@wandelbots/wandelbots-js-react-components 4.0.3 → 4.1.0

package/dist/manufacturerHomePositions-BCgn-SCy.js

@@ -0,0 +1,1262 @@
+import { j as t, e as z } from "./externalizeComponent-Dc3fViZA.js";
+import * as x from "three";
+import { Matrix4 as w, Vector3 as T, Quaternion as U } from "three";
+import { ConvexGeometry as te } from "three-stdlib";
+import { useThree as ne, useFrame as re, Canvas as N } from "@react-three/fiber";
+import { Environment as we, Lightformer as V, Line as O, useGLTF as be, Bounds as Y } from "@react-three/drei";
+import { useTheme as Re, Card as ve, Box as b, Typography as q, Divider as X, Button as K } from "@mui/material";
+import { observer as Me } from "mobx-react-lite";
+import _e, { useRef as R, useEffect as L, useCallback as _, useState as G, Suspense as oe } from "react";
+import { useTranslation as Le } from "react-i18next";
+import { N as Te, V as se, c as ie, b as Z, M as v } from "./interpolation-baUmFLkh.js";
+import { ErrorBoundary as ae } from "react-error-boundary";
+function Ve(e) {
+  switch (e.shape_type) {
+    case "convex_hull":
+      return new te(
+        e.vertices.map(
+          (n) => new x.Vector3(
+            n[0] / 1e3,
+            n[1] / 1e3,
+            n[2] / 1e3
+          )
+        )
+      );
+    case "box":
+      return new x.BoxGeometry(
+        e.size_x / 1e3,
+        e.size_y / 1e3,
+        e.size_z / 1e3
+      );
+    case "sphere":
+      return new x.SphereGeometry(e.radius / 1e3);
+    case "capsule":
+      return new x.CapsuleGeometry(
+        e.radius / 1e3,
+        e.cylinder_height / 1e3
+      );
+    case "cylinder":
+      return new x.CylinderGeometry(
+        e.radius / 1e3,
+        e.radius / 1e3,
+        e.height / 1e3
+      );
+    case "rectangle":
+      return new x.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
+    default:
+      return console.warn(`${e.shape_type} is not supported`), new x.BufferGeometry();
+  }
+}
+function Ge({
+  name: e,
+  collider: r,
+  children: n
+}) {
+  var u, a;
+  const l = ((u = r.pose) == null ? void 0 : u.position) ?? [0, 0, 0], o = ((a = r.pose) == null ? void 0 : a.orientation) ?? [0, 0, 0];
+  return r.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ t.jsx(
+    "mesh",
+    {
+      name: e,
+      position: new x.Vector3(
+        l[0],
+        l[1],
+        l[2]
+      ).divideScalar(1e3),
+      rotation: new x.Euler(o[0], o[1], o[2], "XYZ"),
+      geometry: Ve(r.shape),
+      children: n
+    }
+  );
+}
+function ke({
+  name: e,
+  colliders: r,
+  meshChildrenProvider: n,
+  ...l
+}) {
+  return /* @__PURE__ */ t.jsx("group", { name: e, ...l, children: Object.entries(r).map(([o, u]) => /* @__PURE__ */ t.jsx(
+    Ge,
+    {
+      name: o,
+      collider: u,
+      children: n(o, u)
+    },
+    o
+  )) });
+}
+function nt({
+  scene: e,
+  meshChildrenProvider: r
+}) {
+  const n = e.colliders;
+  return /* @__PURE__ */ t.jsx("group", { children: n && /* @__PURE__ */ t.jsx(
+    ke,
+    {
+      meshChildrenProvider: r,
+      colliders: n
+    }
+  ) });
+}
+function Q() {
+  return /* @__PURE__ */ t.jsx(we, { children: /* @__PURE__ */ t.jsx(Fe, {}) });
+}
+function Fe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
+  return /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
+    /* @__PURE__ */ t.jsx(
+      V,
+      {
+        intensity: 5,
+        "rotation-x": Math.PI / 2,
+        position: [0, 5, -9],
+        scale: [10, 10, 1]
+      }
+    ),
+    /* @__PURE__ */ t.jsx("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ t.jsx("group", { children: e.map((r, n) => /* @__PURE__ */ t.jsx(
+      V,
+      {
+        form: "circle",
+        intensity: 5,
+        rotation: [Math.PI / 2, 0, 0],
