotController(l.controller)).configuration.kind==="VirtualController",m=yield _e(this,null,function*(){try{return yield t.api.motionGroupInfos.getMounting(c.motion_group)}catch(C){return console.error(`Error fetching mounting for ${c.motion_group}`,C),null}}),y=t.openReconnectingWebsocket(`/controllers/${l.controller}/state-stream?response_rate=1000`),S=yield y.firstMessage(),A=(o=ur(S.data))==null?void 0:o.result;if(!A)throw new Error(`Unable to parse initial controller state message ${S.data}`);console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
-  `,A);const{tcps:w}=yield t.api.motionGroupInfos.listTcps(r),O=yield t.api.motionGroupInfos.getMotionGroupSpecification(r),T=yield t.api.motionGroupInfos.getSafetySetup(r);return new Tf(t,l,c,h,u,f,w,O,T,m,A,y)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}get dhParameters(){return this.motionGroupSpecification.dh_parameters}get safetyZones(){return this.safetySetup.safety_zones}get mountingPosition(){return this.mounting?[this.mounting.pose.position.x/1e3,this.mounting.pose.position.y/1e3,this.mounting.pose.position.z/1e3]:[0,0,0]}get mountingQuaternion(){var t,r,n,a,o,s;const i=new ve.Vector3(((r=(t=this.mounting)==null?void 0:t.pose.orientation)==null?void 0:r.x)||0,((a=(n=this.mounting)==null?void 0:n.pose.orientation)==null?void 0:a.y)||0,((s=(o=this.mounting)==null?void 0:o.pose.orientation)==null?void 0:s.z)||0),l=i.length(),c=i.normalize();return new ve.Quaternion().setFromAxisAngle(c,l)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}deactivate(){return _e(this,null,function*(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}ke.runInAction(()=>{this.activationState="deactivating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_MONITOR"),ke.runInAction(()=>{this.activationState="inactive"})}catch(t){throw ke.runInAction(()=>{this.activationState="active"}),t}})}activate(){return _e(this,null,function*(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}ke.runInAction(()=>{this.activationState="activating"});try{yield this.nova.api.controller.setDefaultMode(this.controllerId,"MODE_CONTROL"),ke.runInAction(()=>{this.activationState="active"})}catch(t){throw ke.runInAction(()=>{this.activationState="inactive"}),t}})}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingCartesianSocket&&this.connectedJoggingCartesianSocket.close(),this.connectedJoggingJointsSocket&&this.connectedJoggingJointsSocket.close()}setJoggingVelocity(t){this.joggingVelocity=t}},c_=class Pf{constructor(t,r={}){this.motionStream=t,this.opts=r,this.cartesianWebsocket=null,this.jointWebsocket=null,this.cartesianJoggingOpts={}}static open(t,r){return _e(this,arguments,function*(n,a,o={}){const s=yield n.connectMotionStream(a);return new Pf(s,o)})}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}get activeJoggingMode(){return this.cartesianWebsocket?"cartesian":this.jointWebsocket?"joint":"increment"}get activeWebsocket(){return this.cartesianWebsocket||this.jointWebsocket}stop(){return _e(this,null,function*(){this.cartesianWebsocket&&this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:{x:0,y:0,z:0},rotation_direction:{x:0,y:0,z:0},position_velocity:0,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId}),this.jointWebsocket&&this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:new Array(this.numJoints).fill(0)})})}dispose(){this.cartesianWebsocket&&this.cartesianWebsocket.dispose(),this.jointWebsocket&&this.jointWebsocket.dispose()}setJoggingMode(t,r){console.log("Setting jogging mode to",t),r&&(p2(this.cartesianJoggingOpts,r)||this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),this.cartesianJoggingOpts=r),t!