@wandelbots/wandelbots-js-react-components 4.2.0 → 4.3.0-pr.feat-RB-3171-dynamic-motion-visualization.517.0fc2fb2

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "4.2.0",
+  "version": "4.3.0-pr.feat-RB-3171-dynamic-motion-visualization.517.0fc2fb2",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -93,7 +93,7 @@
     "@types/react": "^19.1.8",
     "@types/three": "^0.182.0",
     "@vitejs/plugin-react": "^4.3.4",
-    "@wandelbots/nova-js": "^3.5.2",
+    "@wandelbots/nova-js": "3.5.3-pr.feat-RB-3171-dymamic-rendering.230.d40ec9a",
     "add": "^2.0.6",
     "eslint-plugin-storybook": "^10.1.10",
     "glob": "^13.0.0",

package/src/components/jogging/JoggingJointTab.tsx

@@ -1,10 +1,9 @@
 import { Divider, Stack, Typography, useTheme } from "@mui/material"
-import { radiansToDegrees } from "@wandelbots/nova-js"
 import { observer } from "mobx-react-lite"
 import type { ReactNode } from "react"
 import { JoggingJointLimitDetector } from "./JoggingJointLimitDetector"
-import { JoggingJointRotationControl } from "./JoggingJointRotationControl"
-import type { JoggingStore } from "./JoggingStore"
+import { JoggingJointValueControl } from "./JoggingJointValueControl"
+import { type JoggingStore, JointCategory } from "./JoggingStore"
 import { JoggingVelocitySlider } from "./JoggingVelocitySlider"
 
 export const JoggingJointTab = observer(
@@ -12,14 +11,22 @@ export const JoggingJointTab = observer(
     const theme = useTheme()
     async function startJointJogging(opts: {
       joint: number
-      direction: "-" | "+"
+      direction: "-" | "+",
     }) {
       await store.activate()
 
       await store.jogger.rotateJoints({
         joint: opts.joint,
         direction: opts.direction,
-        velocityRadsPerSec: store.rotationVelocityRadsPerSec,
+        velocityUnit:
+          store.jointCategory === JointCategory.PRISMATIC
+            ? "mm/s"
+            : "rad/s",
+        velocityValue:
+          store.jointCategory === JointCategory.PRISMATIC
+            ? store.translationVelocityMmPerSec
+            : store.rotationVelocityRadsPerSec,
+
       })
     }
 
@@ -43,14 +50,6 @@ export const JoggingJointTab = observer(
               const jointLimits =
                 store.motionGroupDescription.operation_limits.auto_limits
                   ?.joints?.[joint.index]?.position
-              const lowerLimitDegs =
-                jointLimits?.lower_limit !== undefined
-                  ? radiansToDegrees(jointLimits.lower_limit)
-                  : undefined
-              const upperLimitDegs =
-                jointLimits?.upper_limit !== undefined
-                  ? radiansToDegrees(jointLimits.upper_limit)
-                  : undefined
 
               return (
                 <Stack
@@ -73,16 +72,17 @@ export const JoggingJointTab = observer(
                     </Typography>
                   )}
 
-                  <JoggingJointRotationControl
+                  <JoggingJointValueControl
                     disabled={store.isLocked}
-                    lowerLimitDegs={lowerLimitDegs}
-                    upperLimitDegs={upperLimitDegs}
-                    getValueDegs={() => {
+                    lowerLimit={jointLimits?.lower_limit}
+                    upperLimit={jointLimits?.upper_limit}
+                    useDegree={store.currentMotionType === "rotate"}
+                    getValue={() => {
                       const value =
                         store.jogger.motionStream.rapidlyChangingMotionState
                           .joint_position[joint.index]
                       return value !== undefined
-                        ? radiansToDegrees(value)
+                        ? value
                         : undefined
                     }}
                     startJogging={(direction: "-" | "+") =>

package/src/components/jogging/{JoggingJointRotationControl.tsx → JoggingJointValueControl.tsx}