+        position: [r, 4, n * 4],
+        scale: [3, 1, 1]
+      },
+      n
+    )) }) }),
+    /* @__PURE__ */ t.jsx(
+      V,
+      {
+        intensity: 40,
+        "rotation-y": Math.PI / 2,
+        position: [-5, 1, -1],
+        scale: [20, 0.1, 1]
+      }
+    ),
+    /* @__PURE__ */ t.jsx(
+      V,
+      {
+        intensity: 20,
+        "rotation-y": -Math.PI,
+        position: [-5, -2, -1],
+        scale: [20, 0.1, 1]
+      }
+    ),
+    /* @__PURE__ */ t.jsx(
+      V,
+      {
+        "rotation-y": Math.PI / 2,
+        position: [-5, -1, -1],
+        scale: [20, 0.5, 1],
+        intensity: 5
+      }
+    ),
+    /* @__PURE__ */ t.jsx(
+      V,
+      {
+        "rotation-y": -Math.PI / 2,
+        position: [10, 1, 0],
+        scale: [20, 1, 1],
+        intensity: 10
+      }
+    ),
+    /* @__PURE__ */ t.jsx(
+      V,
+      {
+        form: "ring",
+        color: "white",
+        intensity: 5,
+        scale: 10,
+        position: [-15, 4, -18],
+        target: [0, 0, 0]
+      }
+    )
+  ] });
+}
+function Ae(e) {
+  if (e.length < 3)
+    return console.log("Not enough vertices to define a plane"), { isCoplanar: !1 };
+  const r = new x.Vector3(e[0].x, e[0].y, e[0].z), n = new x.Vector3(e[1].x, e[1].y, e[1].z), l = new x.Vector3(e[2].x, e[2].y, e[2].z), o = new x.Vector3().subVectors(n, r), u = new x.Vector3().subVectors(l, r), a = new x.Vector3().crossVectors(o, u).normalize();
+  for (let f = 3; f < e.length; f++) {
+    const c = new x.Vector3(e[f].x, e[f].y, e[f].z), m = new x.Vector3().subVectors(c, r), d = a.dot(m);
+    if (Math.abs(d) > 1e-6)
+      return console.log("Vertices are not on the same plane"), { isCoplanar: !1 };
+  }
+  return { isCoplanar: !0, normal: a };
+}
+function rt({
+  safetyZones: e,
+  ...r
+}) {
+  return /* @__PURE__ */ t.jsx("group", { ...r, children: e.map((n, l) => {
+    let o = [];
+    return n.geometry && (n.geometry.compound ? o = n.geometry.compound.child_geometries : n.geometry.convex_hull && (o = [n.geometry])), o.map((u, a) => {
+      if (!u.convex_hull) return null;
+      const f = u.convex_hull.vertices.map(
+        (d) => new x.Vector3(d.x / 1e3, d.y / 1e3, d.z / 1e3)
+      ), c = Ae(f);
+      if (c.isCoplanar && c.normal) {
+        const s = new x.Vector3().addVectors(
+          f[0],
+          c.normal.multiplyScalar(1e-4)
+        );
+        f.push(s);
+      }
+      let m;
+      try {
+        m = new te(f);
+      } catch (d) {
+        return console.log("Error creating ConvexGeometry:", d), null;
+      }
+      return /* @__PURE__ */ t.jsx("mesh", { geometry: m, children: /* @__PURE__ */ t.jsx(
+        "meshStandardMaterial",
+        {
+          attach: "material",
+          color: "#009f4d",
+          opacity: 0.2,
+          depthTest: !1,
+          depthWrite: !1,
+          transparent: !0,
+          polygonOffset: !0,
+          polygonOffsetFactor: -a
+        },
+        l
+      ) }, `${l}-${a}`);
+    });
+  }) });
+}
+function ot({
+  trajectory: e,
+  ...r
+}) {
+  var l;
+  const n = ((l = e.trajectory) == null ? void 0 : l.map((o) => o.tcp_pose ? new x.Vector3(
+    o.tcp_pose.position.x / 1e3,
+    o.tcp_pose.position.z / 1e3,
+    -o.tcp_pose.position.y / 1e3
+  ) : null).filter((o) => o !== null)) || [];
+  return /* @__PURE__ */ t.jsx("group", { ...r, children: n.length > 0 && /* @__PURE__ */ t.jsx(
+    O,
+    {
+      points: n,
+      lineWidth: 3,
+      polygonOffset: !0,
+      polygonOffsetFactor: 10,
+      polygonOffsetUnits: 10
+    }
+  ) });
+}
+const D = /* @__PURE__ */ new Map();
+async function S(e) {
+  if (D.has(e))
+    return D.get(e);
+  const r = (async () => {
+    var u;
