@wandelbots/wandelbots-js-react-components 4.2.0 → 4.3.0-pr.feat-RB-3171-dynamic-motion-visualization.517.a2d76ef

package/README.md

@@ -98,7 +98,7 @@ Manual robot control interfaces.
 **Individual Jogging Controls**
 
 - **[JoggingCartesianAxisControl](https://wandelbotsgmbh.github.io/wandelbots-js-react-components/?path=/docs/jogging-joggingcartesianaxiscontrol--docs)** - Single-axis cartesian movement
-- **[JoggingJointRotationControl](https://wandelbotsgmbh.github.io/wandelbots-js-react-components/?path=/docs/jogging-joggingjointrotationcontrol--docs)** - Individual joint controls
+- **[JoggingJointValueControl](https://wandelbotsgmbh.github.io/wandelbots-js-react-components/?path=/docs/jogging-JoggingJointValueControl--docs)** - Individual joint controls
 - **[VelocitySlider](https://wandelbotsgmbh.github.io/wandelbots-js-react-components/?path=/docs/jogging-velocityslider--docs)** - Speed adjustment interface
 
 ### Program Execution

package/dist/3d.cjs.js

@@ -1,2 +1,2 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./MotionGroupVisualizer-C3CB-L2z.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./MotionGroupVisualizer-DkyCrMy6.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;
 //# sourceMappingURL=3d.cjs.js.map

package/dist/3d.es.js

@@ -1,4 +1,4 @@
-import { C as o, L as r, M as s, a as t, P as n, R as i, b as d, S as f, c as u, d as R, T as l, e as C, f as p, g as M, h as S } from "./MotionGroupVisualizer-CrLamHYm.js";
+import { C as o, L as r, M as s, a as t, P as n, R as i, b as d, S as f, c as u, d as R, T as l, e as C, f as p, g as M, h as S } from "./MotionGroupVisualizer-DzSF9oW7.js";
 export {
   o as CollisionSceneRenderer,
   r as LinearAxis,

package/dist/MotionGroupVisualizer-DkyCrMy6.cjs

@@ -0,0 +1,2 @@
+"use strict";const t=require("./externalizeComponent-CkVWk2F_.cjs"),g=require("three"),J=require("three-stdlib"),_=require("@react-three/fiber"),M=require("@react-three/drei"),E=require("@mui/material"),ae=require("mobx-react-lite"),f=require("react"),ue=require("react-i18next"),y=require("./interpolation-CyO6DaVa.cjs"),H=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 i=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(n,r,i.get?i:{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 J.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(`${e.shape_type} is not supported`),new j.BufferGeometry}}function xe({name:e,collider:n,children:r}){var l,u;const i=((l=n.pose)==null?void 0:l.position)??[0,0,0],s=((u=n.pose)==null?void 0:u.orientation)??[0,0,0];return n.margin&&console.warn(`${e} margin is not supported`),t.jsxRuntimeExports.jsx("mesh",{name:e,position:new j.Vector3(i[0],i[1],i[2]).divideScalar(1e3),rotation:new j.Euler(s[0],s[1],s[2],"XYZ"),geometry:le(n.shape),children:r})}function me({name:e,colliders:n,meshChildrenProvider:r,...i}){return t.jsxRuntimeExports.jsx("group",{name:e,...i,children:Object.entries(n).map(([s,l])=>t.jsxRuntimeExports.jsx(xe,{name:s,collider:l,children:r(s,l)},s))})}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 de(e){if(e.length<3)return console.log("Not enough vertices to define a plane"),{isCoplanar:!1};const n=new j.Vector3(e[0].x,e[0].y,e[0].z),r=new j.Vector3(e[1].x,e[1].y,e[1].z),i=new j.Vector3(e[2].x,e[2].y,e[2].z),s=new j.Vector3().subVectors(r,n),l=new j.Vector3().subVectors(i,n),u=new