@wandelbots/wandelbots-js-react-components 3.6.2 → 3.7.0

package/dist/3d.cjs.js

@@ -1,2 +1,2 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./manufacturerHomePositions-Ca80ycLi.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./manufacturerHomePositions-r9dAEtsx.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;
 //# sourceMappingURL=3d.cjs.js.map

package/dist/3d.es.js

@@ -1,4 +1,4 @@
-import { C as o, M as r, P as t, b as s, R as n, S as d, c as R, T as f, a as C, d as i, e as l, g as u } from "./manufacturerHomePositions-CgaG5vaK.js";
+import { C as o, M as r, P as t, b as s, R as n, S as d, c as R, T as f, a as C, d as i, e as l, g as u } from "./manufacturerHomePositions-BW0KbWeg.js";
 export {
   o as CollisionSceneRenderer,
   r as MANUFACTURER_HOME_CONFIGS,

package/dist/components/robots/RobotAnimator.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"RobotAnimator.d.ts","sourceRoot":"","sources":["../../../src/components/robots/RobotAnimator.tsx"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,WAAW,EAAE,gBAAgB,EAAE,MAAM,wBAAwB,CAAA;AAC3E,OAAO,KAA4B,MAAM,OAAO,CAAA;AAChD,OAAO,KAAK,EAAS,QAAQ,EAAE,MAAM,OAAO,CAAA;AAK5C,KAAK,kBAAkB,GAAG;IACxB,0BAA0B,EAAE,gBAAgB,CAAA;IAC5C,YAAY,EAAE,WAAW,EAAE,CAAA;IAC3B,iBAAiB,CAAC,EAAE,CAAC,MAAM,EAAE,QAAQ,EAAE,EAAE,WAAW,EAAE,MAAM,EAAE,KAAK,IAAI,CAAA;IACvE,QAAQ,EAAE,KAAK,CAAC,SAAS,CAAA;CAC1B,CAAA;AAED,MAAM,CAAC,OAAO,UAAU,aAAa,CAAC,EACpC,0BAA0B,EAC1B,YAAY,EACZ,iBAAiB,EACjB,QAAQ,GACT,EAAE,kBAAkB,2CA6EpB"}
+{"version":3,"file":"RobotAnimator.d.ts","sourceRoot":"","sources":["../../../src/components/robots/RobotAnimator.tsx"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,WAAW,EAAE,gBAAgB,EAAE,MAAM,wBAAwB,CAAA;AAC3E,OAAO,KAAyC,MAAM,OAAO,CAAA;AAC7D,OAAO,KAAK,EAAS,QAAQ,EAAE,MAAM,OAAO,CAAA;AAK5C,KAAK,kBAAkB,GAAG;IACxB,0BAA0B,EAAE,gBAAgB,CAAA;IAC5C,YAAY,EAAE,WAAW,EAAE,CAAA;IAC3B,iBAAiB,CAAC,EAAE,CAAC,MAAM,EAAE,QAAQ,EAAE,EAAE,WAAW,EAAE,MAAM,EAAE,KAAK,IAAI,CAAA;IACvE,QAAQ,EAAE,KAAK,CAAC,SAAS,CAAA;CAC1B,CAAA;AAED,MAAM,CAAC,OAAO,UAAU,aAAa,CAAC,EACpC,0BAA0B,EAC1B,YAAY,EACZ,iBAAiB,EACjB,QAAQ,GACT,EAAE,kBAAkB,2CA4FpB"}

package/dist/index.cjs.js

@@ -1,2 +1,2 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./manufacturerHomePositions-Ca80ycLi.cjs"),e=require("./theming-CKlFOjJ_.cjs"),r=require("./LoadingCover-r2yhJZF9.cjs"),t=require("./index-CqMZL0FV.cjs"),a=require("./index-DxwppshT.cjs"),n=require("./WandelscriptEditor-Dj7TBCkF.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedRobot=o.SupportedRobot;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointRotationControl=e.JoggingJointRotationControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SafetyBar=e.SafetyBar;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.LoadingCover=r.LoadingCover;exports.LoadingErrorMessage=r.LoadingErrorMessage;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.i18n=a.i18n;exports.WandelscriptEditor=n.WandelscriptEditor;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./manufacturerHomePositions-r9dAEtsx.cjs"),e=require("./theming-CKlFOjJ_.cjs"),r=require("./LoadingCover-r2yhJZF9.cjs"),t=require("./index-CqMZL0FV.cjs"),a=require("./index-DxwppshT.cjs"),n=require("./WandelscriptEditor-Dj7TBCkF.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedRobot=o.SupportedRobot;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointRotationControl=e.JoggingJointRotationControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SafetyBar=e.SafetyBar;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.LoadingCover=r.LoadingCover;exports.LoadingErrorMessage=r.LoadingErrorMessage;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.i18n=a.i18n;exports.WandelscriptEditor=n.WandelscriptEditor;
 //# sourceMappingURL=index.cjs.js.map

package/dist/index.es.js

@@ -1,4 +1,4 @@