=="cartesian"&&this.cartesianWebsocket&&(this.cartesianWebsocket.dispose(),this.cartesianWebsocket=null),t!=="joint"&&this.jointWebsocket&&(this.jointWebsocket.dispose(),this.jointWebsocket=null),t==="cartesian"&&!this.cartesianWebsocket&&(this.cartesianWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-tcp"),this.cartesianWebsocket.addEventListener("message",n=>{const a=ur(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)})),t==="joint"&&!this.jointWebsocket&&(this.jointWebsocket=this.nova.openReconnectingWebsocket("/motion-groups/move-joint"),this.jointWebsocket.addEventListener("message",n=>{const a=ur(n.data);if(a&&"error"in a)if(this.opts.onError)this.opts.onError(n.data);else throw new Error(n.data)}))}startJointRotation(t){return _e(this,arguments,function*({joint:r,direction:n,velocityRadsPerSec:a}){if(!this.jointWebsocket)throw new Error("Joint jogging websocket not connected; call setJoggingMode first");const o=new Array(this.numJoints).fill(0);o[r]=n==="-"?-a:a,this.jointWebsocket.sendJson({motion_group:this.motionGroupId,joint_velocities:o})})}startTCPTranslation(t){return _e(this,arguments,function*({axis:r,direction:n,velocityMmPerSec:a}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:s,rotation_direction:o,position_velocity:a,rotation_velocity:0,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}startTCPRotation(t){return _e(this,arguments,function*({axis:r,direction:n,velocityRadsPerSec:a}){if(!this.cartesianWebsocket)throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");const o={x:0,y:0,z:0},s=Object.assign({},o);s[r]=n==="-"?-1:1,this.cartesianWebsocket.sendJson({motion_group:this.motionGroupId,position_direction:o,rotation_direction:s,position_velocity:0,rotation_velocity:a,tcp:this.cartesianJoggingOpts.tcpId,coordinate_system:this.cartesianJoggingOpts.coordSystemId})})}runIncrementalCartesianMotion(t){return _e(this,arguments,function*({currentTcpPose:r,currentJoints:n,coordSystemId:a,velocityInRelevantUnits:o,axis:s,direction:i,motion:l}){var c;const u=[];if(!I2(r.coordinate_system,a))throw new Error(`Current TCP pose coordinate system ${r.coordinate_system} does not match target coordinate system ${a}`);if(l.type==="translate"){const p=Object.assign({},r.position);p[s]+=l.distanceMm*(i==="-"?-1:1),u.push({settings:{limits_override:{tcp_velocity_limit:o}},line:{position:p,orientation:r.orientation,coordinate_system:a}})}else if(l.type==="rotate"){const p=new mn(r.orientation.x,r.orientation.y,r.orientation.z),f=p.length(),m=p.clone().normalize(),y=l.distanceRads*(i==="-"?-1:1),S=new mn(0,0,0);S[s]=1;const A=Math.cos(.5*y)*Math.cos(.5*f),w=Math.sin(.5*y)*Math.sin(.5*f),O=Math.sin(.5*y)*Math.cos(.5*f),T=Math.cos(.5*y)*Math.sin(.5*f),C=S.dot(m),R=S.clone().cross(m),E=2*Math.acos(A-w*C),V=E/Math.sin(.5*E),b=new mn().addScaledVector(R,w).addScaledVector(S,O).addScaledVector(m,T).multiplyScalar(V);u.push({settings:{limits_override:{tcp_orientation_velocity_limit:o}},line:{position:r.position,orientation:b,coordinate_system:a}})}const d=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,tcp:this.cartesianJoggingOpts.tcpId,commands:u}),h=(c=d.plan_successful_response)==null?void 0:c.motion;if(!h)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(d)}`);yield this.nova.api.motion.streamMoveForward(h,100,void 0,void 0,void 0,{timeout:1e3*60})})}runIncrementalJointRotation(t){return _e(this,arguments,function*({joint:r,currentJoints:n,velocityRadsPerSec:a,direction:o,distanceRads:s}){var i;const l=[...n.joints];l[r]+=s*(o==="-"?