+    const l = new Te({ instanceUrl: "" }), o = l.api.motionGroupModels;
+    (u = o.axios) != null && u.interceptors && o.axios.interceptors.request.use((a) => {
+      var f;
+      return (f = a.url) != null && f.includes("/glb") && (a.responseType = "blob"), a;
+    });
+    try {
+      const a = await l.api.motionGroupModels.getMotionGroupGlbModel(e);
+      return URL.createObjectURL(a);
+    } catch (a) {
+      throw console.error("Failed to fetch model:", a), a;
+    }
+  })();
+  return D.set(e, r), r;
+}
+function le(e) {
+  function r(n) {
+    return n.children.length === 0 ? [n] : [n, ...n.children.flatMap((l) => r(l))];
+  }
+  return r(e).filter((n) => ue(n));
+}
+function ce(e) {
+  return e.name.endsWith("_FLG");
+}
+function ue(e) {
+  return /_J[0-9]+$/.test(e.name);
+}
+function Ie(e, r) {
+  let n;
+  function l(o) {
+    if (ce(o)) {
+      if (n)
+        throw Error(
+          `Found multiple flange groups in robot model ${r}; first ${n.name} then ${o.name}. Only one _FLG group is allowed.`
+        );
+      n = o;
+    }
+    ue(o), o.children.map(l);
+  }
+  if (l(e.scene), !n)
+    throw Error(
+      `No flange group found in robot model ${r}. Flange must be identified with a name ending in _FLG.`
+    );
+  return { gltf: e };
+}
+function fe({
+  rapidlyChangingMotionState: e,
+  dhParameters: r,
+  onRotationChanged: n,
+  children: l
+}) {
+  const o = R([]), u = R([]), a = R(null), { invalidate: f } = ne();
+  L(() => {
+    const s = e.joint_position.filter(
+      (i) => i !== void 0
+    );
+    return a.current = new se(s, {
+      tension: 120,
+      // Controls spring stiffness - higher values create faster, more responsive motion
+      friction: 20,
+      // Controls damping - higher values reduce oscillation and create smoother settling
+      threshold: 1e-3
+    }), () => {
+      var i;
+      (i = a.current) == null || i.destroy();
+    };
+  }, []), re((s, i) => {
+    if (a.current) {
+      const h = a.current.update(i);
+      m(), h || f();
+    }
+  });
+  function c(s) {
+    s && (u.current = le(s), m(), f());
+  }
+  function m() {
+    var i;
+    const s = ((i = a.current) == null ? void 0 : i.getCurrentValues()) || [];
+    if (n)
+      n(u.current, s);
+    else
+      for (const [h, g] of u.current.entries()) {
+        const p = r[h], j = p.theta || 0, y = p.reverse_rotation_direction ? -1 : 1;
+        g.rotation.y = y * (s[h] || 0) + j;
+      }
+  }
+  const d = _(() => {
+    const s = e.joint_position.filter(
+      (i) => i !== void 0
+    );
+    requestAnimationFrame(() => {
+      var i;
+      o.current = s, (i = a.current) == null || i.setTarget(s);
+    });
+  }, [e]);
+  return L(() => {
+    d();
+  }, [e, d]), ie(() => {
+    d();
+  }), /* @__PURE__ */ t.jsx("group", { ref: c, children: l });
+}
+const Pe = "line", Se = "mesh";
+function Ce({
+  rapidlyChangingMotionState: e,
+  dhParameters: r,
+  ...n
+}) {
+  const l = new w(), o = R([]), u = R([]);
+  _e.useEffect(() => {
+    o.current = new Array(r.length).fill(null), u.current = new Array(r.length).fill(null);
+  }, [r.length]);
+  function a(m, d) {
+    const s = new T(), i = new U(), h = new T();
+    l.decompose(s, i, h);
+    const g = s.clone(), p = new w().makeRotationY(
+      m.theta + d * (m.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new w().makeTranslation(0, m.d / 1e3, 0)).multiply(new w().makeTranslation(m.a / 1e3, 0, 0)).multiply(new w().makeRotationX(m.alpha));
+    return l.multiply(p), l.decompose(s, i, h), { a: g, b: s };
+  }
+  function f(m, d, s, i) {
+    if (!r)
+      return;
+    const h = r[m];
+    if (!h)
+      return;
+    const { a: g, b: p } = a(h, i);
+    d.geometry.setPositions([g.toArray(), p.toArray()].flat()), s.position.set(p.x, p.y, p.z);