@@ -1,5 +1,6 @@
 import ChevronLeft from "@mui/icons-material/ChevronLeft"
 import ChevronRight from "@mui/icons-material/ChevronRight"
+import { radiansToDegrees } from "@wandelbots/nova-js"
 import { IconButton, Slider, Typography, useTheme } from "@mui/material"
 import Stack from "@mui/material/Stack"
 import throttle from "lodash-es/throttle"
@@ -9,28 +10,29 @@ import { useTranslation } from "react-i18next"
 import { externalizeComponent } from "../../externalizeComponent"
 import { useAnimationFrame } from "../utils/hooks"
 
-type JoggingJointRotationControlProps = {
+type JoggingJointValueControlProps = {
   startJogging: (direction: "-" | "+") => void
   stopJogging: () => void
-  lowerLimitDegs?: number
-  upperLimitDegs?: number
-  getValueDegs: () => number | undefined
-
+  lowerLimit?: number
+  upperLimit?: number
+  useDegree: boolean
+  getValue: () => number | undefined
   disabled?: boolean
 } & React.ComponentProps<typeof Stack>
 
 /** A input widget to control an individual joint */
-export const JoggingJointRotationControl = externalizeComponent(
+export const JoggingJointValueControl = externalizeComponent(
   observer(
     ({
-      startJogging,
-      stopJogging,
-      lowerLimitDegs,
-      upperLimitDegs,
-      getValueDegs,
-      disabled,
-      ...rest
-    }: JoggingJointRotationControlProps) => {
+       startJogging,
+       stopJogging,
+       lowerLimit,
+       upperLimit,
+       useDegree,
+       getValue,
+       disabled,
+       ...rest
+     }: JoggingJointValueControlProps) => {
       const { t } = useTranslation()
       const [currentValue, setCurrentValue] = useState<number | undefined>()
       const theme = useTheme()
@@ -55,11 +57,18 @@ export const JoggingJointRotationControl = externalizeComponent(
       }))
 
       const updateValue = throttle(() => {
-        setCurrentValue(getValueDegs())
+        setCurrentValue(useDegree ? convertToDegree(getValue()) : getValue())
       }, 50)
 
       useAnimationFrame(updateValue)
 
+      function convertToDegree(value: number| undefined){
+        if (value == undefined){
+          return undefined;
+        }
+        return radiansToDegrees(value);
+      }
+
       function onPointerDownMinus(ev: React.PointerEvent) {
         // Stop right click from triggering jog
         if (ev.button === 0) state.startJogging("-")
@@ -90,6 +99,20 @@ export const JoggingJointRotationControl = externalizeComponent(
           return output
         }
       }
+      function formatMm(value: number | undefined, precision = 1) {
+        if (value === undefined || isNaN(value)) return ""
+
+        const output = t("General.mm.variable", {
+          amount: value.toFixed(precision),
+        })
+
+        if (value > 0 && precision === 0) {
+          return `+${output}`
+        } else {
+          return output
+        }
+      }
+
 
       return (
         <Stack
@@ -138,8 +161,8 @@ export const JoggingJointRotationControl = externalizeComponent(
               sx={{
                 pointerEvents: "none",
                 color:
-                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint
-                    ?.arrowColor,
+                theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint
+                  ?.arrowColor,
               }}
             />
           </IconButton>
@@ -171,14 +194,14 @@ export const JoggingJointRotationControl = externalizeComponent(
                   : theme.palette.text.primary,
               }}
             >
-              {formatDegrees(currentValue)}
+              {useDegree ? formatDegrees(currentValue) : formatMm(currentValue)}
             </Typography>
 