-1:1);const c=new Array(n.joints.length).fill(a),u=yield this.nova.api.motion.planMotion({motion_group:this.motionGroupId,start_joint_position:n,commands:[{settings:{limits_override:{joint_velocity_limits:{joints:c}}},joint_ptp:{joints:l}}]}),d=(i=u.plan_successful_response)==null?void 0:i.motion;if(!d){console.error("Failed to plan jogging increment motion",u);return}yield this.nova.api.motion.streamMoveForward(d,100,void 0,void 0,void 0,{timeout:1e3*60})})}},dh=1e-4;function u_(e,t){const r=new Ct.Vector3(t.x,t.y,t.z),n=new Ct.Vector3(e.x,e.y,e.z),a=r.length(),o=r.normalize();let s=n.length(),i=n.normalize();i.dot(o)<0&&(s=-s,i=i.multiplyScalar(-1));let l=s-a;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),s=a+l,i.multiplyScalar(s)}var d_=class Rf{constructor(t,r,n,a,o){this.nova=t,this.controller=r,this.motionGroup=n,this.initialMotionState=a,this.motionStateSocket=o,this.rapidlyChangingMotionState=a,o.addEventListener("message",s=>{var i;const l=(i=ur(s.data))==null?void 0:i.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);Cf(this.rapidlyChangingMotionState.state.joint_position.joints,l.state.joint_position.joints,dh)||ke.runInAction(()=>{this.rapidlyChangingMotionState.state=l.state}),Of(this.rapidlyChangingMotionState.tcp_pose,l.tcp_pose,dh)||ke.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:u_(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation),tcp:l.tcp_pose.tcp,coordinate_system:l.tcp_pose.coordinate_system}})}),ke.makeAutoObservable(this)}static open(t,r){return _e(this,null,function*(){var n;const{instances:a}=yield t.api.controller.listControllers(),[o,s]=r.split("@"),i=a.find(h=>h.controller===s),l=i==null?void 0:i.physical_motion_groups.find(h=>h.motion_group===r);if(!i||!l)throw new Error(`Controller ${s} or motion group ${r} not found`);const c=t.openReconnectingWebsocket(`/motion-groups/${r}/state-stream`),u=yield c.firstMessage();console.log("got first message",u);const d=(n=ur(u.data))==null?void 0:n.result;if(!d)throw new Error(`Unable to parse initial motion state message ${u.data}`);return console.log(`Connected motion state websocket to motion group ${l.motion_group}. Initial state:
-  `,d),new Rf(t,i,l,d,c)})}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.motionGroup.model_from_controller}get wandelscriptIdentifier(){const t=this.motionGroupId.split("@")[0];return`${this.controllerId.replaceAll("-","_")}_${t}`}get joints(){return this.initialMotionState.state.joint_position.joints.map((t,r)=>({index:r}))}dispose(){this.motionStateSocket.close()}},h_=class{constructor(e,t){this.cellId=e,this.opts=t,this.system=this.withUnwrappedResponsesOnly(YE),this.cell=this.withUnwrappedResponsesOnly(dE),this.deviceConfig=this.withCellId(xE),this.motionGroup=this.withCellId(_E),this.motionGroupInfos=this.withCellId(ME),this.controller=this.withCellId(pE),this.program=this.withCellId(LE),this.programValues=this.withCellId(FE),this.controllerIOs=this.withCellId(fE),this.motionGroupKinematic=this.withCellId(UE),this.motion=this.withCellId(IE),this