-import { C as o, M as s, P as t, b as r, R as n, S as i, c as g, T as l, a as u, d, e as c, g as p } from "./manufacturerHomePositions-CgaG5vaK.js";
+import { C as o, M as s, P as t, b as r, R as n, S as i, c as g, T as l, a as u, d, e as c, g as p } from "./manufacturerHomePositions-BW0KbWeg.js";
 import { A as M, r as C, C as R, s as S, a as f, b, d as P, J as L, f as V, L as x, l as E, M as A, N as J, P as T, e as I, R as y, n as G, m as N, S as W, o as q, T as v, p as F, V as j, q as w, W as D, h as H, k as h, i as B, g as O, c as U, j as _, t as k, u as Z, v as z, w as K } from "./theming-DxiD0Q3m.js";
 import { L as X, a as Y } from "./LoadingCover-Dr9hDTku.js";
 import { a as aa, P as ea, b as oa, V as sa, e as ta, c as ra, f as na, u as ia, d as ga } from "./index-CxasuX80.js";

package/dist/{manufacturerHomePositions-CgaG5vaK.js → manufacturerHomePositions-BW0KbWeg.js}

@@ -1,21 +1,21 @@
 import { j as t, e as q } from "./index-CAib4NKw.js";
-import * as d from "three";
+import * as h from "three";
 import { Matrix4 as G, Vector3 as L, Quaternion as ie } from "three";
 import { ConvexGeometry as X } from "three-stdlib";
 import { useThree as ae, useFrame as le, Canvas as W } from "@react-three/fiber";
 import { Environment as ce, Lightformer as v, Line as Z, useGLTF as ue, Bounds as $ } from "@react-three/drei";
-import { useTheme as fe, Card as de, Box as y, Typography as B, Divider as H, Button as U } from "@mui/material";
+import { useTheme as fe, Card as de, Box as y, Typography as B, Divider as H, Button as J } from "@mui/material";
 import { observer as he } from "mobx-react-lite";
-import me, { useRef as R, useEffect as T, useCallback as _, useState as C, Suspense as pe } from "react";
+import me, { useRef as _, useEffect as F, useCallback as R, useState as V, Suspense as pe } from "react";
 import { useTranslation as xe } from "react-i18next";
-import { V as ge, c as ye, b as J, M as j } from "./index-CxasuX80.js";
+import { V as ge, c as ye, b as U, M as j } from "./index-CxasuX80.js";
 import { ErrorBoundary as je } from "react-error-boundary";
 function we(e) {
   switch (e.shape_type) {
     case "convex_hull":
       return new X(
         e.vertices.map(
-          (r) => new d.Vector3(
+          (r) => new h.Vector3(
             r[0] / 1e3,
             r[1] / 1e3,
             r[2] / 1e3
@@ -23,28 +23,28 @@ function we(e) {
         )
       );
     case "box":
-      return new d.BoxGeometry(
+      return new h.BoxGeometry(
         e.size_x / 1e3,
         e.size_y / 1e3,
         e.size_z / 1e3
       );
     case "sphere":
-      return new d.SphereGeometry(e.radius / 1e3);
+      return new h.SphereGeometry(e.radius / 1e3);
     case "capsule":
-      return new d.CapsuleGeometry(
+      return new h.CapsuleGeometry(
         e.radius / 1e3,
         e.cylinder_height / 1e3
       );
     case "cylinder":
-      return new d.CylinderGeometry(
+      return new h.CylinderGeometry(
         e.radius / 1e3,
         e.radius / 1e3,
         e.height / 1e3
       );
     case "rectangle":
-      return new d.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
+      return new h.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
     default:
-      return console.warn(`${e.shape_type} is not supported`), new d.BufferGeometry();
+      return console.warn(`${e.shape_type} is not supported`), new h.BufferGeometry();
   }
 }
 function be({
@@ -52,18 +52,18 @@ function be({
   collider: n,
   children: r
 }) {
-  var u, l;
-  const s = ((u = n.pose) == null ? void 0 : u.position) ?? [0, 0, 0], o = ((l = n.pose) == null ? void 0 : l.orientation) ?? [0, 0, 0];
+  var f, l;
+  const s = ((f = n.pose) == null ? void 0 : f.position) ?? [0, 0, 0], o = ((l = n.pose) == null ? void 0 : l.orientation) ?? [0, 0, 0];
   return n.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ t.jsx(
     "mesh",
     {
       name: e,