             <Slider
               disabled
               aria-label="Joint position"
-              min={lowerLimitDegs}
-              max={upperLimitDegs}
+              min={ useDegree ? convertToDegree(lowerLimit) : lowerLimit}
+              max={ useDegree ? convertToDegree(upperLimit) : upperLimit}
               value={currentValue || 0}
               track={false}
               sx={{
@@ -206,15 +229,15 @@ export const JoggingJointRotationControl = externalizeComponent(
                 },
               }}
               marks={
-                lowerLimitDegs !== undefined &&
-                upperLimitDegs !== undefined && [
+                lowerLimit !== undefined &&
+                upperLimit !== undefined && [
                   {
-                    value: lowerLimitDegs,
-                    label: formatDegrees(lowerLimitDegs, 0),
+                    value: (useDegree ? convertToDegree(lowerLimit) : lowerLimit) as number,
+                    label: useDegree ? formatDegrees(convertToDegree(lowerLimit),0) : formatMm(lowerLimit),
                   },
                   {
-                    value: upperLimitDegs,
-                    label: formatDegrees(upperLimitDegs, 0),
+                    value: (useDegree ? convertToDegree(upperLimit) : upperLimit) as number,
+                    label: useDegree ?  formatDegrees(convertToDegree(upperLimit),0) : formatMm(upperLimit),
                   },
                 ]
               }
@@ -236,8 +259,8 @@ export const JoggingJointRotationControl = externalizeComponent(
               sx={{
                 pointerEvents: "none",
                 color:
-                  theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint
-                    ?.arrowColor,
+                theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint
+                  ?.arrowColor,
               }}
             />
           </IconButton>

package/src/components/jogging/JoggingPanel.tsx

@@ -153,7 +153,7 @@ const JoggingPanelInner = observer(
         >
           {store.tabs.map((tab) => {
             const label =
-              tab.label === "cartesian"
+              tab.label === "Cartesian"
                 ? t("Jogging.Cartesian.bt")
                 : t("Jogging.Joints.bt")
 

package/src/components/jogging/JoggingStore.ts

@@ -40,8 +40,16 @@ export type IncrementJogInProgress = {
   axis: JoggingAxis
 }
 
+export enum JointCategory {
+  REVOLUTE = "REVOLUTE",
+  PRISMATIC = "PRISMATIC",
+}
+
+type TabType = "cartesian" | "joint" | "debug";
+
+
 export class JoggingStore {
-  selectedTabId: "cartesian" | "joint" | "debug" = "cartesian"
+  selectedTabId: TabType = "cartesian";
 
   /**
    * State of the jogging panel. Starts as "inactive"
@@ -298,18 +306,20 @@ export class JoggingStore {
   }
 
   get tabs() {
-    return [
-      {
+    const tempTabs : {id: TabType, label: string}[] = [{
+      id: "joint",
+      label: "Joints",
+    }] ;
+    if(this.isTcpCartesianMoveable){
+      tempTabs.unshift({
         id: "cartesian",
-        label: "cartesian",
-      },
-      {
-        id: "joint",
-        label: "joint",
-      },
-    ] as const
+        label: "Cartesian",
+      })}
+
+    return tempTabs;
   }
 
+
   get incrementOptions() {
     return incrementOptions
   }
@@ -395,8 +405,10 @@ export class JoggingStore {
    */
   get currentMotionType() {
     if (
-      this.selectedTabId === "cartesian" &&
-      this.selectedCartesianMotionType === "translate"
+      (
+        this.selectedTabId === "cartesian" &&
+        this.selectedCartesianMotionType === "translate"
+      ) || this.jointCategory === JointCategory.PRISMATIC
     ) {
       return "translate"
     } else {
@@ -404,6 +416,24 @@ export class JoggingStore {
     }
   }
 
+
+  /*
+  * ToDo replace Hardcoded Models with an api request that delivers the type (will become part of DH-Parameters)
+  *  Ticket already created
+  * */
+  get jointCategory(): JointCategory {
+    return this.motionGroupDescription.motion_group_model === "ABB_IRT710"
+      ? JointCategory.PRISMATIC
+      : JointCategory.REVOLUTE
+  }
+
+  get isTcpCartesianMoveable(): boolean{
+    if(this.motionGroupDescription.motion_group_model === "ABB_IRT710"){
+      return false;
+    }
+    return true;
+  }
+
   onTabChange(_event: React.SyntheticEvent, newValue: number) {
     const tab = this.tabs[newValue] || this.tabs[0]!
     this.selectedTabId = tab.id