j.Vector3().crossVectors(s,l).normalize();for(let x=3;x<e.length;x++){const c=new j.Vector3(e[x].x,e[x].y,e[x].z),m=new j.Vector3().subVectors(c,n),d=u.dot(m);if(Math.abs(d)>1e-6)return console.log("Vertices are not on the same plane"),{isCoplanar:!1}}return{isCoplanar:!0,normal:u}}function he({safetyZones:e,...n}){return t.jsxRuntimeExports.jsx("group",{...n,children:e.map((r,i)=>{let s=[];return r.geometry&&(r.geometry.compound?s=r.geometry.compound.child_geometries:r.geometry.convex_hull&&(s=[r.geometry])),s.map((l,u)=>{if(!l.convex_hull)return null;const x=l.convex_hull.vertices.map(d=>new j.Vector3(d.x/1e3,d.y/1e3,d.z/1e3)),c=de(x);if(c.isCoplanar&&c.normal){const o=new j.Vector3().addVectors(x[0],c.normal.multiplyScalar(1e-4));x.push(o)}let m;try{m=new J.ConvexGeometry(x)}catch(d){return console.log("Error creating ConvexGeometry:",d),null}return t.jsxRuntimeExports.jsx("mesh",{geometry:m,children:t.jsxRuntimeExports.jsx("meshStandardMaterial",{attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-u},i)},`${i}-${u}`)})})})}function je({trajectory:e,...n}){var i;const r=((i=e.trajectory)==null?void 0:i.map(s=>s.tcp_pose?new j.Vector3(s.tcp_pose.position.x/1e3,s.tcp_pose.position.z/1e3,-s.tcp_pose.position.y/1e3):null).filter(s=>s!==null))||[];return t.jsxRuntimeExports.jsx("group",{...n,children:r.length>0&&t.jsxRuntimeExports.jsx(M.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}const A=new Map;async function L(e,n){if(A.has(e))return A.get(e);const r=(async()=>{var u;const i=n||"",s=new y.NovaClient({instanceUrl:i}),l=s.api.motionGroupModels;(u=l.axios)!=null&&u.interceptors&&l.axios.interceptors.request.use(x=>{var c;return(c=x.url)!=null&&c.includes("/glb")&&(x.responseType="blob"),x});try{const x=await s.api.motionGroupModels.getMotionGroupGlbModel(e);return URL.createObjectURL(x)}catch(x){throw console.error("Failed to fetch model:",x),x}})();return A.set(e,r),r}function N(e){function n(r){return r.children.length===0?[r]:[r,...r.children.flatMap(i=>n(i))]}return n(e).filter(r=>Y(r))}function $(e){return e.name.endsWith("_FLG")}function Y(e){return/_J[0-9]+$/.test(e.name)}function Re(e,n){let r;function i(s){if($(s)){if(r)throw Error(`Found multiple flange groups in robot model ${n}; first ${r.name} then ${s.name}. Only one _FLG group is allowed.`);r=s}Y(s),s.children.map(i)}if(i(e.scene),!r)throw Error(`No flange group found in robot model ${n}. 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f.useEffect(()=>{d()},[e,d]),y.useAutorun(()=>{d()}),t.jsxRuntimeExports.jsx("group",{ref:c,children:i})}const ge="line",Ee="mesh";function ye({rapidlyChangingMotionState:e,dhParameters:n,...r}){const i=new g.Matrix4,s=f.useRef([]),l=f.useRef([]);f.useEffect(()=>{s.current=new Array(n.length).fill(null),l.current=new Array(n.length).fill(null)},[n.length]);function u(m,d){const o=new g.Vector3,a=new g.Quaternion,p=new g.Vector3;i.decompose(o,a,p);const R=o.clone(),h=new g.Matrix4().makeRotationY(m.theta+d*(m.reverse_rotation_direction?