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

package/dist/{MotionGroupVisualizer-CrLamHYm.js → MotionGroupVisualizer-HpVtcaDR.js}

@@ -1,19 +1,19 @@
-import { j as t, e as I } from "./externalizeComponent-Dc3fViZA.js";
+import { j as t, e as P } from "./externalizeComponent-Dc3fViZA.js";
 import * as x 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 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 { Matrix4 as w, Vector3 as L, Quaternion as z } from "three";
+import { ConvexGeometry as ne } from "three-stdlib";
+import { useThree as re, useFrame as oe, Canvas as H } from "@react-three/fiber";
+import { Environment as ve, Lightformer as G, Line as U, useGLTF as Me, Bounds as Y } from "@react-three/drei";
+import { useTheme as _e, Card as Te, Box as b, Typography as q, Divider as X, Button as K } from "@mui/material";
+import { observer as Le } from "mobx-react-lite";
+import Ve, { useRef as R, useEffect as M, useCallback as T, useState as V, Suspense as se, useMemo as Ge } from "react";
+import { useTranslation as ke } from "react-i18next";
+import { N as Fe, V as ie, c as ae, b as Z, M as v, J as Q } from "./interpolation-CQDo4nal.js";
 import { ErrorBoundary as le } from "react-error-boundary";
-function ke(e) {
+function Ie(e) {
   switch (e.shape_type) {
     case "convex_hull":
-      return new te(
+      return new ne(
         e.vertices.map(
           (n) => new x.Vector3(
             n[0] / 1e3,
@@ -47,7 +47,7 @@ function ke(e) {
       return console.warn(`${e.shape_type} is not supported`), new x.BufferGeometry();
   }
 }
-function Le({
+function Se({
   name: e,
   collider: r,
   children: n
@@ -64,19 +64,19 @@ function Le({
         i[2]
       ).divideScalar(1e3),
       rotation: new x.Euler(o[0], o[1], o[2], "XYZ"),
-      geometry: ke(r.shape),
+      geometry: Ie(r.shape),
       children: n
     }
   );
 }
-function Ve({
+function Ae({
   name: e,
   colliders: r,
   meshChildrenProvider: n,
   ...i
 }) {
   return /* @__PURE__ */ t.jsx("group", { name: e, ...i, children: Object.entries(r).map(([o, u]) => /* @__PURE__ */ t.jsx(
-    Le,
+    Se,
     {
       name: o,
       collider: u,
@@ -85,20 +85,20 @@ function Ve({
     o
   )) });
 }
-function rt({
+function ot({
   scene: e,
   meshChildrenProvider: r
 }) {
   const n = e.colliders;
   return /* @__PURE__ */ t.jsx("group", { children: n && /* @__PURE__ */ t.jsx(
-    Ve,
+    Ae,
     {
       meshChildrenProvider: r,
       colliders: n
     }
   ) });
 }
-function Q() {
+function ee() {
   return /* @__PURE__ */ t.jsx(ve, { children: /* @__PURE__ */ t.jsx(Pe, {}) });
 }
 function Pe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
@@ -172,18 +172,18 @@ function Pe({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
     )
   ] });
 }
-function Ie(e) {
+function Ce(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), 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 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)
+    const c = new x.Vector3(e[f].x, e[f].y, e[f].z), d = new x.Vector3().subVectors(c, r), h = a.dot(d);
+    if (Math.abs(h) > 1e-6)
       return console.log("Vertices are not on the same plane"), { isCoplanar: !1 };
   }
   return { isCoplanar: !0, normal: a };
 }
-function ot({
+function st({
   safetyZones: e,
   ...r
 }) {
@@ -192,20 +192,20 @@ function ot({
     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(
-        (m) => new x.Vector3(m.x / 1e3, m.y / 1e3, m.z / 1e3)
-      ), l = Ie(f);
-      if (l.isCoplanar && l.normal) {
+        (h) => new x.Vector3(h.x / 1e3, h.y / 1e3, h.z / 1e3)
+      ), c = Ce(f);
+      if (c.isCoplanar && c.normal) {
         const s = new x.Vector3().addVectors(
           f[0],
-          l.normal.multiplyScalar(1e-4)
+          c.normal.multiplyScalar(1e-4)
         );
         f.push(s);
       }
       let d;
       try {
-        d = new te(f);
-      } catch (m) {
-        return console.log("Error creating ConvexGeometry:", m), null;
+        d = new ne(f);
+      } catch (h) {