.coordinateSystems=this.withCellId(yE),this.application=this.withCellId(ih),this.applicationGlobal=this.withUnwrappedResponsesOnly(ih),this.motionGroupJogging=this.withCellId(kE),this.virtualRobot=this.withCellId(QE),this.virtualRobotSetup=this.withCellId(n_),this.virtualRobotMode=this.withCellId(t_),this.virtualRobotBehavior=this.withCellId(ZE),this.libraryProgramMetadata=this.withCellId(CE),this.libraryProgram=this.withCellId(SE),this.libraryRecipeMetadata=this.withCellId(RE),this.libraryRecipe=this.withCellId(TE),this.storeObject=this.withCellId(WE),this.storeCollisionComponents=this.withCellId(zE),this.storeCollisionScenes=this.withCellId(HE)}withCellId(e){var t,r;const n=new e(hl(cn({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:_.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,[this.cellId,...s]).then(i=>i.data)}return n}withUnwrappedResponsesOnly(e){var t,r;const n=new e(hl(cn({},this.opts),{isJsonMime:a=>a==="application/json"}),(t=this.opts.basePath)!=null?t:"",(r=this.opts.axiosInstance)!=null?r:_.create());for(const a of Reflect.ownKeys(Reflect.getPrototypeOf(n)))if(a!=="constructor"&&typeof n[a]=="function"){const o=n[a];n[a]=(...s)=>o.apply(n,s).then(i=>i.data)}return n}},p_=class{constructor(){this.connections=[]}handleAPIRequest(e){return _e(this,null,function*(){var t,r,n;const a=[{method:"GET",path:"/cells/:cellId/controllers",handle(){return{instances:[{controller:"mock-ur5e",model_name:"UniversalRobots::Controller",host:"mock-ur5e",allow_software_install_on_controller:!0,physical_motion_groups:[{motion_group:"0@mock-ur5e",name_from_controller:"UR5e",active:!1,model_from_controller:"UniversalRobots_UR5e"}],has_error:!1,error_details:""}]}}},{method:"GET",path:"/cells/:cellId/controllers/:controllerId",handle(){return{configuration:{kind:"VirtualController",manufacturer:"universalrobots",position:"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",type:"universalrobots-ur5e"},name:"mock-ur5"}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/specification",handle(){return{dh_parameters:[{alpha:1.5707963267948966,theta:0,a:0,d:162.25,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-425,d:0,reverse_rotation_direction:!1},{alpha:0,theta:0,a:-392.2,d:0,reverse_rotation_direction:!1},{alpha:1.5707963267948966,theta:0,a:0,d:133.3,reverse_rotation_direction:!1},{alpha:-1.5707963267948966,theta:0,a:0,d:99.7,reverse_rotation_direction:!1},{alpha:0,theta:0,a:0,d:99.6,reverse_rotation_direction:!1}],mechanical_joint_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-6.335545063018799,upper_limit:6.335545063018799,unlimited:!1}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/safety-setup",handle(){return{safety_settings:[{safety_state:"SAFETY_NORMAL",settings:{joint_position_limits:[{joint:"JOINTNAME_AXIS_1",lower_limit:-2.96705961227417,upper_limit:2.96705961227417,unlimited:!1},{joint:"JOINTNAME_AXIS_2",lower_limit:-1.7453292608261108,upper_limit:2.7925267219543457,unlimited:!1},{joint:"JOINTNAME_AXIS_3",lower_limit:-3.3161256313323975,upper_limit:.40142571926116943,unlimited:!1},{joint:"JOINTNAME_AXIS_4",lower_limit:-3.4906585216522217,upper_limit:3.4906585216522217,unlimited:!1},{joint:"JOINTNAME_AXIS_5",lower_limit:-2.4434609413146973,upper_limit:2.4434609413146973,unlimited:!1},{joint:"JOINTNAME_AXIS_6",lower_limit:-4.71238899230957,upper_limit:4.71238899230957,unlimited:!1}],joint_velocity_limits:[{