-1:1)).multiply(new g.Matrix4().makeTranslation(0,m.d/1e3,0)).multiply(new g.Matrix4().makeTranslation(m.a/1e3,0,0)).multiply(new g.Matrix4().makeRotationX(m.alpha));return i.multiply(h),i.decompose(o,a,p),{a:R,b:o}}function x(m,d,o,a){if(!n)return;const p=n[m];if(!p)return;const{a:R,b:h}=u(p,a);d.geometry.setPositions([R.toArray(),h.toArray()].flat()),o.position.set(h.x,h.y,h.z)}function c(m,d){i.identity();for(let o=0;o<Math.min(m.length,d.length);o++){const a=s.current[o],p=l.current[o];a&&p&&x(o,a,p,d[o])}}return t.jsxRuntimeExports.jsx(t.jsxRuntimeExports.Fragment,{children:t.jsxRuntimeExports.jsx(X,{rapidlyChangingMotionState:e,dhParameters:n,onRotationChanged:c,children:t.jsxRuntimeExports.jsxs("group",{...r,name:"Scene",children:[t.jsxRuntimeExports.jsxs("mesh",{children:[t.jsxRuntimeExports.jsx("sphereGeometry",{args:[.01,32,32]}),t.jsxRuntimeExports.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),n.map((m,d)=>{const{a:o,b:a}=u(m,e.joint_position[d]??0),p=`dhrobot_J0${d}`;return t.jsxRuntimeExports.jsxs("group",{name:p,children:[t.jsxRuntimeExports.jsx(M.Line,{ref:R=>{s.current[d]=R},name:ge,points:[o,a],color:"white",lineWidth:5}),t.jsxRuntimeExports.jsxs("mesh",{ref:R=>{l.current[d]=R},name:Ee,position:a,children:[t.jsxRuntimeExports.jsx("sphereGeometry",{args:[.01,32,32]}),t.jsxRuntimeExports.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},"mesh_"+d)]},p)})]})})})}const be=console.warn;function K(){return f.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&be(e)}},[]),t.jsxRuntimeExports.jsx(t.jsxRuntimeExports.Fragment,{})}function we(e){return e.type==="Mesh"}function Me({url:e,flangeRef:n,postModelRender:r,...i}){const s=M.useGLTF(e);let l;try{l=Re(s,"robot.glb").gltf}catch(c){throw c}const u=f.useCallback(c=>{c&&r&&r()},[r]);function x(c){try{return we(c)?c.geometry?t.jsxRuntimeExports.jsx("mesh",{name:c.name,geometry:c.geometry,material:c.material,position:c.position,rotation:c.rotation},c.uuid):t.jsxRuntimeExports.jsx("group",{name:c.name,position:c.position,rotation:c.rotation},c.uuid):t.jsxRuntimeExports.jsx("group",{name:c.name,position:c.position,rotation:c.rotation,ref:$(c)?n:void 0,children:c.children.map(x)},c.uuid)}catch(m){return console.warn("Error rendering node",c.name,m),null}}return t.jsxRuntimeExports.jsx("group",{...i,dispose:null,ref:u,children:x(l.scene)})}function Q({modelURL:e,flangeRef:n,postModelRender:r,...i}){const[s,l]=f.useState(null);return f.useEffect(()=>{(async()=>{try{if(typeof e=="string")l(e);else{const x=await e;l(x)}}catch(x){console.error("Failed to resolve model URL:",x)}})()},[e]),s?t.jsxRuntimeExports.jsx(Me,{url:s,flangeRef:n,postModelRender:r,...i}):null}const Z=(e,n)=>{e.userData.isGhost||(e.traverse(r=>{if(r instanceof j.Mesh){r.material instanceof 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j.Material&&(r.material.colorWrite=!0))}),n.forEach(r=>{r.parent&&r.parent.remove(r)}),e.userData.isGhost=!1},P=t.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:i=L,flangeRef:s,postModelRender:l,transparentColor:u,instanceUrl:x,...c})=>{const[m,d]=f.useState(null),o=f.useCallback(p=>{d(p)},[]);f.useEffect(()=>{m&&(u?Z(m,u):ee(m))},[m,u]);const a=t.jsxRuntimeExports.jsx(ye,{rapidlyChangingMotionState:e,dhParameters:r,...c});return t.jsxRuntimeExports.jsxs(H.ErrorBoundary,{fallback:a,onError:p=>{console.warn(p)},children:[t.jsxRuntimeExports.jsx(f.Suspense,{fallback:a,children:t.jsxRuntimeExports.jsx("group",{ref:o,children:t.jsxRuntimeExports.jsx(X,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsxRuntimeExports.jsx(Q,{modelURL:(()=>{const p=i(n,x);if(!p){const R=new Blob([],{type:"model/gltf-binary"}),h=new File([R],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(h))}return