-      position: new d.Vector3(
+      position: new h.Vector3(
         s[0],
         s[1],
         s[2]
       ).divideScalar(1e3),
-      rotation: new d.Euler(o[0], o[1], o[2], "XYZ"),
+      rotation: new h.Euler(o[0], o[1], o[2], "XYZ"),
       geometry: we(n.shape),
       children: r
     }
@@ -75,12 +75,12 @@ function Me({
   meshChildrenProvider: r,
   ...s
 }) {
-  return /* @__PURE__ */ t.jsx("group", { name: e, ...s, children: Object.entries(n).map(([o, u]) => /* @__PURE__ */ t.jsx(
+  return /* @__PURE__ */ t.jsx("group", { name: e, ...s, children: Object.entries(n).map(([o, f]) => /* @__PURE__ */ t.jsx(
     be,
     {
       name: o,
-      collider: u,
-      children: r(o, u)
+      collider: f,
+      children: r(o, f)
     },
     o
   )) });
@@ -175,10 +175,10 @@ function ve({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
 function Re(e) {
   if (e.length < 3)
     return console.log("Not enough vertices to define a plane"), { isCoplanar: !1 };
-  const n = new d.Vector3(e[0].x, e[0].y, e[0].z), r = new d.Vector3(e[1].x, e[1].y, e[1].z), s = new d.Vector3(e[2].x, e[2].y, e[2].z), o = new d.Vector3().subVectors(r, n), u = new d.Vector3().subVectors(s, n), l = new d.Vector3().crossVectors(o, u).normalize();
+  const n = new h.Vector3(e[0].x, e[0].y, e[0].z), r = new h.Vector3(e[1].x, e[1].y, e[1].z), s = new h.Vector3(e[2].x, e[2].y, e[2].z), o = new h.Vector3().subVectors(r, n), f = new h.Vector3().subVectors(s, n), l = new h.Vector3().crossVectors(o, f).normalize();
   for (let a = 3; a < e.length; a++) {
-    const p = new d.Vector3(e[a].x, e[a].y, e[a].z), h = new d.Vector3().subVectors(p, n), f = l.dot(h);
-    if (Math.abs(f) > 1e-6)
+    const p = new h.Vector3(e[a].x, e[a].y, e[a].z), d = new h.Vector3().subVectors(p, n), u = l.dot(d);
+    if (Math.abs(u) > 1e-6)
       return console.log("Vertices are not on the same plane"), { isCoplanar: !1 };
   }
   return { isCoplanar: !0, normal: l };
@@ -189,25 +189,25 @@ function Ze({
 }) {
   return /* @__PURE__ */ t.jsx("group", { ...n, children: e.map((r, s) => {
     let o = [];
-    return r.geometry && (r.geometry.compound ? o = r.geometry.compound.child_geometries : r.geometry.convex_hull && (o = [r.geometry])), o.map((u, l) => {
-      if (!u.convex_hull) return null;
-      const a = u.convex_hull.vertices.map(
-        (f) => new d.Vector3(f.x / 1e3, f.y / 1e3, f.z / 1e3)
+    return r.geometry && (r.geometry.compound ? o = r.geometry.compound.child_geometries : r.geometry.convex_hull && (o = [r.geometry])), o.map((f, l) => {
+      if (!f.convex_hull) return null;
+      const a = f.convex_hull.vertices.map(
+        (u) => new h.Vector3(u.x / 1e3, u.y / 1e3, u.z / 1e3)
       ), p = Re(a);
       if (p.isCoplanar && p.normal) {
-        const i = new d.Vector3().addVectors(
+        const i = new h.Vector3().addVectors(
           a[0],
           p.normal.multiplyScalar(1e-4)
         );
         a.push(i);
       }
-      let h;
+      let d;
       try {
-        h = new X(a);
-      } catch (f) {
-        return console.log("Error creating ConvexGeometry:", f), null;
+        d = new X(a);
+      } catch (u) {
+        return console.log("Error creating ConvexGeometry:", u), null;
       }
-      return /* @__PURE__ */ t.jsx("mesh", { geometry: h, children: /* @__PURE__ */ t.jsx(
+      return /* @__PURE__ */ t.jsx("mesh", { geometry: d, children: /* @__PURE__ */ t.jsx(
         "meshStandardMaterial",
         {
           attach: "material",
@@ -229,7 +229,7 @@ function Qe({
   ...n
 }) {
   var s;
-  const r = ((s = e.trajectory) == null ? void 0 : s.map((o) => o.tcp_pose ? new d.Vector3(
+  const r = ((s = e.trajectory) == null ? void 0 : s.map((o) => o.tcp_pose ? new h.Vector3(
     o.tcp_pose.position.x / 1e3,
     o.tcp_pose.position.z / 1e3,
     -o.tcp_pose.position.y / 1e3
@@ -286,8 +286,8 @@ function re({