joint:"JOINTNAME_AXIS_1",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_2",limit:3.1415927410125732},{joint:"JOINTNAME_AXIS_3",limit:3.4906585216522217},{joint:"JOINTNAME_AXIS_4",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_5",limit:6.108652591705322},{joint:"JOINTNAME_AXIS_6",limit:6.981317043304443}],joint_acceleration_limits:[],joint_torque_limits:[],tcp_velocity_limit:1800}}],safety_zones:[{id:1,priority:0,geometry:{compound:{child_geometries:[{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820},{x:-800,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:1650,y:-1330,z:-1820},{x:1650,y:-1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:-800,y:-1330,z:-1820},{x:-800,y:1330,z:-1820},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:-1330,z:1500},{x:1650,y:-1330,z:1500}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:-800,y:1330,z:1500},{x:-800,y:1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"},{convex_hull:{vertices:[{x:1650,y:1330,z:1500},{x:1650,y:-1330,z:1500},{x:1650,y:-1330,z:-1820},{x:1650,y:1330,z:-1820}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"box"}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Cell workzone"},motion_group_uid:1},{id:2,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-1850},{x:865,y:1330,z:-1850},{x:865,y:-720,z:-1850},{x:1650,y:-720,z:-1850},{x:1650,y:1330,z:-920},{x:865,y:1330,z:-920},{x:865,y:-720,z:-920},{x:1650,y:-720,z:-920}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Transport"},motion_group_uid:1},{id:3,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:1330,z:-600},{x:865,y:1330,z:-600},{x:865,y:430,z:-600},{x:1650,y:430,z:-600},{x:1650,y:1330,z:-1250},{x:865,y:1330,z:-1250},{x:865,y:430,z:-1250},{x:1650,y:430,z:-1250}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Tunel"},motion_group_uid:1},{id:4,priority:0,geometry:{convex_hull:{vertices:[{x:1650,y:-760,z:-440},{x:900,y:-760,z:-440},{x:900,y:-1330,z:-440},{x:1650,y:-1330,z:-440},{x:1650,y:-760,z:-1800},{x:900,y:-760,z:-1800},{x:900,y:-1330,z:-1800},{x:1650,y:-1330,z:-1800}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Fanuc controller"},motion_group_uid:1},{id:6,priority:0,geometry:{convex_hull:{vertices:[{x:-200,y:-200,z:-1900},{x:200,y:-200,z:-1900},{x:200,y:200,z:-1900},{x:-200,y:200,z:-1900},{x:-200,y:-200,z:-350},{x:200,y:-200,z:-350},{x:200,y:200,z:-350},{x:-200,y:200,z:-350}]},init_pose:{position:{x:0,y:0,z:0},orientation:{x:0,y:0,z:0,w:1}},id:"Robot base"},motion_group_uid:1}],robot_model_geometries:[{link_index:1,geometry:{sphere:{radius:270},init_pose:{position:{x:-70,y:-70,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link1_sphere"}},{link_index:2,geometry:{capsule:{radius:160,cylinder_height:800},init_pose:{position:{x:-450,y:40,z:170},orientation:{x:0,y:-.7071067811865475,z:0,w:.7071067811865476}},id:"link2_capsule"}},{link_index:3,geometry:{sphere:{radius:270},init_pose:{position:{x:-110,y:10,z:-100},orientation:{x:0,y:0,z:0,w:1}},id:"link3_sphere"}},{link_index:4,geometry:{capsule:{radius:110,cylinder_height:600},init_pose:{position:{x:0,y:300,z:40},orientation:{x:-.7071067811865475,y:0,z:0,w:.7071067811865476}},id:"link4_capsule"}},{link_index:5,geometry:{sphere:{radius:75},init_pose:{position:{x:0,y:0,z:-50},orientation:{x:0,y:0,z:0,w:1}},id:"link5_sphere"}}],tool_geometries:[]}}},{method:"GET",path:"/cells/:cellId/coordinate-systems",handle(){return{coordinatesystems:[{coordinate_system:"",name:"world",reference_uid:"",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0],type:"ROTATION_VECTOR"}}]}}},{method:"GET",path:"/cells/:cellId/motion-groups/:motionGroupId/tcps",handle(){return{tcps:[{id:"Flange",readable_name:"Default-Flange",position:{x:0,y:0,z:0},rotation:{angles:[0,0,0,0],type:"ROTATION_VECTOR"}},{id:"complex-tcp-position",readable_name:"Complex