@wandelbots/wandelbots-js-react-components 4.1.1 → 4.2.0

package/dist/{manufacturerHomePositions-DAaWLJKB.js → MotionGroupVisualizer-CrLamHYm.js}

@@ -1,16 +1,16 @@
-import { j as t, e as z } from "./externalizeComponent-Dc3fViZA.js";
+import { j as t, e as I } from "./externalizeComponent-Dc3fViZA.js";
 import * as x from "three";
-import { Matrix4 as w, Vector3 as T, Quaternion as U } from "three";
+import { Matrix4 as w, Vector3 as F, Quaternion as z } 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) {
+import { Environment as ve, Lightformer as G, Line as O, useGLTF as Me, Bounds as H } from "@react-three/drei";
+import { useTheme as _e, Card as Ae, Box as b, Typography as Y, Divider as q, Button as X } from "@mui/material";
+import { observer as Te } from "mobx-react-lite";
+import Fe, { useRef as R, useEffect as _, useCallback as M, useState as T, Suspense as oe, useMemo as Ge } from "react";
+import { useTranslation as Se } from "react-i18next";
+import { N as se, V as ie, c as ae, b as Z, M as v } from "./interpolation-Cs2pC1zE.js";
+import { ErrorBoundary as le } from "react-error-boundary";
+function ke(e) {
   switch (e.shape_type) {
     case "convex_hull":
       return new te(
@@ -47,36 +47,36 @@ function Ve(e) {
       return console.warn(`${e.shape_type} is not supported`), new x.BufferGeometry();
   }
 }
-function Ge({
+function Le({
   name: e,
   collider: r,
   children: n
 }) {
   var u, a;
-  const l = ((u = r.pose) == null ? void 0 : u.position) ?? [0, 0, 0], o = ((a = r.pose) == null ? void 0 : a.orientation) ?? [0, 0, 0];
+  const i = ((u = r.pose) == null ? void 0 : u.position) ?? [0, 0, 0], o = ((a = r.pose) == null ? void 0 : a.orientation) ?? [0, 0, 0];
   return r.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ t.jsx(
     "mesh",
     {
       name: e,
       position: new x.Vector3(
-        l[0],
-        l[1],
-        l[2]
+        i[0],
+        i[1],
+        i[2]
       ).divideScalar(1e3),
       rotation: new x.Euler(o[0], o[1], o[2], "XYZ"),
-      geometry: Ve(r.shape),
+      geometry: ke(r.shape),
       children: n
     }
   );
 }
-function ke({
+function Ve({
   name: e,
   colliders: r,
   meshChildrenProvider: n,
-  ...l
+  ...i
 }) {
-  return /* @__PURE__ */ t.jsx("group", { name: e, ...l, children: Object.entries(r).map(([o, u]) => /* @__PURE__ */ t.jsx(
-    Ge,
+  return /* @__PURE__ */ t.jsx("group", { name: e, ...i, children: Object.entries(r).map(([o, u]) => /* @__PURE__ */ t.jsx(
+    Le,
     {
       name: o,
       collider: u,
@@ -85,13 +85,13 @@ function ke({
     o
   )) });
 }
-function nt({
+function rt({
   scene: e,
   meshChildrenProvider: r
 }) {
   const n = e.colliders;
   return /* @__PURE__ */ t.jsx("group", { children: n && /* @__PURE__ */ t.jsx(
-    ke,
+    Ve,
     {
       meshChildrenProvider: r,
       colliders: n
@@ -99,12 +99,12 @@ function nt({
   ) });
 }
 function Q() {
-  return /* @__PURE__ */ t.jsx(we, { children: /* @__PURE__ */ t.jsx(Fe, {}) });
+  return /* @__PURE__ */ t.jsx(ve, { children: /* @__PURE__ */ t.jsx(Pe, {}) });
 }
-function Fe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
+function Pe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
   return /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
     /* @__PURE__ */ t.jsx(
-      V,
+      G,
       {
         intensity: 5,
         "rotation-x": Math.PI / 2,
@@ -113,7 +113,7 @@ function Fe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ t.jsx("group", { children: e.map((r, n) => /* @__PURE__ */ t.jsx(
-      V,
+      G,
       {
         form: "circle",
         intensity: 5,
@@ -124,7 +124,7 @@ function Fe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       n
     )) }) }),
     /* @__PURE__ */ t.jsx(
-      V,
+      G,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -133,7 +133,7 @@ function Fe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      V,
