@wandelbots/wandelbots-js-react-components 4.2.0 → 4.3.0

package/dist/{MotionGroupVisualizer-C3CB-L2z.cjs → MotionGroupVisualizer-C_fyiA-X.cjs}

@@ -1,2 +1,2 @@
-"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 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),s=new j.Vector3(e[2].x,e[2].y,e[2].z),o=new j.Vector3().subVectors(r,n),l=new j.Vector3().subVectors(s,n),a=new j.Vector3().crossVectors(o,l).normalize();for(let x=3;x<e.length;x++){const u=new j.Vector3(e[x].x,e[x].y,e[x].z),m=new j.Vector3().subVectors(u,n),f=a.dot(m);if(Math.abs(f)>1e-6)return console.log("Vertices are not on the same plane"),{isCoplanar:!1}}return{isCoplanar:!0,normal:a}}function he({safetyZones:e,...n}){return t.jsxRuntimeExports.jsx("group",{...n,children:e.map((r,s)=>{let o=[];return r.geometry&&(r.geometry.compound?o=r.geometry.compound.child_geometries:r.geometry.convex_hull&&(o=[r.geometry])),o.map((l,a)=>{if(!l.convex_hull)return null;const x=l.convex_hull.vertices.map(f=>new j.Vector3(f.x/1e3,f.y/1e3,f.z/1e3)),u=de(x);if(u.isCoplanar&&u.normal){const i=new j.Vector3().addVectors(x[0],u.normal.multiplyScalar(1e-4));x.push(i)}let m;try{m=new K.ConvexGeometry(x)}catch(f){return console.log("Error creating ConvexGeometry:",f),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:-a},s)},`${s}-${a}`)})})})}function je({trajectory:e,...n}){var s;const r=((s=e.trajectory)==null?void 0:s.map(o=>o.tcp_pose?new j.Vector3(o.tcp_pose.position.x/1e3,o.tcp_pose.position.z/1e3,-o.tcp_pose.position.y/1e3):null).filter(o=>o!==null))||[];return 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 G=new Map;async function S(e,n){if(G.has(e))return G.get(e);const r=(async()=>{var a;const s=n||"",o=new 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p.useEffect(()=>{f()},[e,f]),E.useAutorun(()=>{f()}),t.jsxRuntimeExports.jsx("group",{ref:u,children:s})}const ge="line",ye="mesh";function Ee({rapidlyChangingMotionState:e,dhParameters:n,...r}){const s=new g.Matrix4,o=p.useRef([]),l=p.useRef([]);p.useEffect(()=>{o.current=new Array(n.length).fill(null),l.current=new Array(n.length).fill(null)},[n.length]);function a(m,f){const i=new g.Vector3,c=new g.Quaternion,d=new g.Vector3;s.decompose(i,c,d);const R=i.clone(),h=new g.Matrix4().makeRotationY(m.theta+f*(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 s.multiply(h),s.decompose(i,c,d),{a:R,b:i}}function x(m,f,i,c){if(!n)return;const d=n[m];if(!d)return;const{a:R,b:h}=a(d,c);f.geometry.setPositions([R.toArray(),h.toArray()].flat()),i.position.set(h.x,h.y,h.z)}function u(m,f){s.identity();for(let 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re({rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:r,children:s}){const o=p.useRef([]),l=p.useRef([]),a=p.useRef(null),{invalidate:x}=_.useThree();p.useEffect(()=>{const i=e.joint_position.filter(c=>c!==void 0);return a.current=new E.ValueInterpolator(i,{tension:120,friction:20,threshold:.001}),()=>{var c;(c=a.current)==null||c.destroy()}},[]),_.useFrame((i,c)=>{if(a.current){const d=a.current.update(c);m(),d||x()}});function u(i){i&&(l.current=$(i),m(),x())}function m(){var c;const i=((c=a.current)==null?void 0:c.getCurrentValues())||[];if(r)r(l.current,i);else for(const[d,R]of l.current.entries()){const w=n[d].reverse_rotation_direction?-1:1;R.position.y=w*(i[d]||0)/1e3}}const f=p.useCallback(()=>{const i=e.joint_position.filter(c=>c!