+  }
+  function c(m, d) {
+    l.identity();
+    for (let s = 0; s < Math.min(m.length, d.length); s++) {
+      const i = o.current[s], h = u.current[s];
+      i && h && f(s, i, h, d[s]);
+    }
+  }
+  return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
+    fe,
+    {
+      rapidlyChangingMotionState: e,
+      dhParameters: r,
+      onRotationChanged: c,
+      children: /* @__PURE__ */ t.jsxs("group", { ...n, name: "Scene", children: [
+        /* @__PURE__ */ t.jsxs("mesh", { children: [
+          /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
+          /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
+        ] }),
+        r.map((m, d) => {
+          const { a: s, b: i } = a(
+            m,
+            e.joint_position[d] ?? 0
+          ), h = `dhrobot_J0${d}`;
+          return /* @__PURE__ */ t.jsxs("group", { name: h, children: [
+            /* @__PURE__ */ t.jsx(
+              O,
+              {
+                ref: (g) => {
+                  o.current[d] = g;
+                },
+                name: Pe,
+                points: [s, i],
+                color: "white",
+                lineWidth: 5
+              }
+            ),
+            /* @__PURE__ */ t.jsxs(
+              "mesh",
+              {
+                ref: (g) => {
+                  u.current[d] = g;
+                },
+                name: Se,
+                position: i,
+                children: [
+                  /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
+                  /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
+                ]
+              },
+              "mesh_" + d
+            )
+          ] }, h);
+        })
+      ] })
+    }
+  ) });
+}
+const De = console.warn;
+function de() {
+  return L(() => {
+    console.warn = (e) => {
+      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && De(e);
+    };
+  }, []), /* @__PURE__ */ t.jsx(t.Fragment, {});
+}
+function Ue(e) {
+  return e.type === "Mesh";
+}
+function ze({
+  url: e,
+  flangeRef: r,
+  postModelRender: n,
+  ...l
+}) {
+  const o = be(e);
+  let u;
+  try {
+    u = Ie(o, "robot.glb").gltf;
+  } catch (c) {
+    throw c;
+  }
+  const a = _(
+    (c) => {
+      c && n && n();
+    },
+    [n]
+  );
+  function f(c) {
+    try {
+      return Ue(c) ? c.geometry ? /* @__PURE__ */ t.jsx(
+        "mesh",
+        {
+          name: c.name,
+          geometry: c.geometry,
+          material: c.material,
+          position: c.position,
+          rotation: c.rotation
+        },
+        c.uuid
+      ) : /* @__PURE__ */ t.jsx("group", { name: c.name, position: c.position, rotation: c.rotation }, c.uuid) : /* @__PURE__ */ t.jsx(
+        "group",
+        {
+          name: c.name,
+          position: c.position,
+          rotation: c.rotation,
+          ref: ce(c) ? r : void 0,
+          children: c.children.map(f)
+        },
+        c.uuid
+      );
+    } catch (m) {
+      return console.warn("Error rendering node", c.name, m), null;
+    }
+  }
+  return /* @__PURE__ */ t.jsx("group", { ...l, dispose: null, ref: a, children: f(u.scene) });
+}
+function me({
+  modelURL: e,
+  flangeRef: r,
+  postModelRender: n,
+  ...l
+}) {
+  const [o, u] = G(null);
+  return L(() => {
+    (async () => {
+      try {
+        if (typeof e == "string")
+          u(e);
+        else {
+          const f = await e;
+          u(f);
+        }
+      } catch (f) {
+        console.error("Failed to resolve model URL:", f);
+      }
+    })();
+  }, [e]), o ? /* @__PURE__ */ t.jsx(
+    ze,
+    {
+      url: o,
+      flangeRef: r,
+      postModelRender: n,
+      ...l
+    }
+  ) : null;
+}