+      G,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -142,7 +142,7 @@ function Fe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      V,
+      G,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -151,7 +151,7 @@ function Fe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      V,
+      G,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -160,7 +160,7 @@ function Fe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      V,
+      G,
       {
         form: "ring",
         color: "white",
@@ -172,42 +172,42 @@ function Fe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
     )
   ] });
 }
-function Ae(e) {
+function Ie(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();
+  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), i = new x.Vector3(e[2].x, e[2].y, e[2].z), o = new x.Vector3().subVectors(n, r), u = new x.Vector3().subVectors(i, 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)
+    const l = new x.Vector3(e[f].x, e[f].y, e[f].z), d = new x.Vector3().subVectors(l, r), m = a.dot(d);
+    if (Math.abs(m) > 1e-6)
       return console.log("Vertices are not on the same plane"), { isCoplanar: !1 };
   }
   return { isCoplanar: !0, normal: a };
 }
-function rt({
+function ot({
   safetyZones: e,
   ...r
 }) {
-  return /* @__PURE__ */ t.jsx("group", { ...r, children: e.map((n, l) => {
+  return /* @__PURE__ */ t.jsx("group", { ...r, children: e.map((n, i) => {
     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) {
+        (m) => new x.Vector3(m.x / 1e3, m.y / 1e3, m.z / 1e3)
+      ), l = Ie(f);
+      if (l.isCoplanar && l.normal) {
         const s = new x.Vector3().addVectors(
           f[0],
-          c.normal.multiplyScalar(1e-4)
+          l.normal.multiplyScalar(1e-4)
         );
         f.push(s);
       }
-      let m;
+      let d;
       try {
-        m = new te(f);
-      } catch (d) {
-        return console.log("Error creating ConvexGeometry:", d), null;
+        d = new te(f);
+      } catch (m) {
+        return console.log("Error creating ConvexGeometry:", m), null;
       }
-      return /* @__PURE__ */ t.jsx("mesh", { geometry: m, children: /* @__PURE__ */ t.jsx(
+      return /* @__PURE__ */ t.jsx("mesh", { geometry: d, children: /* @__PURE__ */ t.jsx(
         "meshStandardMaterial",
         {
           attach: "material",
@@ -219,17 +219,17 @@ function rt({
           polygonOffset: !0,
           polygonOffsetFactor: -a
         },
-        l
-      ) }, `${l}-${a}`);
+        i
+      ) }, `${i}-${a}`);
     });
   }) });
 }
-function ot({
+function st({
   trajectory: e,
   ...r
 }) {
-  var l;
-  const n = ((l = e.trajectory) == null ? void 0 : l.map((o) => o.tcp_pose ? new x.Vector3(
+  var i;
+  const n = ((i = e.trajectory) == null ? void 0 : i.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
@@ -245,89 +245,89 @@ function ot({
     }
   ) });
 }
-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;
+const C = /* @__PURE__ */ new Map();
+async function U(e, r) {
+  if (C.has(e))
+    return C.get(e);
+  const n = (async () => {
+    var a;
+    const i = r || "", o = new se({ instanceUrl: i }), u = o.api.motionGroupModels;
+    (a = u.axios) != null && a.interceptors && u.axios.interceptors.request.use((f) => {
+      var l;
+      return (l = f.url) != null && l.includes("/glb") && (f.responseType = "blob"), f;
     });
     try {
-      const a = await l.api.motionGroupModels.getMotionGroupGlbModel(e);
-      return URL.createObjectURL(a);
-    } catch (a) {
-      throw console.error("Failed to fetch model:", a), a;
+      const f = await o.api.motionGroupModels.getMotionGroupGlbModel(e);
+      return URL.createObjectURL(f);
+    } catch (f) {
+      throw console.error("Failed to fetch model:", f), f;
     }
   })();
-  return D.set(e, r), r;
+  return C.set(e, n), n;
 }
-function le(e) {