==void 0);requestAnimationFrame(()=>{var c;o.current=i,(c=a.current)==null||c.setTarget(i)})},[e]);return p.useEffect(()=>{f()},[e,f]),E.useAutorun(()=>{f()}),t.jsxRuntimeExports.jsx("group",{ref:u,children:s})}function ne({rapidlyChangingMotionState:e,dhParameters:n,...r}){const s=new g.Matrix4,o=p.useRef(null),l=p.useRef(null);function a(m){const f=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));f.multiply(b)}const i=new g.Vector3,c=new g.Quaternion,d=new g.Vector3;return f.decompose(i,c,d),i}const x=a(e.joint_position);function u(m,f){s.identity();let i=new g.Vector3;for(let h=0;h<n.length;h++){const w=f[h]??0,b=n[h],V=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));s.multiply(V)}const c=new g.Vector3,d=new g.Quaternion,R=new g.Vector3;if(s.decompose(c,d,R),i=c,o.current&&o.current.position.set(i.x,i.y,i.z),l.current){const 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 ${s}, falling back to local config`)}finally{setTimeout(()=>x(!0),0)}},[s,n]);p.useEffect(()=>{r===void 0&&!!s&&!!n&&u()},[r,s,u,n]);const m=p.useMemo(()=>["KUKA_DKP250","KUKA_DKP500_2","YASKAWA_TURN1","YASKAWA_TURN2","YASKAWA_TURN3"].includes(s),[s]);return l||m?t.jsxRuntimeExports.jsx(I,{instanceUrl:n,modelFromController:s,...o}):l===null?t.jsxRuntimeExports.jsx(B,{instanceUrl:n,modelFromController:s,...o}):null});exports.CollisionSceneRenderer=pe;exports.LinearAxis=Se;exports.MANUFACTURER_HOME_CONFIGS=P;exports.MotionGroupVisualizer=Ce;exports.PresetEnvironment=F;exports.Robot=te;exports.RobotCard=ve;exports.SafetyZonesRenderer=he;exports.SupportedLinearAxis=B;exports.SupportedRobot=I;exports.TrajectoryRenderer=je;exports.defaultAxisConfig=_e;exports.defaultGetModel=S;exports.extractManufacturer=se;exports.getDefaultHomeConfig=Ae;
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j.CapsuleGeometry(e.radius/1e3,e.cylinder_height/1e3);case"cylinder":return new j.CylinderGeometry(e.radius/1e3,e.radius/1e3,e.height/1e3);case"rectangle":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,0);default:return console.warn(`${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 A(){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),s=new j.Vector3(e[2].x,e[2].y,e[2].z),o=new j.Vector3().subVectors(r,n),l=new j.Vector3().subVectors(s,n),a=new j.Vector3().crossVectors(o,l).normalize();for(let x=3;x<e.length;x++){const u=new j.Vector3(e[x].x,e[x].y,e[x].z),m=new j.Vector3().subVectors(u,n),p=a.dot(m);if(Math.abs(p)>1e-6)return console.log("Vertices are not on the same plane"),{isCoplanar:!1}}return{isCoplanar:!0,normal:a}}function he({safetyZones:e,...n}){return t.jsxRuntimeExports.jsx("group",{...n,children:e.map((r,s)=>{let o=[];return r.geometry&&(r.geometry.compound?o=r.geometry.compound.child_geometries:r.geometry.convex_hull&&(o=[r.geometry])),o.map((l,a)=>{if(!l.convex_hull)return null;const x=l.convex_hull.vertices.map(p=>new j.Vector3(p.x/1e3,p.y/1e3,p.z/1e3)),u=de(x);if(u.isCoplanar&&u.normal){const i=new j.Vector3().addVectors(x[0],u.normal.multiplyScalar(1e-4));x.push(i)}let m;try{m=new W.ConvexGeometry(x)}catch(p){return console.log("Error creating ConvexGeometry:",p),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:-a},s)},`${s}-${a}`)})})})}function je({trajectory:e,...n}){var s;const r=((s=e.trajectory)==null?void 0:s.map(o=>o.tcp_pose?new j.Vector3(o.tcp_pose.position.x/1e3,o.tcp_pose.position.z/1e3,-o.tcp_pose.position.y/1e3):null).filter(o=>o!==null))||[];return t.jsxRuntimeExports.jsx("group",{...n,children:r.length>0&&t.jsxRuntimeExports.jsx(M.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}const F=new Map;async function S(e,n){if(F.has(e))return F.get(e);const r=(async()=>{var a;const s=n||"",o=new E.NovaClient({instanceUrl:s}),l=o.api.motionGroupModels;(a=l.axios)!