package/src/components/robots/MotionGroupVisualizer.tsx

@@ -1,6 +1,5 @@
-import React, { useCallback, useEffect, useMemo, useState } from "react"
-import { NovaClient } from "@wandelbots/nova-js/v2"
-import type { KinematicModel } from "@wandelbots/nova-api/v2"
+import React, { useEffect, useMemo, useState } from "react"
+import { JointTypeEnum } from "@wandelbots/nova-js/v2"
 
 import { externalizeComponent } from "../../externalizeComponent"
 import { SupportedRobot, type SupportedRobotProps } from "./SupportedRobot"
@@ -8,106 +7,46 @@ import { SupportedLinearAxis, type SupportedLinearAxisProps } from "./SupportedL
 
 export type MotionGroupVisualizerProps = {
   instanceUrl: string
-  inverseSolver?: string | null
+  inverseSolver: string | null
 } & (SupportedRobotProps | SupportedLinearAxisProps)
 
 export const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps> = externalizeComponent((props: MotionGroupVisualizerProps) => {
   const {
-    instanceUrl,
-    inverseSolver: inverseSolverProp,
-    modelFromController,
+    inverseSolver,
+    dhParameters,
     ...rest
   } = props
 
-  const [inverseSolver, setInverseSolver] = useState<string | null | undefined>(
-    inverseSolverProp,
-  )
-  const [, forceThreeRerender] = useState<boolean>(false)
-
   /**
-   * Fetches the kinematic model from the API and saved the inverse_solver property, which defined
-   * whether the motion group should be displayed as a robot or linear axis
+   * Joint type to find out - in combination with inverseSolver - whether the
+   * active robot is a turn table
    */
-  const fetchKinematicModel = useCallback(async () => {
-    const nova = new NovaClient({ instanceUrl })
-
-    try {
-      const kinematicModel: KinematicModel =
-        await nova.api.motionGroupModels.getMotionGroupKinematicModel(
-          modelFromController,
-        )
-
-      setInverseSolver(kinematicModel.inverse_solver)
-    } catch (err) {
-      console.warn(
-        `Failed to fetch kinematic model from API for ${modelFromController}, falling back to local config`,
-      )
-    } finally {
-      /**
-       * The following is a workaround to force a rerender of the Three.js scene, due
-       * to a race condition (if the component gets re-initialized, the robot
-       * is rendered with the initial joint position). The forceThreeRerender tells
-       * the Three.JS to re-render with the right joint position
-       *
-       * TODO remove the three rerender function and get rid of the
-       *  stale state condition
-       *  https://wandelbots.atlassian.net/browse/RB-3134
-       */
-      setTimeout(() => forceThreeRerender(true), 0)
-    }
-  }, [modelFromController, instanceUrl])
+  const [jointType, setJointType] = useState<JointTypeEnum>(JointTypeEnum.RevoluteJoint)
 
   /**
-   * Checks the delivered inverseSolver property from the consumer
-   * Defined, Null - carry on with the delivered value - the inverseSolver was fetched via consumer app
-   * Undefined - carry out a request to fetch the inverseSolver value
+   * Sets the joint type according to delivered dh parameter type
    */
   useEffect(() => {
-    const shouldKinematicBeFetched =
-      inverseSolverProp === undefined && !!modelFromController && !!instanceUrl
-
-    if (shouldKinematicBeFetched) {
-      fetchKinematicModel()
+    if (dhParameters?.length) {
+      setJointType(dhParameters[0]?.type ?? JointTypeEnum.RevoluteJoint)
     }
-  }, [inverseSolverProp, modelFromController, fetchKinematicModel, instanceUrl])
+  }, [dhParameters])
 