   onRotationChanged: r,
   children: s
 }) {
-  const o = R([]), u = R([]), l = R(null), { invalidate: a } = ae();
-  T(() => {
+  const o = _([]), f = _([]), l = _(null), { invalidate: a } = ae();
+  F(() => {
     const i = e.joint_position.filter(
       (c) => c !== void 0
     );
@@ -304,66 +304,70 @@ function re({
   }, []), le((i, c) => {
     if (l.current) {
       const m = l.current.update(c);
-      f(), m || a();
+      d(), m || a();
     }
   });
   function p(i) {
-    i && (u.current = _e(i), f(), a());
+    i && (f.current = _e(i), d(), a());
   }
-  function h(i) {
-    var c;
-    o.current = i, (c = l.current) == null || c.setTarget(i);
-  }
-  function f() {
+  function d() {
     var c;
     const i = ((c = l.current) == null ? void 0 : c.getCurrentValues()) || [];
     if (r)
-      r(u.current, i);
+      r(f.current, i);
     else
-      for (const [m, x] of u.current.entries()) {
+      for (const [m, x] of f.current.entries()) {
         const g = n[m], b = g.theta || 0, M = g.reverse_rotation_direction ? -1 : 1;
         x.rotation.y = M * (i[m] || 0) + b;
       }
   }
-  return ye(() => {
+  const u = R(() => {
     const i = e.joint_position.filter(
       (c) => c !== void 0
     );
-    requestAnimationFrame(() => h(i));
+    requestAnimationFrame(() => {
+      var c;
+      o.current = i, (c = l.current) == null || c.setTarget(i);
+    });
+  }, [e]);
+  return F(() => {
+    u();
+  }, [e, u]), ye(() => {
+    u();
   }), /* @__PURE__ */ t.jsx("group", { ref: p, children: s });
 }
-const Ce = "line", Fe = "mesh";
+const Ve = "line", Fe = "mesh";
 function Ie({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...r
 }) {
-  const s = new G(), o = R([]), u = R([]);
+  const s = new G(), o = _([]), f = _([]);
   me.useEffect(() => {
-    o.current = new Array(n.length).fill(null), u.current = new Array(n.length).fill(null);
+    o.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
   }, [n.length]);
-  function l(h, f) {
+  function l(d, u) {
     const i = new L(), c = new ie(), m = new L();
     s.decompose(i, c, m);
     const x = i.clone(), g = new G().makeRotationY(
-      h.theta + f * (h.reverse_rotation_direction ? -1 : 1)
-    ).multiply(new G().makeTranslation(0, h.d / 1e3, 0)).multiply(new G().makeTranslation(h.a / 1e3, 0, 0)).multiply(new G().makeRotationX(h.alpha));
+      d.theta + u * (d.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new G().makeTranslation(0, d.d / 1e3, 0)).multiply(new G().makeTranslation(d.a / 1e3, 0, 0)).multiply(new G().makeRotationX(d.alpha));
     return s.multiply(g), s.decompose(i, c, m), { a: x, b: i };
   }
-  function a(h, f, i, c) {
+  function a(d, u, i, c) {
     if (!n)
       return;
-    const m = n[h];
+    const m = n[d];
     if (!m)
       return;
     const { a: x, b: g } = l(m, c);
-    f.geometry.setPositions([x.toArray(), g.toArray()].flat()), i.position.set(g.x, g.y, g.z);
+    u.geometry.setPositions([x.toArray(), g.toArray()].flat()), i.position.set(g.x, g.y, g.z);
   }
-  function p(h, f) {
+  function p(d, u) {
     s.identity();
-    for (let i = 0; i < Math.min(h.length, f.length); i++) {
-      const c = o.current[i], m = u.current[i];
-      c && m && a(i, c, m, f[i]);
+    for (let i = 0; i < Math.min(d.length, u.length); i++) {
+      const c = o.current[i], m = f.current[i];
+      c && m && a(i, c, m, u[i]);
     }
   }
   return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
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           /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
         ] }),
-        n.map((h, f) => {
+        n.map((d, u) => {
           const { a: i, b: c } = l(
-            h,
-            e.joint_position[f] ?? 0
-          ), m = `dhrobot_J0${f}`;
+            d,
+            e.joint_position[u] ?? 0
+          ), m = `dhrobot_J0${u}`;