TCP Position",position:{x:-200,y:300,z:150},rotation:{angles:[-.12139440409113832,-.06356210998212003,-.2023240068185639,0],type:"ROTATION_VECTOR"}}]}}}],o=((t=e.method)==null?void 0:t.toUpperCase())||"GET",s="/cells"+((n=(r=e.url)==null?void 0:r.split("/cells")[1])==null?void 0:n.split("?")[0]);for(const i of a){const l=i_.match(i.path)(s||"");if(o===i.method&&l){const c=i.handle();return{status:200,statusText:"Success",data:JSON.stringify(c),headers:{},config:e,request:{responseURL:e.url}}}}throw new xl(`No mock handler matched this request: ${o} ${s}`,"404",e)})}handleWebsocketConnection(e){this.connections.push(e),setTimeout(()=>{e.dispatchEvent(new Event("open")),console.log("Websocket connection opened from",e.url),e.url.includes("/state-stream")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify(m_)})),e.url.includes("/move-joint")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:48:26.096266444Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3492152690887451,-1.5659207105636597,1.6653711795806885,-1.0991662740707397,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:""},tcp_pose:{position:{x:6.437331889439328,y:-628.4123774830913,z:577.0569957147832},orientation:{x:-1.683333649797158,y:-1.9783363827298732,z:-.4928031860165713},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"671259"}],sequence_number:"671259"},movement_state:"MOVEMENT_STATE_MOVING"}})})),e.url.includes("/move-tcp")&&e.dispatchEvent(new MessageEvent("message",{data:JSON.stringify({result:{motion_group:"0@ur",state:{controller:"ur",operation_mode:"OPERATION_MODE_AUTO",safety_state:"SAFETY_STATE_NORMAL",timestamp:"2024-09-18T12:43:12.188335774Z",velocity_override:100,motion_groups:[{motion_group:"0@ur",controller:"ur",joint_position:{joints:[1.3352527618408203,-1.5659207105636597,1.6653711795806885,-1.110615611076355,-1.829018235206604,1.264623761177063]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:""},tcp_pose:{position:{x:-2.763015284002938,y:-630.2151479701106,z:577.524509114342},orientation:{x:-1.704794877102097,y:-1.9722372952861567,z:-.4852079204210754},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:-0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"627897"}],sequence_number:"627897"},movement_state:"MOVEMENT_STATE_MOVING"}})}))},10)}handleWebsocketMessage(e,t){console.log(`Received message on ${e.url}`,t)}},m_={result:{state:{motion_group:"0@universalrobots-ur5e",controller:"universalrobots-ur5e",joint_position:{joints:[1.1699999570846558,-1.5700000524520874,1.3600000143051147,1.0299999713897705,1.2899999618530273,1.2799999713897705]},joint_velocity:{joints:[0,0,0,0,0,0]},flange_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:""},tcp_pose:{position:{x:1.3300010259703043,y:-409.2680714682808,z:531.0203477065281},orientation:{x:1.7564919306270736,y:-1.7542521568325058,z:.7326972590614671},coordinate_system:"",tcp:"Flange"},velocity:{linear:{x:0,y:0,z:0},angular:{x:0,y:0,z:0},coordinate_system:""},force:{force:{x:0,y:0,z:0},moment:{x:0,y:0,z:0},coordinate_system:""},joint_limit_reached:{limit_reached:[!1,!1,!1,!1,!1,!1]},joint_current:{joints:[0,0,0,0,0,0]},sequence_number:"1"},tcp_pose:{position:{x:302.90748476115556,y:-152.87065869452337,z:424.0454619321661},orientation:{x:2.3403056115045353,y:-1.1706836379431356,z:.9772511964246311},coordinate_system:"",tcp:"Flange"}}},f_=class{constructor(e){this.authPromise=null,this.accessToken=null;var 