+        return console.log("Error creating ConvexGeometry:", h), null;
       }
       return /* @__PURE__ */ t.jsx("mesh", { geometry: d, children: /* @__PURE__ */ t.jsx(
         "meshStandardMaterial",
@@ -224,7 +224,7 @@ function ot({
     });
   }) });
 }
-function st({
+function it({
   trajectory: e,
   ...r
 }) {
@@ -235,7 +235,7 @@ function st({
     -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,
+    U,
     {
       points: n,
       lineWidth: 3,
@@ -245,16 +245,16 @@ function st({
     }
   ) });
 }
-const C = /* @__PURE__ */ new Map();
-async function U(e, r) {
-  if (C.has(e))
-    return C.get(e);
+const O = /* @__PURE__ */ new Map();
+async function C(e, r) {
+  if (O.has(e))
+    return O.get(e);
   const n = (async () => {
     var a;
-    const i = r || "", o = new se({ instanceUrl: i }), u = o.api.motionGroupModels;
+    const i = r || "", o = new Fe({ 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;
+      var c;
+      return (c = f.url) != null && c.includes("/glb") && (f.responseType = "blob"), f;
     });
     try {
       const f = await o.api.motionGroupModels.getMotionGroupGlbModel(e);
@@ -263,7 +263,7 @@ async function U(e, r) {
       throw console.error("Failed to fetch model:", f), f;
     }
   })();
-  return C.set(e, n), n;
+  return O.set(e, n), n;
 }
 function ce(e) {
   function r(n) {
@@ -277,7 +277,7 @@ function ue(e) {
 function fe(e) {
   return /_J[0-9]+$/.test(e.name);
 }
-function Ue(e, r) {
+function De(e, r) {
   let n;
   function i(o) {
     if (ue(o)) {
@@ -301,10 +301,10 @@ function de({
   onRotationChanged: n,
   children: i
 }) {
-  const o = R([]), u = R([]), a = R(null), { invalidate: f } = ne();
-  _(() => {
+  const o = R([]), u = R([]), a = R(null), { invalidate: f } = re();
+  M(() => {
     const s = e.joint_position.filter(
-      (c) => c !== void 0
+      (l) => l !== void 0
     );
     return a.current = new ie(s, {
       tension: 120,
@@ -313,76 +313,76 @@ function de({
       // Controls damping - higher values reduce oscillation and create smoother settling
       threshold: 1e-3
     }), () => {
-      var c;
-      (c = a.current) == null || c.destroy();
+      var l;
+      (l = a.current) == null || l.destroy();
     };
-  }, []), re((s, c) => {
+  }, []), oe((s, l) => {
     if (a.current) {
-      const h = a.current.update(c);
-      d(), h || f();
+      const m = a.current.update(l);
+      d(), m || f();
     }
   });
-  function l(s) {
+  function c(s) {
     s && (u.current = ce(s), d(), f());
   }
   function d() {
-    var c;
-    const s = ((c = a.current) == null ? void 0 : c.getCurrentValues()) || [];
+    var l;
+    const s = ((l = a.current) == null ? void 0 : l.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;
+      for (const [m, y] of u.current.entries()) {
+        const p = r[m], j = p.theta || 0, g = p.reverse_rotation_direction ? -1 : 1;
+        y.rotation.y = g * (s[m] || 0) + j;
       }
   }
-  const m = M(() => {
+  const h = T(() => {
     const s = e.joint_position.filter(
-      (c) => c !== void 0
+      (l) => l !== void 0
     );
     requestAnimationFrame(() => {
-      var c;
-      o.current = s, (c = a.current) == null || c.setTarget(s);
+      var l;
+      o.current = s, (l = a.current) == null || l.setTarget(s);
     });
   }, [e]);
-  return _(() => {
-    m();
-  }, [e, m]), ae(() => {
-    m();
-  }), /* @__PURE__ */ t.jsx("group", { ref: l, children: i });
+  return M(() => {
+    h();
+  }, [e, h]), ae(() => {
+    h();
+  }), /* @__PURE__ */ t.jsx("group", { ref: c, children: i });
 }
-const De = "line", Ce = "mesh";
-function ze({
+const Oe = "line", ze = "mesh";
+function Ue({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   ...n
 }) {
   const i = new w(), o = R([]), u = R([]);
-  Fe.useEffect(() => {
+  Ve.useEffect(() => {
     o.current = new Array(r.length).fill(null), u.current = new Array(r.length).fill(null);
   }, [r.length]);
-  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(
-      d.theta + m * (d.reverse_rotation_direction ? -1 : 1)
+  function a(d, h) {