           return /* @__PURE__ */ t.jsxs("group", { name: m, children: [
             /* @__PURE__ */ t.jsx(
               Z,
               {
                 ref: (x) => {
-                  o.current[f] = x;
+                  o.current[u] = x;
                 },
-                name: Ce,
+                name: Ve,
                 points: [i, c],
                 color: "white",
                 lineWidth: 5
@@ -399,7 +403,7 @@ function Ie({
               "mesh",
               {
                 ref: (x) => {
-                  u.current[f] = x;
+                  f.current[u] = x;
                 },
                 name: Fe,
                 position: c,
@@ -408,7 +412,7 @@ function Ie({
                   /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
                 ]
               },
-              "mesh_" + f
+              "mesh_" + u
             )
           ] }, m);
         })
@@ -416,11 +420,11 @@ function Ie({
     }
   ) });
 }
-const Se = console.warn;
-function Ve() {
-  return T(() => {
+const Ce = console.warn;
+function Se() {
+  return F(() => {
     console.warn = (e) => {
-      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Se(e);
+      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Ce(e);
     };
   }, []), /* @__PURE__ */ t.jsx(t.Fragment, {});
 }
@@ -436,7 +440,7 @@ function Te({
   const { gltf: o } = Ge(
     ue(e),
     e.split("/").pop() || e
-  ), u = _(
+  ), f = R(
     (a) => {
       a && r && r();
     },
@@ -465,21 +469,21 @@ function Te({
       a.uuid
     );
   }
-  return /* @__PURE__ */ t.jsx("group", { ...s, dispose: null, ref: u, children: l(o.scene) });
+  return /* @__PURE__ */ t.jsx("group", { ...s, dispose: null, ref: f, children: l(o.scene) });
 }
 const Ae = (e, n) => {
   e.userData.isGhost || (e.traverse((r) => {
-    if (r instanceof d.Mesh) {
-      r.material instanceof d.Material && (r.material.colorWrite = !1);
+    if (r instanceof h.Mesh) {
+      r.material instanceof h.Material && (r.material.colorWrite = !1);
       const s = r.clone(), o = r.clone();
-      s.material = new d.MeshStandardMaterial({
+      s.material = new h.MeshStandardMaterial({
         depthTest: !0,
         depthWrite: !0,
         colorWrite: !1,
         polygonOffset: !0,
         polygonOffsetFactor: -1,
-        side: d.DoubleSide
-      }), s.userData.isGhost = !0, o.material = new d.MeshStandardMaterial({
+        side: h.DoubleSide
+      }), s.userData.isGhost = !0, o.material = new h.MeshStandardMaterial({
         color: n,
         opacity: 0.3,
         depthTest: !0,
@@ -487,7 +491,7 @@ const Ae = (e, n) => {
         transparent: !0,
         polygonOffset: !0,
         polygonOffsetFactor: -2,
-        side: d.DoubleSide
+        side: h.DoubleSide
       }), o.userData.isGhost = !0, r.parent && (r.parent.add(s), r.parent.add(o));
     }
   }), e.userData.isGhost = !0);
@@ -496,7 +500,7 @@ const Ae = (e, n) => {
   const n = [];
   e.traverse((r) => {
     var s;
-    r instanceof d.Mesh && ((s = r.userData) != null && s.isGhost ? n.push(r) : r.material instanceof d.Material && (r.material.colorWrite = !0));
+    r instanceof h.Mesh && ((s = r.userData) != null && s.isGhost ? n.push(r) : r.material instanceof h.Material && (r.material.colorWrite = !0));
   }), n.forEach((r) => {
     r.parent && r.parent.remove(r);
   }), e.userData.isGhost = !1;
@@ -507,14 +511,14 @@ const Ae = (e, n) => {
     dhParameters: r,
     getModel: s = Q,
     flangeRef: o,
-    postModelRender: u,
+    postModelRender: f,
     transparentColor: l,
     ...a
   }) => {
-    const [p, h] = C(null), f = _((c) => {
-      h(c);
+    const [p, d] = V(null), u = R((c) => {
+      d(c);
     }, []);
-    T(() => {
+    F(() => {
       p && (l ? Ae(p, l) : ke(p));
     }, [p, l]);
     const i = /* @__PURE__ */ t.jsx(