p})(),postModelRender:l,flangeRef:s,...c})})})}),t.jsxRuntimeExports.jsx(K,{})]})});function te({connectedMotionGroup:e,getModel:n=L,flangeRef:r,transparentColor:i,postModelRender:s,...l}){return e.dhParameters?t.jsxRuntimeExports.jsx(P,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:e.modelFromController||"",dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:i,postModelRender:s,...l}):null}const ve=t.externalizeComponent(ae.observer(({robotName:e,programState:n,safetyState:r,operationMode:i,driveToHomeEnabled:s=!1,onDriveToHomePress:l,onDriveToHomeRelease:u,connectedMotionGroup:x,robotComponent:c=te,customContentComponent:m,className:d})=>{var D;const o=E.useTheme(),{t:a}=ue.useTranslation(),[p,R]=f.useState(!1),h=f.useRef(null),w=f.useRef(null),[b,G]=f.useState(!1),[S,oe]=f.useState({width:400,height:600}),[Ve,ie]=f.useState(0);f.useEffect(()=>{const k=()=>{if(w.current){const{offsetWidth:q,offsetHeight:W}=w.current;G(q>W),oe({width:q,height:W})}};k();const U=new ResizeObserver(k);return w.current&&U.observe(w.current),()=>{U.disconnect()}},[]);const O=f.useCallback(()=>{ie(k=>k+1)},[]),T=f.useCallback(()=>{!s||!l||(R(!0),l())},[s,l]),V=f.useCallback(()=>{!s||!u||(R(!1),u())},[s,u]),z=f.useCallback(()=>{p&&u&&(R(!1),u())},[p,u]),v=b?S.width<350:S.height<200,C=b?S.height<310:S.height<450;return t.jsxRuntimeExports.jsx(E.Card,{ref:w,className:d,sx:{width:"100%",height:"100%",display:"flex",flexDirection:b?"row":"column",position:"relative",overflow:"hidden",minWidth:{xs:180,sm:220,md:250},minHeight:b?{xs:200,sm:240,md:260}:{xs:150,sm:180,md:220},border:`1px solid ${o.palette.divider}`,borderRadius:"18px",boxShadow:"none",backgroundColor:((D=o.palette.backgroundPaperElevation)==null?void 0:D[8])||"#2A2A3F",backgroundImage:"none"},children:b?t.jsxRuntimeExports.jsxs(t.jsxRuntimeExports.Fragment,{children:[t.jsxRuntimeExports.jsx(E.Box,{sx:{flex:"0 0 50%",position:"relative",height:"100%",minHeight:"100%",maxHeight:"100%",borderRadius:1,m:{xs:1.5,sm:2,md:3},mr:{xs:.75,sm:1,md:1.5},overflow:"hidden",display:v?"none":"block"},children:!v&&t.jsxRuntimeExports.jsxs(_.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:o.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute",top:0,left:0},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[t.jsxRuntimeExports.jsx(F,{}),t.jsxRuntimeExports.jsx(M.Bounds,{fit:!0,observe:!0,margin:1,maxDuration:1,children:t.jsxRuntimeExports.jsx(c,{connectedMotionGroup:x,postModelRender:O})})]})}),t.jsxRuntimeExports.jsxs(E.Box,{sx:{flex:"1",display:"flex",flexDirection:"column",justifyContent:"flex-start",width:v?"100%":"50%"},children:[t.jsxRuntimeExports.jsxs(E.Box,{sx:{p:{xs:1.5,sm:2,md:3},pb:{xs:1,sm:1.5,md:2},textAlign:"left"},children:[t.jsxRuntimeExports.jsx(E.Typography,{variant:"h6",component:"h2",sx:{mb:1},children:e}),t.jsxRuntimeExports.jsx(y.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:i})]}),t.jsxRuntimeExports.jsxs(E.Box,{sx:{p:{xs:1.5,sm:2,md:3},pt:0,flex:"1",display:"flex",flexDirection:"column",justifyContent:"space-between"},children:[!C&&m&&t.jsxRuntimeExports.jsxs(E.Box,{children:[t.jsxRuntimeExports.jsx(m,{}),t.jsxRuntimeExports.jsx(E.Divider,{sx:{mt:1,mb:0,borderColor:o.palette.divider,opacity:.5}})]}),t.jsxRuntimeExports.jsx(E.Box,{sx:{mt:!C&&m?"auto":0},children:t.jsxRuntimeExports.jsx(E.Box,{sx:{display:"flex",justifyContent:"flex-start",mt:{xs:1,sm:1.5,md:2},mb:{xs:.5,sm:.75,md:1}},children:t.jsxRuntimeExports.jsx(E.Button,{ref:h,variant:"contained",color:"secondary",size:"small",disabled:!s,onMouseDown:T,onMouseUp:V,onMouseLeave:z,onTouchStart:T,onTouchEnd:V,sx:{textTransform:"none",px:1.5,py:.5},children:a("RobotCard.DriveToHome.bt")})})})]})]})]}):t.jsxRuntimeExports.jsx(t.jsxRuntimeExports.Fragment,{children:t.jsxRuntimeExports.jsxs(E.Box,{sx:{p:3,height:"100%",display:"flex",flexDirection:"column"},children:[t.jsxRuntimeExports.jsxs(E.Box,{children:[t.jsxRuntimeExports.jsx(E.Typography,{variant:"h6",component:"h2",sx:{mb:1},children:e}),t.jsxRuntimeExports.jsx(y.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:i})]}),t.jsxRuntimeExports.jsx(E.Box,{sx:{flex:v?0:1,position:"relative",minHeight:v?0:{xs:120,sm:150,md:200},height:v?0:"auto",borderRadius:1,overflow:"hidden",display:v?"none":"block"},children:!v&&t.jsxRuntimeExports.jsxs(_.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:o.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute"},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[t.jsxRuntimeExports.jsx(F,{}),t.jsxRuntimeExports.jsx(M.Bounds,{fit:!0,clip:!0,observe:!0,margin:1,maxDuration:1,children:t.jsxRuntimeExports.jsx(c,{connectedMotionGroup:x,postModelRender:O})})]})}),t.jsxRuntimeExports.jsxs(E.Box,{children:[!C&&m&&t.jsxRuntimeExports.jsxs(t.jsxRuntimeExports.Fragment,{children:[t.jsxRuntimeExports.jsx(m,{}),t.jsxRuntimeExports.jsx(E.Divider,{sx:{mt:1,mb:0,borderColor:o.palette.divider,opacity:.5}})]}),t.jsxRuntimeExports.jsx(E.Box,{sx:{display:"flex",justifyContent:"flex-start",mt:!C&&m?{xs:1,sm:2,md:5}:{xs:.5,sm:1,md:2},mb:{xs:.5,sm:.75,md:1}},children:t.jsxRuntimeExports.jsx(E.Button,{ref:h,variant:"contained",color:"secondary",size:"small",disabled:!s,onMouseDown:T,onMouseUp:V,onMouseLeave:z,onTouchStart:T,onTouchEnd:V,sx:{textTransform:"none",px:1.5,py:.5},children:a("RobotCard.DriveToHome.bt")})})]})]})})})})),_e=Array(6).fill(2*Math.PI);function re({rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:r,children:i}){const s=f.useRef([]),l=f.useRef([]),u=f.useRef(null),{invalidate:x}=_.useThree();f.useEffect(()=>{const o=e.joint_position.filter(a=>a!==void 0);return u.current=new y.ValueInterpolator(o,{tension:120,friction:20,threshold:.001}),()=>{var a;(a=u.current)==null||a.destroy()}},[]),_.useFrame((o,a)=>{if(u.current){const p=u.current.update(a);m(),p||x()}});function c(o){o&&(l.current=N(o),m(),x())}function m(){var a;const o=((a=u.current)==null?void 0:a.getCurrentValues())||[];if(r)r(l.current,o);else for(const[p,R]of l.current.entries()){const w=n[p].reverse_rotation_direction?-1:1;R.position.y=w*(o[p]||0)/1e3}}const d=f.useCallback(()=>{const o=e.joint_position.filter(a=>a!==void 0);requestAnimationFrame(()=>{var a;s.current=o,(a=u.current)==null||a.setTarget(o)})},[e]);return f.useEffect(()=>{d()},[e,d]),y.useAutorun(()=>{d()}),t.jsxRuntimeExports.jsx("group",{ref:c,children:i})}function ne({rapidlyChangingMotionState:e,dhParameters:n,...r}){const i=new g.Matrix4,s=f.useRef(null),l=f.useRef(null);function u(m){const d=new g.Matrix4;for(let R=0;R<n.length;R++){const h=n[R],w=m[R]??0,b=new g.Matrix4().makeRotationY(h.theta).multiply(new g.Matrix4().makeTranslation(h.a/1e3,(h.d+w*(h.