+    const s = new L(), l = new z(), m = new L();
+    i.decompose(s, l, m);
+    const y = s.clone(), p = new w().makeRotationY(
+      d.theta + h * (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 };
+    return i.multiply(p), i.decompose(s, l, m), { a: y, b: s };
   }
-  function f(d, m, s, c) {
+  function f(d, h, s, l) {
     if (!r)
       return;
-    const h = r[d];
-    if (!h)
+    const m = r[d];
+    if (!m)
       return;
-    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);
+    const { a: y, b: p } = a(m, l);
+    h.geometry.setPositions([y.toArray(), p.toArray()].flat()), s.position.set(p.x, p.y, p.z);
   }
-  function l(d, m) {
+  function c(d, h) {
     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]);
+    for (let s = 0; s < Math.min(d.length, h.length); s++) {
+      const l = o.current[s], m = u.current[s];
+      l && m && f(s, l, m, h[s]);
     }
   }
   return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
@@ -390,26 +390,26 @@ function ze({
     {
       rapidlyChangingMotionState: e,
       dhParameters: r,
-      onRotationChanged: l,
+      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((d, m) => {
-          const { a: s, b: c } = a(
+        r.map((d, h) => {
+          const { a: s, b: l } = a(
             d,
-            e.joint_position[m] ?? 0
-          ), h = `dhrobot_J0${m}`;
-          return /* @__PURE__ */ t.jsxs("group", { name: h, children: [
+            e.joint_position[h] ?? 0
+          ), m = `dhrobot_J0${h}`;
+          return /* @__PURE__ */ t.jsxs("group", { name: m, children: [
             /* @__PURE__ */ t.jsx(
-              O,
+              U,
               {
-                ref: (g) => {
-                  o.current[m] = g;
+                ref: (y) => {
+                  o.current[h] = y;
                 },
-                name: De,
-                points: [s, c],
+                name: Oe,
+                points: [s, l],
                 color: "white",
                 lineWidth: 5
               }
@@ -417,33 +417,33 @@ function ze({
             /* @__PURE__ */ t.jsxs(
               "mesh",
               {
-                ref: (g) => {
-                  u.current[m] = g;
+                ref: (y) => {
+                  u.current[h] = y;
                 },
-                name: Ce,
-                position: c,
+                name: ze,
+                position: l,
                 children: [
                   /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
                   /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
                 ]
               },
-              "mesh_" + m
+              "mesh_" + h
             )
-          ] }, h);
+          ] }, m);
         })
       ] })
     }
   ) });
 }
-const Oe = console.warn;
+const Ee = console.warn;
 function me() {
-  return _(() => {
+  return M(() => {
     console.warn = (e) => {
-      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Oe(e);
+      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Ee(e);
     };
   }, []), /* @__PURE__ */ t.jsx(t.Fragment, {});
 }
-function Ee(e) {
+function Je(e) {
   return e.type === "Mesh";
 }
 function Be({
@@ -455,41 +455,41 @@ function Be({
   const o = Me(e);
   let u;
   try {
-    u = Ue(o, "robot.glb").gltf;
-  } catch (l) {
-    throw l;
+    u = De(o, "robot.glb").gltf;
+  } catch (c) {
+    throw c;
   }
-  const a = M(
-    (l) => {
-      l && n && n();
+  const a = T(
+    (c) => {
+      c && n && n();
     },
     [n]
   );
-  function f(l) {
+  function f(c) {
     try {
-      return Ee(l) ? l.geometry ? /* @__PURE__ */ t.jsx(
+      return Je(c) ? c.geometry ? /* @__PURE__ */ t.jsx(
         "mesh",
         {
-          name: l.name,
-          geometry: l.geometry,
-          material: l.material,
-          position: l.position,
-          rotation: l.rotation
+          name: c.name,
+          geometry: c.geometry,
+          material: c.material,
+          position: c.position,
+          rotation: c.rotation
         },
-        l.uuid