   /**
    * The turntable models return inverseSolver = null - however these models
    * should be rendered with SupportedRobot instead of SupportedLinearAxis
-   *
-   * TODO
-   * In the future - this hard coded check would be replaced with a new "type" property
-   * from dh parameters
    */
   const isTurnTable = useMemo(() => {
-    return [
-      "KUKA_DKP250",
-      "KUKA_DKP500_2",
-      "YASKAWA_TURN1",
-      "YASKAWA_TURN2",
-      "YASKAWA_TURN3",
-    ].includes(modelFromController)
-  }, [modelFromController])
+    return !inverseSolver && jointType === "REVOLUTE_JOINT"
+  }, [inverseSolver, jointType])
 
   if (inverseSolver || isTurnTable) {
     return (
-      <SupportedRobot
-        instanceUrl={instanceUrl}
-        modelFromController={modelFromController}
-        {...rest}
-      />
+      <SupportedRobot dhParameters={dhParameters} {...rest} />
     )
   }
 
-  if (inverseSolver === null) {
-    return (
-      <SupportedLinearAxis
-        instanceUrl={instanceUrl}
-        modelFromController={modelFromController}
-        {...rest}
-      />
-    )
-  }
-
-  return null
+  return (
+    <SupportedLinearAxis dhParameters={dhParameters} {...rest} />
+  )
 })

package/src/core.ts

@@ -3,7 +3,7 @@ export * from "./components/AppHeader"
 export * from "./components/CycleTimer"
 export * from "./components/DataGrid"
 export * from "./components/jogging/JoggingCartesianAxisControl"
-export * from "./components/jogging/JoggingJointRotationControl"
+export * from "./components/jogging/JoggingJointValueControl"
 export * from "./components/jogging/JoggingPanel"
 export { JoggingStore } from "./components/jogging/JoggingStore"
 export * from "./components/jogging/PoseCartesianValues"
@@ -31,3 +31,4 @@ export * from "./lib/motionStateUpdate"
 export * from "./lib/MotionStreamConnection"
 export * from "./themes/themeTypes"
 export { createNovaMuiTheme } from "./themes/theming"
+

package/src/lib/JoggerConnection.test.ts

@@ -77,7 +77,8 @@ test("jog a robot somewhat", async () => {
   await jogger.rotateJoints({
     joint: 0,
     direction: "+",
-    velocityRadsPerSec: 0.1,
+    velocityValue: 0.1,
+    velocityUnit: "rad/s",
   })
 
   await delay(500)
@@ -94,7 +95,8 @@ test("jog a robot somewhat", async () => {
   await jogger.rotateJoints({
     joint: 0,
     direction: "-",
-    velocityRadsPerSec: 0.1,
+    velocityValue: 0.1,
+    velocityUnit: "rad/s",
   })
   await delay(500)
   await jogger.stop()

package/src/lib/JoggerConnection.ts

@@ -282,14 +282,18 @@ export class JoggerConnection {
   async rotateJoints({
     joint,
     direction,
-    velocityRadsPerSec,
+    velocityValue,
+    velocityUnit
+
   }: {
     /** Index of the joint to rotate */
     joint: number
     /** Direction of rotation ("+" or "-") */
     direction: "+" | "-"
-    /** Speed of the rotation in radians per second */
-    velocityRadsPerSec: number
+    /** Speed of the rotation, unit is currently unused, but i wanted it there to raise awareness that not everything here is rad/s*/
+    velocityValue: number
+    velocityUnit: "mm/s" | "rad/s"
+
   }) {
     if (!this.joggingSocket || this.mode !== "jogging") {
       throw new Error(
@@ -300,7 +304,7 @@ export class JoggerConnection {
     const velocity = new Array(this.numJoints).fill(0)
 
     velocity[joint] =
-      direction === "-" ? -velocityRadsPerSec : velocityRadsPerSec
+      direction === "-" ? - velocityValue : velocityValue
 