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Promise.reject(i)}else((s=a.response)==null?void 0:s.status)===503&&(yield fetch(window.location.href)).status===503&&window.location.reload();return Promise.reject(a)})),this.api=new h_(r,hl(cn({},e),{basePath:Ui(this.config.instanceUrl,"/api/v1"),isJsonMime:a=>a==="application/json",baseOptions:cn(cn({},this.mock?{adapter:a=>this.mock.handleAPIRequest(a)}:{}),e.baseOptions),axiosInstance:n}))}renewAuthentication(){return _e(this,null,function*(){if(!this.authPromise){this.authPromise=_2(this.config.instanceUrl);try{this.accessToken=yield this.authPromise,this.accessToken?Ei.setString("wbjs.access_token",this.accessToken):Ei.delete("wbjs.access_token")}finally{this.authPromise=null}}})}makeWebsocketURL(e){const t=new URL(Ui(this.config.instanceUrl,`/api/v1/cells/${this.config.cellId}`,e));return 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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":P.rgbToHex(((i=e.palette.backgroundPaperElevation)==null?void 0:i[5])??""),"editor.foreground":"#d4d4d4","editorLineNumber.foreground":"#797979","editorLineNumber.activeForeground":"#e9e9e9","editor.lineHighlightBorder":"#e9e9e911"}}}}}}function Ij(){const e=lg();return e.palette.mode="light",e}function Ej(e){var n,a,o,s;let t=!0;((n=e.palette)==null?void 0:n.mode)==="light"?t=!1:((a=e.palette)==null?void 0:a.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 r=t?lg():Ij();return cp(r,e)}exports.AppHeader=Fg;exports.CollisionSceneRenderer=Vg;exports.CycleTimer=oO;exports.JoggingCartesianAxisControl=ol;exports.JoggingJointRotationControl=$m;exports.JoggingPanel=v3;exports.JoggingStore=Ws;exports.LoadingCover=Ac;exports.LoadingErrorMessage=Af;exports.LogPanel=A3;exports.LogStore=Zf;exports.LogViewer=eg;exports.MANUFACTURER_HOME_CONFIGS=Al;exports.NoMotionGroupModal=E3;exports.PoseCartesianValues=w3;exports.PoseJointValues=C3;exports.PresetEnvironment=Ni;exports.ProgramControl=_3;exports.ProgramState=ut;exports.ProgramStateIndicator=Rl;exports.Robot=og;exports.RobotCard=z3;exports.RobotListItem=W3;exports.RobotSetupReadinessIndicator=sg;exports.RobotSetupReadinessState=$c;exports.SafetyBar=xj;exports.SafetyZonesRenderer=kg;exports.SelectableFab=Sj;exports.SupportedRobot=ag;exports.TabBar=Oj;exports.Timer=dO;exports.TrajectoryRenderer=$g;exports.ValueInterpolator=wc;exports.VelocitySlider=Kf;exports.VelocitySliderLabel=jc;exports.WandelbotsDataGrid=_m;exports.WandelscriptEditor=Aj;exports.createDebugMessage=O3;exports.createErrorMessage=R3;exports.createInfoMessage=T3;exports.createLogMessage=$a;exports.createNovaMuiTheme=Ej;exports.createWarningMessage=P3;exports.defaultAxisConfig=J3;exports.defaultGetModel=kc;exports.extractManufacturer=ig;exports.getDefaultHomeConfig=Y3;exports.i18n=El;exports.useAnimationFrame=Vs;exports.useAutorun=Vm;exports.useInterpolation=Cc;exports.useMounted=_s;exports.useReaction=Mm;
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