-      ) : /* @__PURE__ */ t.jsx("group", { name: l.name, position: l.position, rotation: l.rotation }, l.uuid) : /* @__PURE__ */ t.jsx(
+        c.uuid
+      ) : /* @__PURE__ */ t.jsx("group", { name: c.name, position: c.position, rotation: c.rotation }, c.uuid) : /* @__PURE__ */ t.jsx(
         "group",
         {
-          name: l.name,
-          position: l.position,
-          rotation: l.rotation,
-          ref: ue(l) ? r : void 0,
-          children: l.children.map(f)
+          name: c.name,
+          position: c.position,
+          rotation: c.rotation,
+          ref: ue(c) ? r : void 0,
+          children: c.children.map(f)
         },
-        l.uuid
+        c.uuid
       );
     } catch (d) {
-      return console.warn("Error rendering node", l.name, d), null;
+      return console.warn("Error rendering node", c.name, d), null;
     }
   }
   return /* @__PURE__ */ t.jsx("group", { ...i, dispose: null, ref: a, children: f(u.scene) });
@@ -500,8 +500,8 @@ function he({
   postModelRender: n,
   ...i
 }) {
-  const [o, u] = T(null);
-  return _(() => {
+  const [o, u] = V(null);
+  return M(() => {
     (async () => {
       try {
         if (typeof e == "string")
@@ -557,41 +557,41 @@ const pe = (e, r) => {
   }), r.forEach((n) => {
     n.parent && n.parent.remove(n);
   }), e.userData.isGhost = !1;
-}, ge = I(
+}, ye = P(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: r,
     dhParameters: n,
-    getModel: i = U,
+    getModel: i = C,
     flangeRef: o,
     postModelRender: u,
     transparentColor: a,
     instanceUrl: f,
-    ...l
+    ...c
   }) => {
-    const [d, m] = T(null), s = M((h) => {
-      m(h);
+    const [d, h] = V(null), s = T((m) => {
+      h(m);
     }, []);
-    _(() => {
+    M(() => {
       d && (a ? pe(d, a) : xe(d));
     }, [d, a]);
-    const c = /* @__PURE__ */ t.jsx(
-      ze,
+    const l = /* @__PURE__ */ t.jsx(
+      Ue,
       {
         rapidlyChangingMotionState: e,
         dhParameters: n,
-        ...l
+        ...c
       }
     );
     return /* @__PURE__ */ t.jsxs(
       le,
       {
-        fallback: c,
-        onError: (h) => {
-          console.warn(h);
+        fallback: l,
+        onError: (m) => {
+          console.warn(m);
         },
         children: [
-          /* @__PURE__ */ t.jsx(oe, { fallback: c, children: /* @__PURE__ */ t.jsx("group", { ref: s, children: /* @__PURE__ */ t.jsx(
+          /* @__PURE__ */ t.jsx(se, { fallback: l, children: /* @__PURE__ */ t.jsx("group", { ref: s, children: /* @__PURE__ */ t.jsx(
             de,
             {
               rapidlyChangingMotionState: e,
@@ -600,16 +600,16 @@ const pe = (e, r) => {
                 he,
                 {
                   modelURL: (() => {
-                    const h = i(r, f);
-                    if (!h) {
-                      const g = new Blob([], { type: "model/gltf-binary" }), p = new File([g], `${r}.glb`, { type: "model/gltf-binary" });
+                    const m = i(r, f);
+                    if (!m) {
+                      const y = new Blob([], { type: "model/gltf-binary" }), p = new File([y], `${r}.glb`, { type: "model/gltf-binary" });
                       return Promise.resolve(URL.createObjectURL(p));
                     }
-                    return h;
+                    return m;
                   })(),
                   postModelRender: u,
                   flangeRef: o,
-                  ...l
+                  ...c
                 }
               )
             }
@@ -622,14 +622,14 @@ const pe = (e, r) => {
 );
 function We({
   connectedMotionGroup: e,
-  getModel: r = U,
+  getModel: r = C,
   flangeRef: n,
   transparentColor: i,
   postModelRender: o,
   ...u
 }) {
   return e.dhParameters ? /* @__PURE__ */ t.jsx(
-    ge,
+    ye,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       modelFromController: e.modelFromController || "",
@@ -642,8 +642,8 @@ function We({
     }
   ) : null;
 }
-const it = I(
-  Te(
+const at = P(
+  Le(
     ({
       robotName: e,
       programState: r,