+const he = (e, r) => {
+  e.userData.isGhost || (e.traverse((n) => {
+    if (n instanceof x.Mesh) {
+      n.material instanceof x.Material && (n.material.colorWrite = !1);
+      const l = n.clone(), o = n.clone();
+      l.material = new x.MeshStandardMaterial({
+        depthTest: !0,
+        depthWrite: !0,
+        colorWrite: !1,
+        polygonOffset: !0,
+        polygonOffsetFactor: -1,
+        side: x.DoubleSide
+      }), l.userData.isGhost = !0, o.material = new x.MeshStandardMaterial({
+        color: r,
+        opacity: 0.3,
+        depthTest: !0,
+        depthWrite: !1,
+        transparent: !0,
+        polygonOffset: !0,
+        polygonOffsetFactor: -2,
+        side: x.DoubleSide
+      }), o.userData.isGhost = !0, n.parent && (n.parent.add(l), n.parent.add(o));
+    }
+  }), e.userData.isGhost = !0);
+}, pe = (e) => {
+  if (!e.userData.isGhost) return;
+  const r = [];
+  e.traverse((n) => {
+    var l;
+    n instanceof x.Mesh && ((l = n.userData) != null && l.isGhost ? r.push(n) : n.material instanceof x.Material && (n.material.colorWrite = !0));
+  }), r.forEach((n) => {
+    n.parent && n.parent.remove(n);
+  }), e.userData.isGhost = !1;
+}, Oe = z(
+  ({
+    rapidlyChangingMotionState: e,
+    modelFromController: r,
+    dhParameters: n,
+    getModel: l = S,
+    flangeRef: o,
+    postModelRender: u,
+    transparentColor: a,
+    ...f
+  }) => {
+    const [c, m] = G(null), d = _((i) => {
+      m(i);
+    }, []);
+    L(() => {
+      c && (a ? he(c, a) : pe(c));
+    }, [c, a]);
+    const s = /* @__PURE__ */ t.jsx(
+      Ce,
+      {
+        rapidlyChangingMotionState: e,
+        dhParameters: n,
+        ...f
+      }
+    );
+    return /* @__PURE__ */ t.jsxs(
+      ae,
+      {
+        fallback: s,
+        onError: (i) => {
+          console.warn(i);
+        },
+        children: [
+          /* @__PURE__ */ t.jsx(oe, { fallback: s, children: /* @__PURE__ */ t.jsx("group", { ref: d, children: /* @__PURE__ */ t.jsx(
+            fe,
+            {
+              rapidlyChangingMotionState: e,
+              dhParameters: n,
+              children: /* @__PURE__ */ t.jsx(
+                me,
+                {
+                  modelURL: (() => {
+                    const i = l(r);
+                    if (!i) {
+                      const h = new Blob([], { type: "model/gltf-binary" }), g = new File([h], `${r}.glb`, { type: "model/gltf-binary" });
+                      return Promise.resolve(URL.createObjectURL(g));
+                    }
+                    return i;
+                  })(),
+                  postModelRender: u,
+                  flangeRef: o,
+                  ...f
+                }
+              )
+            }
+          ) }) }),
+          /* @__PURE__ */ t.jsx(de, {})
+        ]
+      }
+    );
+  }
+);
+function Ee({
+  connectedMotionGroup: e,
+  getModel: r = S,
+  flangeRef: n,
+  transparentColor: l,
+  postModelRender: o,
+  ...u
+}) {
+  return e.dhParameters ? /* @__PURE__ */ t.jsx(
+    Oe,
+    {
+      rapidlyChangingMotionState: e.rapidlyChangingMotionState,
+      modelFromController: e.modelFromController || "",
+      dhParameters: e.dhParameters,
+      getModel: r,
+      flangeRef: n,
+      transparentColor: l,
+      postModelRender: o,
+      ...u
+    }
+  ) : null;
+}
+const st = z(
+  Me(
+    ({
+      robotName: e,
+      programState: r,
+      safetyState: n,
+      operationMode: l,
+      driveToHomeEnabled: o = !1,
+      onDriveToHomePress: u,
+      onDriveToHomeRelease: a,
+      connectedMotionGroup: f,
+      robotComponent: c = Ee,
+      customContentComponent: m,
+      className: d
+    }) => {
+      var W;
+      const s = Re(), { t: i } = Le(), [h, g] = G(!1), p = R(null), j = R(null), [y, C] = G(!1), [k, ye] = G({ width: 400, height: 600 }), [Je, je] = G(0);
+      L(() => {
+        const P = () => {
+          if (j.current) {
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+                          /* @__PURE__ */ t.jsx(m, {}),
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+                              mt: !I && m ? "auto" : 0
+                            },
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+                              b,
+                              {
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+                                  display: "flex",
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+                                      py: 0.5
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+            b,
+            {
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+                height: "100%",
+                display: "flex",
+                flexDirection: "column"
+              },
+              children: [
+                /* @__PURE__ */ t.jsxs(b, { children: [
+                  /* @__PURE__ */ t.jsx(q, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
+                  /* @__PURE__ */ t.jsx(
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+                /* @__PURE__ */ t.jsx(
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+                      height: M ? 0 : "auto",
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+                      overflow: "hidden",
+                      display: M ? "none" : "block"
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+                        shadows: !0,
+                        frameloop: "demand",
+                        style: {
+                          borderRadius: s.shape.borderRadius,
+                          width: "100%",
+                          height: "100%",
+                          background: "transparent",
+                          position: "absolute"
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+                        dpr: [1, 2],
+                        gl: { alpha: !0, antialias: !0 },
+                        children: [
+                          /* @__PURE__ */ t.jsx(Q, {}),
+                          /* @__PURE__ */ t.jsx(Y, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ t.jsx(
+                            c,
+                            {
+                              connectedMotionGroup: f,
+                              postModelRender: E
+                            }
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+                    )
+                  }
+                ),
+                /* @__PURE__ */ t.jsxs(b, { children: [
+                  !I && m && /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
+                    /* @__PURE__ */ t.jsx(m, {}),
+                    /* @__PURE__ */ t.jsx(
+                      X,
+                      {
+                        sx: {
+                          mt: 1,
+                          mb: 0,
+                          borderColor: s.palette.divider,
+                          opacity: 0.5
+                        }
+                      }
+                    )
+                  ] }),
+                  /* @__PURE__ */ t.jsx(
+                    b,
+                    {
+                      sx: {
+                        display: "flex",
+                        justifyContent: "flex-start",
+                        mt: !I && m ? { 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(
+                        K,
+                        {
+                          ref: p,
+                          variant: "contained",