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(h.alpha));d.multiply(b)}const o=new g.Vector3,a=new g.Quaternion,p=new g.Vector3;return d.decompose(o,a,p),o}const x=u(e.joint_position);function c(m,d){i.identity();let o=new g.Vector3;for(let h=0;h<n.length;h++){const w=d[h]??0,b=n[h],G=new g.Matrix4().makeRotationY(b.theta).multiply(new g.Matrix4().makeTranslation(b.a/1e3,(b.d+w*(b.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(b.alpha));i.multiply(G)}const a=new g.Vector3,p=new g.Quaternion,R=new g.Vector3;if(i.decompose(a,p,R),o=a,s.current&&s.current.position.set(o.x,o.y,o.z),l.current){const h=l.current.geometry;h&&h.setPositions&&h.setPositions([0,0,0,o.x,o.y,o.z])}}return t.jsxRuntimeExports.jsx(t.jsxRuntimeExports.Fragment,{children:t.jsxRuntimeExports.jsx(re,{rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:c,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:s,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:i=L,flangeRef:s,postModelRender:l,transparentColor:u,instanceUrl:x,...c})=>{const[m,d]=f.useState(null),o=f.useCallback(p=>{d(p)},[]);f.useEffect(()=>{m&&(u?Z(m,u):ee(m))},[m,u]);const a=t.jsxRuntimeExports.jsx(ne,{rapidlyChangingMotionState:e,dhParameters:r,...c});return t.jsxRuntimeExports.jsxs(H.ErrorBoundary,{fallback:a,onError:p=>{console.warn(p)},children:[t.jsxRuntimeExports.jsx(f.Suspense,{fallback:a,children:t.jsxRuntimeExports.jsx("group",{ref:o,children:t.jsxRuntimeExports.jsx(re,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsxRuntimeExports.jsx(Q,{modelURL:(()=>{const p=i(n,x);if(!p){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 p})(),postModelRender:l,flangeRef:s,...c})})})}),t.jsxRuntimeExports.jsx(K,{})]})});function Le({connectedMotionGroup:e,getModel:n=L,flangeRef:r,transparentColor:i,postModelRender:s,...l}){if(!e.dhParameters)return null;const u=e.modelFromController||"";return u&&n(u)?t.jsxRuntimeExports.jsx(B,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:u,dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:i,postModelRender:s,...l}):t.jsxRuntimeExports.jsx(ne,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,dhParameters:e.dhParameters,...l})}const I={[y.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[y.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[y.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[y.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[y.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 y.Manufacturer.Abb;case"FANUC":return y.Manufacturer.Fanuc;case"YASKAWA":return y.Manufacturer.Yaskawa;case"KUKA":return y.Manufacturer.Kuka;case"UniversalRobots":return y.Manufacturer.Universalrobots;default:return null}}function Se(e,n){const r=se(e);return r&&r in I?I[r]:n||null}const Te=t.externalizeComponent(e=>{const{inverseSolver:n,jointType:r,...i}=e,s=f.useMemo(()=>!n&&r==="REVOLUTE_JOINT",[n,r]);return n||s?t.jsxRuntimeExports.jsx(P,{...i}):t.jsxRuntimeExports.jsx(B,{...i})});exports.CollisionSceneRenderer=pe;exports.LinearAxis=Le;exports.MANUFACTURER_HOME_CONFIGS=I;exports.MotionGroupVisualizer=Te;exports.PresetEnvironment=F;exports.Robot=te;exports.RobotCard=ve;exports.SafetyZonesRenderer=he;exports.SupportedLinearAxis=B;exports.SupportedRobot=P;exports.TrajectoryRenderer=je;exports.defaultAxisConfig=_e;exports.defaultGetModel=L;exports.extractManufacturer=se;exports.getDefaultHomeConfig=Se;
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