@@ -653,57 +653,57 @@ const it = I(
       onDriveToHomePress: u,
       onDriveToHomeRelease: a,
       connectedMotionGroup: f,
-      robotComponent: l = We,
+      robotComponent: c = We,
       customContentComponent: d,
-      className: m
+      className: h
     }) => {
-      var W;
-      const s = _e(), { t: c } = Se(), [h, g] = T(!1), p = R(null), j = R(null), [y, D] = T(!1), [S, be] = T({ width: 400, height: 600 }), [$e, Re] = T(0);
-      _(() => {
-        const P = () => {
+      var B;
+      const s = _e(), { t: l } = ke(), [m, y] = V(!1), p = R(null), j = R(null), [g, D] = V(!1), [k, be] = V({ width: 400, height: 600 }), [Ne, Re] = V(0);
+      M(() => {
+        const A = () => {
           if (j.current) {
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             height: "100%",
             display: "flex",
-            flexDirection: y ? "row" : "column",
+            flexDirection: g ? "row" : "column",
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             overflow: "hidden",
             minWidth: { xs: 180, sm: 220, md: 250 },
-            minHeight: y ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
+            minHeight: g ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
             // Allow progressive hiding in portrait mode
             border: `1px solid ${s.palette.divider}`,
             borderRadius: "18px",
             boxShadow: "none",
-            backgroundColor: ((W = s.palette.backgroundPaperElevation) == null ? void 0 : W[8]) || "#2A2A3F",
+            backgroundColor: ((B = s.palette.backgroundPaperElevation) == null ? void 0 : B[8]) || "#2A2A3F",
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-          children: y ? /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
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-                  display: A ? "none" : "block"
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-                children: !A && /* @__PURE__ */ t.jsxs(
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-                      /* @__PURE__ */ t.jsx(H, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ t.jsx(
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@@ -763,7 +763,7 @@ const it = I(
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-                        /* @__PURE__ */ t.jsx(Y, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
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-                        !V && d && /* @__PURE__ */ t.jsxs(b, { children: [
+                        !S && d && /* @__PURE__ */ t.jsxs(b, { children: [
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-                            q,
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-                              mt: !V && d ? "auto" : 0
+                              mt: !S && d ? "auto" : 0
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-                                  X,
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-                                    onMouseDown: k,
-                                    onMouseUp: L,
-                                    onMouseLeave: B,
-                                    onTouchStart: k,
-                                    onTouchEnd: L,
+                                    onMouseDown: F,
+                                    onMouseUp: I,
+                                    onMouseLeave: J,
+                                    onTouchStart: F,
+                                    onTouchEnd: I,
                                     sx: {
                                       textTransform: "none",
                                       px: 1.5,
                                       py: 0.5
                                     },
-                                    children: c("RobotCard.DriveToHome.bt")
+                                    children: l("RobotCard.DriveToHome.bt")
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-                  /* @__PURE__ */ t.jsx(Y, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