     this.joggingSocket.sendJson({
       message_type: "JointVelocityRequest",

package/dist/MotionGroupVisualizer-C3CB-L2z.cjs

@@ -1,2 +0,0 @@
-"use strict";const t=require("./externalizeComponent-CkVWk2F_.cjs"),g=require("three"),K=require("three-stdlib"),_=require("@react-three/fiber"),M=require("@react-three/drei"),y=require("@mui/material"),ae=require("mobx-react-lite"),p=require("react"),ue=require("react-i18next"),E=require("./interpolation-C5OTEwAm.cjs"),N=require("react-error-boundary");function ce(e){const n=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const s=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(n,r,s.get?s:{enumerable:!0,get:()=>e[r]})}}return n.default=e,Object.freeze(n)}const j=ce(g);function le(e){switch(e.shape_type){case"convex_hull":return new K.ConvexGeometry(e.vertices.map(r=>new j.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,e.size_z/1e3);case"sphere":return new j.SphereGeometry(e.radius/1e3);case"capsule":return new j.CapsuleGeometry(e.radius/1e3,e.cylinder_height/1e3);case"cylinder":return new j.CylinderGeometry(e.radius/1e3,e.radius/1e3,e.height/1e3);case"rectangle":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,0);default:return console.warn(`${e.shape_type} is not supported`),new j.BufferGeometry}}function xe({name:e,collider:n,children:r}){var l,a;const s=((l=n.pose)==null?void 0:l.position)??[0,0,0],o=((a=n.pose)==null?void 0:a.orientation)??[0,0,0];return n.margin&&console.warn(`${e} margin is not supported`),t.jsxRuntimeExports.jsx("mesh",{name:e,position:new j.Vector3(s[0],s[1],s[2]).divideScalar(1e3),rotation:new j.Euler(o[0],o[1],o[2],"XYZ"),geometry:le(n.shape),children:r})}function me({name:e,colliders:n,meshChildrenProvider:r,...s}){return t.jsxRuntimeExports.jsx("group",{name:e,...s,children:Object.entries(n).map(([o,l])=>t.jsxRuntimeExports.jsx(xe,{name:o,collider:l,children:r(o,l)},o))})}function pe({scene:e,meshChildrenProvider:n}){const r=e.colliders;return t.jsxRuntimeExports.jsx("group",{children:r&&t.jsxRuntimeExports.jsx(me,{meshChildrenProvider:n,colliders:r})})}function F(){return t.jsxRuntimeExports.jsx(M.Environment,{children:t.jsxRuntimeExports.jsx(fe,{})})}function fe({positions:e=[2,0,2,0,2,0,2,0]}){return t.jsxRuntimeExports.jsxs(t.jsxRuntimeExports.Fragment,{children:[t.jsxRuntimeExports.jsx(M.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),t.jsxRuntimeExports.jsx("group",{rotation:[0,.5,0],children:t.jsxRuntimeExports.jsx("group",{children:e.map((n,r)=>t.jsxRuntimeExports.jsx(M.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[n,4,r*4],scale:[3,1,1]},r))})}),t.jsxRuntimeExports.jsx(M.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),t.jsxRuntimeExports.jsx(M.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),t.jsxRuntimeExports.jsx(M.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),t.jsxRuntimeExports.jsx(M.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),t.jsxRuntimeExports.jsx(M.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}function 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h=l.current.geometry;h&&h.setPositions&&h.setPositions([0,0,0,i.x,i.y,i.z])}}return t.jsxRuntimeExports.jsx(t.jsxRuntimeExports.Fragment,{children:t.jsxRuntimeExports.jsx(re,{rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:u,children:t.jsxRuntimeExports.jsxs("group",{...r,name:"Scene",children:[t.jsxRuntimeExports.jsxs("mesh",{name:"Base",position:[0,0,0],children:[t.jsxRuntimeExports.jsx("sphereGeometry",{args:[.02,32,32]}),t.jsxRuntimeExports.jsx("meshStandardMaterial",{color:"green",depthTest:!0})]}),t.jsxRuntimeExports.jsx(M.Line,{ref:l,points:[new g.Vector3(0,0,0),x],color:"White",lineWidth:5}),t.jsxRuntimeExports.jsxs("mesh",{ref:o,name:"TCP",position:x,children:[t.jsxRuntimeExports.jsx("sphereGeometry",{args:[.025,32,32]}),t.jsxRuntimeExports.jsx("meshStandardMaterial",{color:"red",depthTest:!0})]})]})})})}const B=t.