@@ -533,7 +537,7 @@ const Ae = (e, n) => {
           console.error(c);
         },
         children: [
-          /* @__PURE__ */ t.jsx(pe, { fallback: i, children: /* @__PURE__ */ t.jsx("group", { ref: f, children: /* @__PURE__ */ t.jsx(
+          /* @__PURE__ */ t.jsx(pe, { fallback: i, children: /* @__PURE__ */ t.jsx("group", { ref: u, children: /* @__PURE__ */ t.jsx(
             re,
             {
               rapidlyChangingMotionState: e,
@@ -542,14 +546,14 @@ const Ae = (e, n) => {
                 Te,
                 {
                   modelURL: s(n),
-                  postModelRender: u,
+                  postModelRender: f,
                   flangeRef: o,
                   ...a
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ t.jsx(Ve, {})
+          /* @__PURE__ */ t.jsx(Se, {})
         ]
       }
     );
@@ -561,7 +565,7 @@ function Pe({
   flangeRef: r,
   transparentColor: s,
   postModelRender: o,
-  ...u
+  ...f
 }) {
   return e.dhParameters ? /* @__PURE__ */ t.jsx(
     ze,
@@ -573,7 +577,7 @@ function Pe({
       flangeRef: r,
       transparentColor: s,
       postModelRender: o,
-      ...u
+      ...f
     }
   ) : null;
 }
@@ -585,42 +589,42 @@ const et = q(
       safetyState: r,
       operationMode: s,
       driveToHomeEnabled: o = !1,
-      onDriveToHomePress: u,
+      onDriveToHomePress: f,
       onDriveToHomeRelease: l,
       connectedMotionGroup: a,
       robotComponent: p = Pe,
-      customContentComponent: h,
-      className: f
+      customContentComponent: d,
+      className: u
     }) => {
       var z;
-      const i = fe(), { t: c } = xe(), [m, x] = C(!1), g = R(null), b = R(null), [M, ne] = C(!1), [F, oe] = C({ width: 400, height: 600 }), [Ee, se] = C(0);
-      T(() => {
-        const D = () => {
+      const i = fe(), { t: c } = xe(), [m, x] = V(!1), g = _(null), b = _(null), [M, ne] = V(!1), [I, oe] = V({ width: 400, height: 600 }), [Ee, se] = V(0);
+      F(() => {
+        const T = () => {
           if (b.current) {
             const { offsetWidth: O, offsetHeight: E } = b.current;
             ne(O > E), oe({ width: O, height: E });
           }
         };
-        D();
-        const P = new ResizeObserver(D);
+        T();
+        const P = new ResizeObserver(T);
         return b.current && P.observe(b.current), () => {
           P.disconnect();
         };
       }, []);
-      const A = _(() => {
-        se((D) => D + 1);
-      }, []), I = _(() => {
-        !o || !u || (x(!0), u());
-      }, [o, u]), S = _(() => {
+      const A = R(() => {
+        se((T) => T + 1);
+      }, []), C = R(() => {
+        !o || !f || (x(!0), f());
+      }, [o, f]), S = R(() => {
         !o || !l || (x(!1), l());
-      }, [o, l]), k = _(() => {
+      }, [o, l]), k = R(() => {
         m && l && (x(!1), l());
-      }, [m, l]), w = M ? F.width < 350 : F.height < 200, V = M ? F.height < 310 : F.height < 450;
+      }, [m, l]), w = M ? I.width < 350 : I.height < 200, D = M ? I.height < 310 : I.height < 450;
       return /* @__PURE__ */ t.jsx(
         de,
         {
           ref: b,
-          className: f,
+          className: u,
           sx: {
             width: "100%",
             height: "100%",
@@ -712,7 +716,7 @@ const et = q(
                       children: [
                         /* @__PURE__ */ t.jsx(B, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
                         /* @__PURE__ */ t.jsx(
-                          J,
+                          U,
                           {
                             programState: n,
                             safetyState: r,
@@ -734,8 +738,8 @@ const et = q(
                         justifyContent: "space-between"
                       },
                       children: [
-                        !V && h && /* @__PURE__ */ t.jsxs(y, { children: [