=null&&a.interceptors&&l.axios.interceptors.request.use(x=>{var u;return(u=x.url)!=null&&u.includes("/glb")&&(x.responseType="blob"),x});try{const x=await o.api.motionGroupModels.getMotionGroupGlbModel(e);return URL.createObjectURL(x)}catch(x){throw console.error("Failed to fetch model:",x),x}})();return F.set(e,r),r}function H(e){function n(r){return r.children.length===0?[r]:[r,...r.children.flatMap(s=>n(s))]}return n(e).filter(r=>K(r))}function J(e){return e.name.endsWith("_FLG")}function K(e){return/_J[0-9]+$/.test(e.name)}function Re(e,n){let r;function s(o){if(J(o)){if(r)throw Error(`Found multiple flange groups in robot model ${n}; first ${r.name} then ${o.name}. 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f.useEffect(()=>{p()},[e,p]),E.useAutorun(()=>{p()}),t.jsxRuntimeExports.jsx("group",{ref:u,children:s})}const ge="line",ye="mesh";function Ee({rapidlyChangingMotionState:e,dhParameters:n,...r}){const s=new g.Matrix4,o=f.useRef([]),l=f.useRef([]);f.useEffect(()=>{o.current=new Array(n.length).fill(null),l.current=new Array(n.length).fill(null)},[n.length]);function a(m,p){const i=new g.Vector3,c=new g.Quaternion,d=new g.Vector3;s.decompose(i,c,d);const R=i.clone(),h=new g.Matrix4().makeRotationY(m.theta+p*(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 s.multiply(h),s.decompose(i,c,d),{a:R,b:i}}function x(m,p,i,c){if(!n)return;const d=n[m];if(!d)return;const{a:R,b:h}=a(d,c);p.geometry.setPositions([R.toArray(),h.toArray()].flat()),i.position.set(h.x,h.y,h.z)}function u(m,p){s.identity();for(let 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ne({rapidlyChangingMotionState:e,dhParameters:n,...r}){const s=new g.Matrix4,o=f.useRef(null),l=f.useRef(null);function a(m){const p=new g.Matrix4;for(let R=0;R<n.length;R++){const h=n[R],b=m[R]??0,w=new g.Matrix4().makeRotationY(h.theta).multiply(new g.Matrix4().makeTranslation(h.a/1e3,(h.d+b*(h.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(h.alpha));p.multiply(w)}const i=new g.Vector3,c=new g.Quaternion,d=new g.Vector3;return p.decompose(i,c,d),i}const x=a(e.joint_position);function u(m,p){s.identity();let i=new g.Vector3;for(let h=0;h<n.length;h++){const b=p[h]??0,w=n[h],G=new g.Matrix4().makeRotationY(w.theta).multiply(new g.Matrix4().makeTranslation(w.a/1e3,(w.d+b*(w.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(w.alpha));s.multiply(G)}const c=new g.Vector3,d=new g.Quaternion,R=new g.Vector3;if(s.decompose(c,d,R),i=c,o.current&&o.current.position.set(i.x,i.y,i.z),l.current){const 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B=t.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:s=S,flangeRef:o,postModelRender:l,transparentColor:a,instanceUrl:x,...u})=>{const[m,p]=f.useState(null),i=f.useCallback(d=>{p(d)},[]);f.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($.ErrorBoundary,{fallback:c,onError:d=>{console.warn(d)},children:[t.jsxRuntimeExports.jsx(f.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 ke(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]=f.useState(r),[,x]=f.useState(!1),u=f.useCallback(async()=>{const p=new E.NovaClient({instanceUrl:n});try{const i=await p.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]);f.useEffect(()=>{r===void 0&&!!s&&!!n&&u()},[r,s,u,n]);const m=f.useMemo(()=>["KUKA_DKP250","KUKA_DKP500_2","Yaskawa_TURN1","Yaskawa_TURN2","Yaskawa_TURN3"].some(p=>p.toLowerCase()===s.toLowerCase()),[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=A;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=ke;
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