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

package/dist/{MotionGroupVisualizer-BgvrTXeT.js → MotionGroupVisualizer-Catdk92m.js}

@@ -1,19 +1,19 @@
-import { j as t, e as I } from "./externalizeComponent-Dc3fViZA.js";
+import { j as t, e as C } from "./externalizeComponent-Dc3fViZA.js";
 import * as x from "three";
-import { Matrix4 as w, Vector3 as L, 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 F, Line as O, useGLTF as Me, Bounds as H } from "@react-three/drei";
-import { useTheme as _e, Card as Te, Box as b, Typography as Y, Divider as q, Button as X } from "@mui/material";
-import { observer as ke } from "mobx-react-lite";
-import Le, { useRef as R, useEffect as _, useCallback as M, useState as k, Suspense as oe, useMemo as Fe } from "react";
-import { useTranslation as Ge } from "react-i18next";
-import { N as se, V as ie, c as ae, b as Z, M as v } from "./interpolation-6ZZN4S_x.js";
-import { ErrorBoundary as le } from "react-error-boundary";
-function Ve(e) {
+import { Matrix4 as w, Vector3 as L, Quaternion as E } from "three";
+import { ConvexGeometry as re } from "three-stdlib";
+import { useThree as oe, useFrame as se, Canvas as q } from "@react-three/fiber";
+import { Environment as Me, Lightformer as G, Line as J, useGLTF as _e, Bounds as X } from "@react-three/drei";
+import { useTheme as Te, Card as Le, Box as b, Typography as K, Divider as Z, Button as Q } from "@mui/material";
+import { observer as Ve } from "mobx-react-lite";
+import Ge, { useRef as R, useEffect as M, useCallback as T, useState as V, Suspense as ie, useMemo as O } from "react";
+import { useTranslation as Fe } from "react-i18next";
+import { N as ke, V as ae, c as le, b as ee, M as v, J as I } from "./interpolation-Chyc6Hfo.js";
+import { ErrorBoundary as ce } from "react-error-boundary";
+function Pe(e) {
   switch (e.shape_type) {
     case "convex_hull":
-      return new te(
+      return new re(
         e.vertices.map(
           (n) => new x.Vector3(
             n[0] / 1e3,
@@ -47,7 +47,7 @@ function Ve(e) {
       return console.warn(`${e.shape_type} is not supported`), new x.BufferGeometry();
   }
 }
-function Pe({
+function Ae({
   name: e,
   collider: r,
   children: n
@@ -64,7 +64,7 @@ function Pe({
         i[2]
       ).divideScalar(1e3),
       rotation: new x.Euler(o[0], o[1], o[2], "XYZ"),
-      geometry: Ve(r.shape),
+      geometry: Pe(r.shape),
       children: n
     }
   );
@@ -76,7 +76,7 @@ function Se({
   ...i
 }) {
   return /* @__PURE__ */ t.jsx("group", { name: e, ...i, children: Object.entries(r).map(([o, u]) => /* @__PURE__ */ t.jsx(
-    Pe,
+    Ae,
     {
       name: o,
       collider: u,
@@ -85,7 +85,7 @@ function Se({
     o
   )) });
 }
-function rt({
+function ot({
   scene: e,
   meshChildrenProvider: r
 }) {
@@ -98,13 +98,13 @@ function rt({
     }
   ) });
 }
-function Q() {
-  return /* @__PURE__ */ t.jsx(ve, { children: /* @__PURE__ */ t.jsx(Ae, {}) });
+function te() {
+  return /* @__PURE__ */ t.jsx(Me, { children: /* @__PURE__ */ t.jsx(Ie, {}) });
 }
-function Ae({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
+function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
   return /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
     /* @__PURE__ */ t.jsx(
-      F,
+      G,
       {
         intensity: 5,
         "rotation-x": Math.PI / 2,
@@ -113,7 +113,7 @@ function Ae({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ t.jsx("group", { children: e.map((r, n) => /* @__PURE__ */ t.jsx(
-      F,
+      G,
       {
         form: "circle",
         intensity: 5,
@@ -124,7 +124,7 @@ function Ae({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       n
     )) }) }),
     /* @__PURE__ */ t.jsx(
-      F,
+      G,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -133,7 +133,7 @@ function Ae({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      F,
+      G,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -142,7 +142,7 @@ function Ae({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      F,
+      G,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -151,7 +151,7 @@ function Ae({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      F,