-                          /* @__PURE__ */ t.jsx(h, {}),
+                        !D && d && /* @__PURE__ */ t.jsxs(y, { children: [
+                          /* @__PURE__ */ t.jsx(d, {}),
                           /* @__PURE__ */ t.jsx(
                             H,
                             {
@@ -752,7 +756,7 @@ const et = q(
                           y,
                           {
                             sx: {
-                              mt: !V && h ? "auto" : 0
+                              mt: !D && d ? "auto" : 0
                             },
                             children: /* @__PURE__ */ t.jsx(
                               y,
@@ -764,17 +768,17 @@ const et = q(
                                   mb: { xs: 0.5, sm: 0.75, md: 1 }
                                 },
                                 children: /* @__PURE__ */ t.jsx(
-                                  U,
+                                  J,
                                   {
                                     ref: g,
                                     variant: "contained",
                                     color: "secondary",
                                     size: "small",
                                     disabled: !o,
-                                    onMouseDown: I,
+                                    onMouseDown: C,
                                     onMouseUp: S,
                                     onMouseLeave: k,
-                                    onTouchStart: I,
+                                    onTouchStart: C,
                                     onTouchEnd: S,
                                     sx: {
                                       textTransform: "none",
@@ -807,7 +811,7 @@ const et = q(
                 /* @__PURE__ */ t.jsxs(y, { children: [
                   /* @__PURE__ */ t.jsx(B, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
                   /* @__PURE__ */ t.jsx(
-                    J,
+                    U,
                     {
                       programState: n,
                       safetyState: r,
@@ -861,8 +865,8 @@ const et = q(
                   }
                 ),
                 /* @__PURE__ */ t.jsxs(y, { children: [
-                  !V && h && /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
-                    /* @__PURE__ */ t.jsx(h, {}),
+                  !D && d && /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
+                    /* @__PURE__ */ t.jsx(d, {}),
                     /* @__PURE__ */ t.jsx(
                       H,
                       {
@@ -881,21 +885,21 @@ const et = q(
                       sx: {
                         display: "flex",
                         justifyContent: "flex-start",
-                        mt: !V && h ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
+                        mt: !D && d ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
                         mb: { xs: 0.5, sm: 0.75, md: 1 }
                       },
                       children: /* @__PURE__ */ t.jsx(
-                        U,
+                        J,
                         {
                           ref: g,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
                           disabled: !o,
-                          onMouseDown: I,
+                          onMouseDown: C,
                           onMouseUp: S,
                           onMouseLeave: k,
-                          onTouchStart: I,
+                          onTouchStart: C,
                           onTouchEnd: S,
                           sx: {
                             textTransform: "none",
@@ -973,4 +977,4 @@ export {
   Oe as e,
   rt as g
 };
-//# sourceMappingURL=manufacturerHomePositions-CgaG5vaK.js.map
+//# sourceMappingURL=manufacturerHomePositions-BW0KbWeg.js.map