+                          color: "secondary",
+                          size: "small",
+                          disabled: !o,
+                          onMouseDown: F,
+                          onMouseUp: A,
+                          onMouseLeave: B,
+                          onTouchStart: F,
+                          onTouchEnd: A,
+                          sx: {
+                            textTransform: "none",
+                            px: 1.5,
+                            py: 0.5
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+                          children: i("RobotCard.DriveToHome.bt")
+                        }
+                      )
+                    }
+                  )
+                ] })
+              ]
+            }
+          ) })
+        }
+      );
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+  )
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+  rapidlyChangingMotionState: e,
+  dhParameters: r,
+  onTranslationChanged: n,
+  children: l
+}) {
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+  L(() => {
+    const s = e.joint_position.filter(
+      (i) => i !== void 0
+    );
+    return a.current = new se(s, {
+      tension: 120,
+      // Controls spring stiffness - higher values create faster, more responsive motion
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+      // Controls damping - higher values reduce oscillation and create smoother settling
+      threshold: 1e-3
+    }), () => {
+      var i;
+      (i = a.current) == null || i.destroy();
+    };
+  }, []), re((s, i) => {
+    if (a.current) {
+      const h = a.current.update(i);
+      m(), h || f();
+    }
+  });
+  function c(s) {
+    s && (u.current = le(s), m(), f());
+  }
+  function m() {
+    var i;
+    const s = ((i = a.current) == null ? void 0 : i.getCurrentValues()) || [];
+    if (n)
+      n(u.current, s);
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+      for (const [h, g] of u.current.entries()) {
+        const j = r[h].reverse_rotation_direction ? -1 : 1;
+        g.position.x = j * (s[h] || 0) / 1e3;
+      }
+  }
+  const d = _(() => {
+    const s = e.joint_position.filter(
+      (i) => i !== void 0
+    );
+    requestAnimationFrame(() => {
+      var i;
+      o.current = s, (i = a.current) == null || i.setTarget(s);
+    });
+  }, [e]);
+  return L(() => {
+    d();
+  }, [e, d]), ie(() => {
+    d();
+  }), /* @__PURE__ */ t.jsx("group", { ref: c, children: l });
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+function ge({
+  rapidlyChangingMotionState: e,
+  dhParameters: r,
+  ...n
+}) {
+  const l = new w(), o = R(null), u = R(null);
+  function a(m) {
+    const d = new w();
+    for (let g = 0; g < r.length; g++) {
+      const p = r[g], j = m[g] ?? 0, y = new w().makeRotationY(p.theta).multiply(
+        new w().makeTranslation(
+          p.a / 1e3,
+          (p.d + j * (p.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          0
+        )
+      ).multiply(new w().makeRotationX(p.alpha));
+      d.multiply(y);
+    }
+    const s = new T(), i = new U(), h = new T();
+    return d.decompose(s, i, h), s;
+  }
+  const f = a(e.joint_position);
+  function c(m, d) {
+    l.identity();
+    let s = new T();
+    for (let p = 0; p < r.length; p++) {
+      const j = d[p] ?? 0, y = r[p], C = new w().makeRotationY(y.theta).multiply(
+        new w().makeTranslation(
+          y.a / 1e3,
+          (y.d + j * (y.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          0
+        )
+      ).multiply(new w().makeRotationX(y.alpha));
+      l.multiply(C);
+    }
+    const i = new T(), h = new U(), g = new T();
+    if (l.decompose(i, h, g), s = i, o.current && o.current.position.set(s.x, s.y, s.z), u.current) {