+function ce(e) {
   function r(n) {
-    return n.children.length === 0 ? [n] : [n, ...n.children.flatMap((l) => r(l))];
+    return n.children.length === 0 ? [n] : [n, ...n.children.flatMap((i) => r(i))];
   }
-  return r(e).filter((n) => ue(n));
+  return r(e).filter((n) => fe(n));
 }
-function ce(e) {
+function ue(e) {
   return e.name.endsWith("_FLG");
 }
-function ue(e) {
+function fe(e) {
   return /_J[0-9]+$/.test(e.name);
 }
-function Ie(e, r) {
+function Ue(e, r) {
   let n;
-  function l(o) {
-    if (ce(o)) {
+  function i(o) {
+    if (ue(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);
+    fe(o), o.children.map(i);
   }
-  if (l(e.scene), !n)
+  if (i(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({
+function de({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   onRotationChanged: n,
-  children: l
+  children: i
 }) {
   const o = R([]), u = R([]), a = R(null), { invalidate: f } = ne();
-  L(() => {
+  _(() => {
     const s = e.joint_position.filter(
-      (i) => i !== void 0
+      (c) => c !== void 0
     );
-    return a.current = new se(s, {
+    return a.current = new ie(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();
+      var c;
+      (c = a.current) == null || c.destroy();
     };
-  }, []), re((s, i) => {
+  }, []), re((s, c) => {
     if (a.current) {
-      const h = a.current.update(i);
-      m(), h || f();
+      const h = a.current.update(c);
+      d(), h || f();
     }
   });
-  function c(s) {
-    s && (u.current = le(s), m(), f());
+  function l(s) {
+    s && (u.current = ce(s), d(), f());
   }
-  function m() {
-    var i;
-    const s = ((i = a.current) == null ? void 0 : i.getCurrentValues()) || [];
+  function d() {
+    var c;
+    const s = ((c = a.current) == null ? void 0 : c.getCurrentValues()) || [];
     if (n)
       n(u.current, s);
     else
@@ -336,80 +336,80 @@ function fe({
         g.rotation.y = y * (s[h] || 0) + j;
       }
   }
-  const d = _(() => {
+  const m = M(() => {
     const s = e.joint_position.filter(
-      (i) => i !== void 0
+      (c) => c !== void 0
     );
     requestAnimationFrame(() => {
-      var i;
-      o.current = s, (i = a.current) == null || i.setTarget(s);
+      var c;
+      o.current = s, (c = a.current) == null || c.setTarget(s);
     });
   }, [e]);
-  return L(() => {
-    d();
-  }, [e, d]), ie(() => {
-    d();
-  }), /* @__PURE__ */ t.jsx("group", { ref: c, children: l });
+  return _(() => {
+    m();
+  }, [e, m]), ae(() => {
+    m();
+  }), /* @__PURE__ */ t.jsx("group", { ref: l, children: i });
 }
-const Pe = "line", Se = "mesh";
-function Ce({
+const De = "line", Ce = "mesh";
+function ze({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   ...n
 }) {
-  const l = new w(), o = R([]), u = R([]);
-  _e.useEffect(() => {
+  const i = new w(), o = R([]), u = R([]);
+  Fe.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);
+  function a(d, m) {
+    const s = new F(), c = new z(), h = new F();
+    i.decompose(s, c, 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 };
+      d.theta + m * (d.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new w().makeTranslation(0, d.d / 1e3, 0)).multiply(new w().makeTranslation(d.a / 1e3, 0, 0)).multiply(new w().makeRotationX(d.alpha));
+    return i.multiply(p), i.decompose(s, c, h), { a: g, b: s };
   }
-  function f(m, d, s, i) {
+  function f(d, m, s, c) {
     if (!r)
       return;
-    const h = r[m];
+    const h = r[d];
     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);
+    const { a: g, b: p } = a(h, c);
+    m.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]);
+  function l(d, m) {
+    i.identity();
+    for (let s = 0; s < Math.min(d.length, m.length); s++) {
+      const c = o.current[s], h = u.current[s];
+      c && h && f(s, c, h, m[s]);
     }
   }
   return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
-    fe,