+                  /* @__PURE__ */ t.jsx(q, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
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                   b,
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                     sx: {
-                      flex: A ? 0 : 1,
+                      flex: _ ? 0 : 1,
                       position: "relative",
-                      minHeight: A ? 0 : { xs: 120, sm: 150, md: 200 },
-                      height: A ? 0 : "auto",
+                      minHeight: _ ? 0 : { xs: 120, sm: 150, md: 200 },
+                      height: _ ? 0 : "auto",
                       borderRadius: 1,
                       overflow: "hidden",
-                      display: A ? "none" : "block"
+                      display: _ ? "none" : "block"
                     },
-                    children: !A && /* @__PURE__ */ t.jsxs(
-                      N,
+                    children: !_ && /* @__PURE__ */ t.jsxs(
+                      H,
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                         camera: {
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                         gl: { alpha: !0, antialias: !0 },
                         children: [
-                          /* @__PURE__ */ t.jsx(Q, {}),
-                          /* @__PURE__ */ t.jsx(H, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ t.jsx(
-                            l,
+                          /* @__PURE__ */ t.jsx(ee, {}),
+                          /* @__PURE__ */ t.jsx(Y, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ t.jsx(
+                            c,
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                               postModelRender: E
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                 ),
                 /* @__PURE__ */ t.jsxs(b, { children: [
-                  !V && d && /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
+                  !S && d && /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
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                     /* @__PURE__ */ t.jsx(
-                      q,
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                         display: "flex",
                         justifyContent: "flex-start",
-                        mt: !V && d ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
+                        mt: !S && 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(
-                        X,
+                        K,
                         {
                           ref: p,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
                           disabled: !o,
-                          onMouseDown: k,
-                          onMouseUp: L,
-                          onMouseLeave: B,
-                          onTouchStart: k,
-                          onTouchEnd: L,
+                          onMouseDown: F,
+                          onMouseUp: I,
+                          onMouseLeave: J,
+                          onTouchStart: F,
+                          onTouchEnd: I,
                           sx: {
                             textTransform: "none",
                             px: 1.5,
                             py: 0.5
                           },
-                          children: c("RobotCard.DriveToHome.bt")
+                          children: l("RobotCard.DriveToHome.bt")
                         }
                       )
                     }
@@ -980,17 +980,17 @@ const it = I(
       );
     }
   )
-), at = Array(6).fill(2 * Math.PI);
-function ye({
+), lt = Array(6).fill(2 * Math.PI);
+function ge({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   onTranslationChanged: n,
   children: i
 }) {
-  const o = R([]), u = R([]), a = R(null), { invalidate: f } = ne();
-  _(() => {
+  const o = R([]), u = R([]), a = R(null), { invalidate: f } = re();
+  M(() => {
     const s = e.joint_position.filter(
-      (c) => c !== void 0
+      (l) => l !== void 0
     );