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:s=S,flangeRef:o,postModelRender:l,transparentColor:a,instanceUrl:x,...u})=>{const[m,f]=p.useState(null),i=p.useCallback(d=>{f(d)},[]);p.useEffect(()=>{m&&(a?Z(m,a):ee(m))},[m,a]);const c=t.jsxRuntimeExports.jsx(ne,{rapidlyChangingMotionState:e,dhParameters:r,...u});return t.jsxRuntimeExports.jsxs(N.ErrorBoundary,{fallback:c,onError:d=>{console.warn(d)},children:[t.jsxRuntimeExports.jsx(p.Suspense,{fallback:c,children:t.jsxRuntimeExports.jsx("group",{ref:i,children:t.jsxRuntimeExports.jsx(re,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsxRuntimeExports.jsx(Q,{modelURL:(()=>{const d=s(n,x);if(!d){const R=new Blob([],{type:"model/gltf-binary"}),h=new File([R],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(h))}return d})(),postModelRender:l,flangeRef:o,...u})})})}),t.jsxRuntimeExports.jsx(X,{})]})});function Se({connectedMotionGroup:e,getModel:n=S,flangeRef:r,transparentColor:s,postModelRender:o,...l}){if(!e.dhParameters)return null;const a=e.modelFromController||"";return a&&n(a)?t.jsxRuntimeExports.jsx(B,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:a,dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:s,postModelRender:o,...l}):t.jsxRuntimeExports.jsx(ne,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,dhParameters:e.dhParameters,...l})}const P={[E.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[E.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[E.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[E.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[E.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0]};function se(e){const[n]=e.split("_");switch(n){case"ABB":return E.Manufacturer.Abb;case"FANUC":return E.Manufacturer.Fanuc;case"YASKAWA":return E.Manufacturer.Yaskawa;case"KUKA":return E.Manufacturer.Kuka;case"UniversalRobots":return E.Manufacturer.Universalrobots;default:return null}}function Ae(e,n){const r=se(e);return r&&r in P?P[r]:n||null}const Ce=t.externalizeComponent(e=>{const{instanceUrl:n,inverseSolver:r,modelFromController:s,...o}=e,[l,a]=p.useState(r),[,x]=p.useState(!1),u=p.useCallback(async()=>{const f=new E.NovaClient({instanceUrl:n});try{const i=await f.api.motionGroupModels.getMotionGroupKinematicModel(s);a(i.inverse_solver)}catch{console.warn(`Failed to fetch kinematic model from API for ${s}, falling back to local config`)}finally{setTimeout(()=>x(!0),0)}},[s,n]);p.useEffect(()=>{r===void 0&&!!s&&!!n&&u()},[r,s,u,n]);const m=p.useMemo(()=>["KUKA_DKP250","KUKA_DKP500_2","YASKAWA_TURN1","YASKAWA_TURN2","YASKAWA_TURN3"].includes(s),[s]);return l||m?t.jsxRuntimeExports.jsx(I,{instanceUrl:n,modelFromController:s,...o}):l===null?t.jsxRuntimeExports.jsx(B,{instanceUrl:n,modelFromController:s,...o}):null});exports.CollisionSceneRenderer=pe;exports.LinearAxis=Se;exports.MANUFACTURER_HOME_CONFIGS=P;exports.MotionGroupVisualizer=Ce;exports.PresetEnvironment=F;exports.Robot=te;exports.RobotCard=ve;exports.SafetyZonesRenderer=he;exports.SupportedLinearAxis=B;exports.SupportedRobot=I;exports.TrajectoryRenderer=je;exports.defaultAxisConfig=_e;exports.defaultGetModel=S;exports.extractManufacturer=se;exports.getDefaultHomeConfig=Ae;
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