+    de,
     {
       rapidlyChangingMotionState: e,
       dhParameters: r,
-      onRotationChanged: c,
+      onRotationChanged: l,
       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}`;
+        r.map((d, m) => {
+          const { a: s, b: c } = a(
+            d,
+            e.joint_position[m] ?? 0
+          ), h = `dhrobot_J0${m}`;
           return /* @__PURE__ */ t.jsxs("group", { name: h, children: [
             /* @__PURE__ */ t.jsx(
               O,
               {
                 ref: (g) => {
-                  o.current[d] = g;
+                  o.current[m] = g;
                 },
-                name: Pe,
-                points: [s, i],
+                name: De,
+                points: [s, c],
                 color: "white",
                 lineWidth: 5
               }
@@ -418,16 +418,16 @@ function Ce({
               "mesh",
               {
                 ref: (g) => {
-                  u.current[d] = g;
+                  u.current[m] = g;
                 },
-                name: Se,
-                position: i,
+                name: Ce,
+                position: c,
                 children: [
                   /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
                   /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
                 ]
               },
-              "mesh_" + d
+              "mesh_" + m
             )
           ] }, h);
         })
@@ -435,73 +435,73 @@ function Ce({
     }
   ) });
 }
-const De = console.warn;
-function de() {
-  return L(() => {
+const Oe = console.warn;
+function me() {
+  return _(() => {
     console.warn = (e) => {
-      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && De(e);
+      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Oe(e);
     };
   }, []), /* @__PURE__ */ t.jsx(t.Fragment, {});
 }
-function Ue(e) {
+function Ee(e) {
   return e.type === "Mesh";
 }
-function ze({
+function Be({
   url: e,
   flangeRef: r,
   postModelRender: n,
-  ...l
+  ...i
 }) {
-  const o = be(e);
+  const o = Me(e);
   let u;
   try {
-    u = Ie(o, "robot.glb").gltf;
-  } catch (c) {
-    throw c;
+    u = Ue(o, "robot.glb").gltf;
+  } catch (l) {
+    throw l;
   }
-  const a = _(
-    (c) => {
-      c && n && n();
+  const a = M(
+    (l) => {
+      l && n && n();
     },
     [n]
   );
-  function f(c) {
+  function f(l) {
     try {
-      return Ue(c) ? c.geometry ? /* @__PURE__ */ t.jsx(
+      return Ee(l) ? l.geometry ? /* @__PURE__ */ t.jsx(
         "mesh",
         {
-          name: c.name,
-          geometry: c.geometry,
-          material: c.material,
-          position: c.position,
-          rotation: c.rotation
+          name: l.name,
+          geometry: l.geometry,
+          material: l.material,
+          position: l.position,
+          rotation: l.rotation
         },
-        c.uuid
-      ) : /* @__PURE__ */ t.jsx("group", { name: c.name, position: c.position, rotation: c.rotation }, c.uuid) : /* @__PURE__ */ t.jsx(
+        l.uuid
+      ) : /* @__PURE__ */ t.jsx("group", { name: l.name, position: l.position, rotation: l.rotation }, l.uuid) : /* @__PURE__ */ t.jsx(
         "group",
         {
-          name: c.name,
-          position: c.position,
-          rotation: c.rotation,
-          ref: ce(c) ? r : void 0,
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-    L(() => {
-      c && (a ? he(c, a) : pe(c));
-    }, [c, a]);
-    const s = /* @__PURE__ */ t.jsx(
-      ge,
+    _(() => {
+      d && (a ? pe(d, a) : xe(d));
+    }, [d, a]);
+    const c = /* @__PURE__ */ t.jsx(
+      je,
       {
         rapidlyChangingMotionState: e,
         dhParameters: n,
-        ...f
+        ...l
       }
     );
     return /* @__PURE__ */ t.jsxs(
-      ae,
+      le,
       {
-        fallback: s,
-        onError: (i) => {
-          console.warn(i);
+        fallback: c,