+      const p = u.current.geometry;
+      p && p.setPositions && p.setPositions([0, 0, 0, s.x, s.y, s.z]);
+    }
+  }
+  return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
+    xe,
+    {
+      rapidlyChangingMotionState: e,
+      dhParameters: r,
+      onTranslationChanged: c,
+      children: /* @__PURE__ */ t.jsxs("group", { ...n, name: "Scene", children: [
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+          /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "green", depthTest: !0 })
+        ] }),
+        /* @__PURE__ */ t.jsx(
+          O,
+          {
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+        ] })
+      ] })
+    }
+  ) });
+}
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+  ({
+    rapidlyChangingMotionState: e,
+    modelFromController: r,
+    dhParameters: n,
+    getModel: l = S,
+    flangeRef: o,
+    postModelRender: u,
+    transparentColor: a,
+    ...f
+  }) => {
+    const [c, m] = G(null), d = _((i) => {
+      m(i);
+    }, []);
+    L(() => {
+      c && (a ? he(c, a) : pe(c));
+    }, [c, a]);
+    const s = /* @__PURE__ */ t.jsx(
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+      {
+        rapidlyChangingMotionState: e,
+        dhParameters: n,
+        ...f
+      }
+    );
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+        onError: (i) => {
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+                      return Promise.resolve(URL.createObjectURL(g));
+                    }
+                    return i;
+                  })(),
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+                  flangeRef: o,
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+          /* @__PURE__ */ t.jsx(de, {})
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+function at({
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+  flangeRef: n,
+  transparentColor: l,
+  postModelRender: o,
+  ...u
+}) {
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+    return null;
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+  return a && r(a) ? /* @__PURE__ */ t.jsx(
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+    {
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+      dhParameters: e.dhParameters,
+      getModel: r,
+      flangeRef: n,
+      transparentColor: l,
+      postModelRender: o,
+      ...u
+    }
+  ) : /* @__PURE__ */ t.jsx(
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+    {
+      rapidlyChangingMotionState: e.rapidlyChangingMotionState,
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+  );
+}
+const ee = {
+  [v.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
+  [v.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [v.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [v.Kuka]: [
+    0,
+    -Math.PI / 2,
+    Math.PI / 2,
+    0,
+    Math.PI / 2,
+    0,
+    0
+  ],
+  [v.Universalrobots]: [
+    0,
+    -Math.PI / 2,
+    -Math.PI / 2,
+    -Math.PI / 2,
+    Math.PI / 2,
+    -Math.PI / 2,
+    0
+  ]
+};
+function We(e) {
+  const [r] = e.split("_");
+  switch (r) {
+    case "ABB":
+      return v.Abb;
+    case "FANUC":
+      return v.Fanuc;
+    case "YASKAWA":
+      return v.Yaskawa;
+    case "KUKA":
+      return v.Kuka;
+    case "UniversalRobots":
+      return v.Universalrobots;
+    default:
+      return null;
+  }
+}
+function lt(e, r) {
+  const n = We(e);
+  return n && n in ee ? ee[n] : r || null;
+}
+export {
+  nt as C,
+  at as L,
+  ee as M,
+  Q as P,
+  Ee as R,
+  rt as S,
+  ot as T,
+  st as a,
+  Be as b,
+  Oe as c,
+  it as d,
+  S as e,
+  We as f,
+  lt as g
+};
+//# sourceMappingURL=manufacturerHomePositions-BCgn-SCy.js.map