     return a.current = new ie(s, {
       tension: 120,
@@ -999,43 +999,43 @@ function ye({
       // Controls damping - higher values reduce oscillation and create smoother settling
       threshold: 1e-3
     }), () => {
-      var c;
-      (c = a.current) == null || c.destroy();
+      var l;
+      (l = a.current) == null || l.destroy();
     };
-  }, []), re((s, c) => {
+  }, []), oe((s, l) => {
     if (a.current) {
-      const h = a.current.update(c);
-      d(), h || f();
+      const m = a.current.update(l);
+      d(), m || f();
     }
   });
-  function l(s) {
+  function c(s) {
     s && (u.current = ce(s), d(), f());
   }
   function d() {
-    var c;
-    const s = ((c = a.current) == null ? void 0 : c.getCurrentValues()) || [];
+    var l;
+    const s = ((l = a.current) == null ? void 0 : l.getCurrentValues()) || [];
     if (n)
       n(u.current, s);
     else
-      for (const [h, g] of u.current.entries()) {
-        const j = r[h].reverse_rotation_direction ? -1 : 1;
-        g.position.y = j * (s[h] || 0) / 1e3;
+      for (const [m, y] of u.current.entries()) {
+        const j = r[m].reverse_rotation_direction ? -1 : 1;
+        y.position.y = j * (s[m] || 0) / 1e3;
       }
   }
-  const m = M(() => {
+  const h = T(() => {
     const s = e.joint_position.filter(
-      (c) => c !== void 0
+      (l) => l !== void 0
     );
     requestAnimationFrame(() => {
-      var c;
-      o.current = s, (c = a.current) == null || c.setTarget(s);
+      var l;
+      o.current = s, (l = a.current) == null || l.setTarget(s);
     });
   }, [e]);
-  return _(() => {
-    m();
-  }, [e, m]), ae(() => {
-    m();
-  }), /* @__PURE__ */ t.jsx("group", { ref: l, children: i });
+  return M(() => {
+    h();
+  }, [e, h]), ae(() => {
+    h();
+  }), /* @__PURE__ */ t.jsx("group", { ref: c, children: i });
 }
 function je({
   rapidlyChangingMotionState: e,
@@ -1044,56 +1044,56 @@ function je({
 }) {
   const i = new w(), o = R(null), u = R(null);
   function a(d) {
-    const m = new w();
-    for (let g = 0; g < r.length; g++) {
-      const p = r[g], j = d[g] ?? 0, y = new w().makeRotationY(p.theta).multiply(
+    const h = new w();
+    for (let y = 0; y < r.length; y++) {
+      const p = r[y], j = d[y] ?? 0, g = 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));
-      m.multiply(y);
+      h.multiply(g);
     }
-    const s = new F(), c = new z(), h = new F();
-    return m.decompose(s, c, h), s;
+    const s = new L(), l = new z(), m = new L();
+    return h.decompose(s, l, m), s;
   }
   const f = a(e.joint_position);
-  function l(d, m) {
+  function c(d, h) {
     i.identity();
-    let s = new F();
+    let s = new L();
     for (let p = 0; p < r.length; p++) {
-      const j = m[p] ?? 0, y = r[p], D = new w().makeRotationY(y.theta).multiply(
+      const j = h[p] ?? 0, g = r[p], D = new w().makeRotationY(g.theta).multiply(
         new w().makeTranslation(
-          y.a / 1e3,
-          (y.d + j * (y.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          g.a / 1e3,
+          (g.d + j * (g.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new w().makeRotationX(y.alpha));
+      ).multiply(new w().makeRotationX(g.alpha));
       i.multiply(D);
     }
-    const c = new F(), h = new z(), g = new F();
-    if (i.decompose(c, h, g), s = c, o.current && o.current.position.set(s.x, s.y, s.z), u.current) {
+    const l = new L(), m = new z(), y = new L();
+    if (i.decompose(l, m, y), s = l, 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(
-    ye,
+    ge,
     {
       rapidlyChangingMotionState: e,
       dhParameters: r,
-      onTranslationChanged: l,
+      onTranslationChanged: c,
       children: /* @__PURE__ */ t.jsxs("group", { ...n, name: "Scene", children: [
         /* @__PURE__ */ t.jsxs("mesh", { name: "Base", position: [0, 0, 0], children: [
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           /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "green", depthTest: !0 })
         ] }),
         /* @__PURE__ */ t.jsx(
-          O,