+        onError: (h) => {
+          console.warn(h);
         },
         children: [
-          /* @__PURE__ */ t.jsx(oe, { fallback: s, children: /* @__PURE__ */ t.jsx("group", { ref: d, children: /* @__PURE__ */ t.jsx(
-            xe,
+          /* @__PURE__ */ t.jsx(oe, { fallback: c, children: /* @__PURE__ */ t.jsx("group", { ref: s, children: /* @__PURE__ */ t.jsx(
+            ye,
             {
               rapidlyChangingMotionState: e,
               dhParameters: n,
               children: /* @__PURE__ */ t.jsx(
-                me,
+                he,
                 {
                   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));
+                    const h = i(r, f);
+                    if (!h) {
+                      const g = new Blob([], { type: "model/gltf-binary" }), p = new File([g], `${r}.glb`, { type: "model/gltf-binary" });
+                      return Promise.resolve(URL.createObjectURL(p));
                     }
-                    return i;
+                    return h;
                   })(),
                   postModelRender: u,
                   flangeRef: o,
-                  ...f
+                  ...l
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ t.jsx(de, {})
+          /* @__PURE__ */ t.jsx(me, {})
         ]
       }
     );
   }
 );
-function at({
+function lt({
   connectedMotionGroup: e,
-  getModel: r = S,
+  getModel: r = U,
   flangeRef: n,
-  transparentColor: l,
+  transparentColor: i,
   postModelRender: o,
   ...u
 }) {
@@ -1179,19 +1181,19 @@ function at({
     return null;
   const a = e.modelFromController || "";
   return a && r(a) ? /* @__PURE__ */ t.jsx(
-    Be,
+    we,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       modelFromController: a,
       dhParameters: e.dhParameters,
       getModel: r,
       flangeRef: n,
-      transparentColor: l,
+      transparentColor: i,
       postModelRender: o,
       ...u
     }
   ) : /* @__PURE__ */ t.jsx(
-    ge,
+    je,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       dhParameters: e.dhParameters,
@@ -1222,7 +1224,7 @@ const ee = {
     0
   ]
 };
-function We(e) {
+function Ke(e) {
   const [r] = e.split("_");
   switch (r) {
     case "ABB":
@@ -1239,24 +1241,74 @@ function We(e) {
       return null;
   }
 }
-function lt(e, r) {
-  const n = We(e);
+function ct(e, r) {
+  const n = Ke(e);
   return n && n in ee ? ee[n] : r || null;
 }
+const ut = I((e) => {
+  const {
+    instanceUrl: r,
+    inverseSolver: n,
+    modelFromController: i,
+    ...o
+  } = e, [u, a] = T(
+    n
+  ), [, f] = T(!1), l = M(async () => {
+    const m = new se({ instanceUrl: r });
+    try {
+      const s = await m.api.motionGroupModels.getMotionGroupKinematicModel(
+        i
+      );
+      a(s.inverse_solver);
+    } catch {
+      console.warn(
+        `Failed to fetch kinematic model from API for ${i}, falling back to local config`
+      );
+    } finally {
+      setTimeout(() => f(!0), 0);
+    }
+  }, [i, r]);
+  _(() => {
+    n === void 0 && !!i && !!r && l();
+  }, [n, i, l, r]);
+  const d = Ge(() => [
+    "KUKA_DKP250",
+    "KUKA_DKP500_2",
+    "YASKAWA_TURN1",
+    "YASKAWA_TURN2",
+    "YASKAWA_TURN3"
+  ].includes(i), [i]);
+  return u || d ? /* @__PURE__ */ t.jsx(
+    ge,
+    {
+      instanceUrl: r,
+      modelFromController: i,
+      ...o
+    }
+  ) : u === null ? /* @__PURE__ */ t.jsx(
+    we,
+    {
+      instanceUrl: r,
+      modelFromController: i,
+      ...o
+    }
+  ) : null;
+});
 export {
-  nt as C,
-  at as L,
+  rt as C,
+  lt 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
+  We as R,
+  ot as S,
+  st as T,
+  ut as a,
+  it as b,
+  we as c,
+  ge as d,
+  at as e,
+  U as f,
+  Ke as g,
+  ct as h
 };
-//# sourceMappingURL=manufacturerHomePositions-DAaWLJKB.js.map
+//# sourceMappingURL=MotionGroupVisualizer-CrLamHYm.js.map