@wandelbots/wandelbots-js-react-components 4.3.0 → 4.4.0

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "4.3.0",
+  "version": "4.4.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -93,7 +93,6 @@
     "@types/react": "^19.1.8",
     "@types/three": "^0.182.0",
     "@vitejs/plugin-react": "^4.3.4",
-    "@wandelbots/nova-js": "^3.5.3",
     "add": "^2.0.6",
     "eslint-plugin-storybook": "^10.1.10",
     "glob": "^13.0.0",
@@ -176,7 +175,7 @@
   "dependencies": {
     "@mui/x-charts": "^8.27.0",
     "@mui/x-data-grid": "^8.27.0",
-    "@wandelbots/nova-js": "^3.5.2",
+    "@wandelbots/nova-js": "^3.5.4",
     "axios": "^1.13.2",
     "dotenv": "^17.2.3",
     "i18next-browser-languagedetector": "^8.2.0",

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"
@@ -13,101 +12,60 @@ export type MotionGroupVisualizerProps = {
 
 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",
-    ].some(model => model.toLowerCase() === modelFromController.toLowerCase())
-  }, [modelFromController])
+    return inverseSolver === null && jointType === JointTypeEnum.RevoluteJoint
+  }, [inverseSolver, jointType])
+
+  /**
+   * Linear axis check
+   */
+  const isLinearAxis = useMemo(() => {
+    return inverseSolver === null && jointType === JointTypeEnum.PrismaticJoint
+  }, [inverseSolver, jointType])
+
+  /**
+   * Robot differentiation for readability reasons
+   */
+  const isRobot = useMemo(() => {
+    return !!inverseSolver
+  }, [inverseSolver])
+
 
-  if (inverseSolver || isTurnTable) {
+  if (isRobot || isTurnTable) {
     return (
-      <SupportedRobot
-        instanceUrl={instanceUrl}
-        modelFromController={modelFromController}
-        {...rest}
-      />
+      <SupportedRobot dhParameters={dhParameters} {...rest} />
     )
   }
 
-  if (inverseSolver === null) {
+  if(isLinearAxis) {
     return (
-      <SupportedLinearAxis
-        instanceUrl={instanceUrl}
-        modelFromController={modelFromController}
-        {...rest}
-      />
+      <SupportedLinearAxis dhParameters={dhParameters} {...rest} />
     )
   }
 
-  return null
+  return <></>
 })

package/dist/MotionGroupVisualizer-C_fyiA-X.cjs

@@ -1,2 +0,0 @@
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re({rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:r,children:s}){const o=f.useRef([]),l=f.useRef([]),a=f.useRef(null),{invalidate:x}=_.useThree();f.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=H(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 b=n[d].reverse_rotation_direction?-1:1;R.position.y=b*(i[d]||0)/1e3}}const p=f.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 f.useEffect(()=>{p()},[e,p]),E.useAutorun(()=>{p()}),t.jsxRuntimeExports.jsx("group",{ref:u,children:s})}function 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 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,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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