+          U,
           {
             ref: u,
-            points: [new F(0, 0, 0), f],
+            points: [new L(0, 0, 0), f],
             color: "White",
             lineWidth: 5
           }
@@ -1106,42 +1106,42 @@ function je({
     }
   ) });
 }
-const we = I(
+const we = P(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: r,
     dhParameters: n,
-    getModel: i = U,
+    getModel: i = C,
     flangeRef: o,
     postModelRender: u,
     transparentColor: a,
     instanceUrl: f,
-    ...l
+    ...c
   }) => {
-    const [d, m] = T(null), s = M((h) => {
-      m(h);
+    const [d, h] = V(null), s = T((m) => {
+      h(m);
     }, []);
-    _(() => {
+    M(() => {
       d && (a ? pe(d, a) : xe(d));
     }, [d, a]);
-    const c = /* @__PURE__ */ t.jsx(
+    const l = /* @__PURE__ */ t.jsx(
       je,
       {
         rapidlyChangingMotionState: e,
         dhParameters: n,
-        ...l
+        ...c
       }
     );
     return /* @__PURE__ */ t.jsxs(
       le,
       {
-        fallback: c,
-        onError: (h) => {
-          console.warn(h);
+        fallback: l,
+        onError: (m) => {
+          console.warn(m);
         },
         children: [
-          /* @__PURE__ */ t.jsx(oe, { fallback: c, children: /* @__PURE__ */ t.jsx("group", { ref: s, children: /* @__PURE__ */ t.jsx(
-            ye,
+          /* @__PURE__ */ t.jsx(se, { fallback: l, children: /* @__PURE__ */ t.jsx("group", { ref: s, children: /* @__PURE__ */ t.jsx(
+            ge,
             {
               rapidlyChangingMotionState: e,
               dhParameters: n,
@@ -1149,16 +1149,16 @@ const we = I(
                 he,
                 {
                   modelURL: (() => {
-                    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" });
+                    const m = i(r, f);
+                    if (!m) {
+                      const y = new Blob([], { type: "model/gltf-binary" }), p = new File([y], `${r}.glb`, { type: "model/gltf-binary" });
                       return Promise.resolve(URL.createObjectURL(p));
                     }
-                    return h;
+                    return m;
                   })(),
                   postModelRender: u,
                   flangeRef: o,
-                  ...l
+                  ...c
                 }
               )
             }
@@ -1169,9 +1169,9 @@ const we = I(
     );
   }
 );
-function lt({
+function ct({
   connectedMotionGroup: e,
-  getModel: r = U,
+  getModel: r = C,
   flangeRef: n,
   transparentColor: i,
   postModelRender: o,
@@ -1201,7 +1201,7 @@ function lt({
     }
   );
 }
-const ee = {
+const te = {
   [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],
@@ -1224,7 +1224,7 @@ const ee = {
     0
   ]
 };
-function Ke(e) {
+function $e(e) {
   const [r] = e.split("_");
   switch (r) {
     case "ABB":
@@ -1241,74 +1241,38 @@ function Ke(e) {
       return null;
   }
 }
-function ct(e, r) {
-  const n = Ke(e);
-  return n && n in ee ? ee[n] : r || null;
+function ut(e, r) {
+  const n = $e(e);
+  return n && n in te ? te[n] : r || null;
 }
-const ut = I((e) => {
+const ft = P((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;
+    inverseSolver: r,
+    dhParameters: n,
+    ...i
+  } = e, [o, u] = V(Q.RevoluteJoint);
+  M(() => {
+    var f;
+    n != null && n.length && u(((f = n[0]) == null ? void 0 : f.type) ?? Q.RevoluteJoint);
+  }, [n]);
+  const a = Ge(() => !r && o === "REVOLUTE_JOINT", [r, o]);
+  return r || a ? /* @__PURE__ */ t.jsx(ye, { dhParameters: n, ...i }) : /* @__PURE__ */ t.jsx(we, { dhParameters: n, ...i });
 });
 export {
-  rt as C,
-  lt as L,
-  ee as M,
-  Q as P,
+  ot as C,
+  ct as L,
+  te as M,
+  ee as P,
   We as R,
-  ot as S,
-  st as T,
-  ut as a,
-  it as b,
+  st as S,
+  it as T,
+  ft as a,
+  at as b,
   we as c,
-  ge as d,
-  at as e,
-  U as f,
-  Ke as g,
-  ct as h
+  ye as d,
+  lt as e,
+  C as f,
+  $e as g,
+  ut as h
 };
-//# sourceMappingURL=MotionGroupVisualizer-CrLamHYm.js.map
+//# sourceMappingURL=MotionGroupVisualizer-HpVtcaDR.js.map