+      G,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -160,7 +160,7 @@ function Ae({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      F,
+      G,
       {
         form: "ring",
         color: "white",
@@ -172,18 +172,18 @@ function Ae({ 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 re(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,
+    J,
     {
       points: n,
       lineWidth: 3,
@@ -245,16 +245,16 @@ function st({
     }
   ) });
 }
-const D = /* @__PURE__ */ new Map();
-async function C(e, r) {
-  if (D.has(e))
-    return D.get(e);
+const U = /* @__PURE__ */ new Map();
+async function D(e, r) {
+  if (U.has(e))
+    return U.get(e);
   const n = (async () => {
     var a;
-    const i = r || "", o = new se({ instanceUrl: i }), u = o.api.motionGroupModels;
+    const i = r || "", o = new ke({ 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);
@@ -263,31 +263,31 @@ async function C(e, r) {
       throw console.error("Failed to fetch model:", f), f;
     }
   })();
-  return D.set(e, n), n;
+  return U.set(e, n), n;
 }
-function ce(e) {
+function ue(e) {
   function r(n) {
     return n.children.length === 0 ? [n] : [n, ...n.children.flatMap((i) => r(i))];
   }
-  return r(e).filter((n) => fe(n));
+  return r(e).filter((n) => de(n));
 }
-function ue(e) {
+function fe(e) {
   return e.name.endsWith("_FLG");
 }
-function fe(e) {
+function de(e) {
   return /_J[0-9]+$/.test(e.name);
 }
-function Ce(e, r) {
+function De(e, r) {
   let n;
   function i(o) {
-    if (ue(o)) {
+    if (fe(o)) {
       if (n)
         throw Error(
           `Found multiple flange groups in robot model ${r}; first ${n.name} then ${o.name}. Only one _FLG group is allowed.`
         );
       n = o;
     }
-    fe(o), o.children.map(i);
+    de(o), o.children.map(i);
   }
   if (i(e.scene), !n)
     throw Error(
@@ -295,121 +295,121 @@ function Ce(e, r) {
     );
   return { gltf: e };
 }
-function de({
+function me({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   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 } = oe();
+  M(() => {
     const s = e.joint_position.filter(
-      (c) => c !== void 0
+      (l) => l !== void 0
     );
-    return a.current = new ie(s, {
+    return a.current = new ae(s, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
       // 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) => {
+  }, []), se((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) {
-    s && (u.current = ce(s), d(), f());
+  function c(s) {
+    s && (u.current = ue(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]), le(() => {
+    h();
+  }), /* @__PURE__ */ t.jsx("group", { ref: c, children: i });
 }
-const Ue = "line", De = "mesh";
-function ze({
+const ze = "line", Oe = "mesh";
+function Ue({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   ...n
 }) {
   const i = new w(), o = R([]), u = R([]);
-  Le.useEffect(() => {
+  Ge.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 L(), c = new z(), h = new L();
-    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 E(), 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(
-    de,
+    me,
     {
       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,
+              J,
               {
-                ref: (g) => {
-                  o.current[m] = g;
+                ref: (y) => {
+                  o.current[h] = y;
                 },
-                name: Ue,
-                points: [s, c],
+                name: ze,
+                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: De,
-                position: c,
+                name: Oe,
+                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;
-function me() {
-  return _(() => {
+const Ee = console.warn;
+function he() {
+  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({
@@ -452,56 +452,56 @@ function Be({
   postModelRender: n,
   ...i
 }) {
-  const o = Me(e);
+  const o = _e(e);
   let u;
   try {
-    u = Ce(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: fe(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) });
 }
-function he({
+function pe({
   modelURL: e,
   flangeRef: r,
   postModelRender: n,
   ...i
 }) {
-  const [o, u] = k(null);
-  return _(() => {
+  const [o, u] = V(null);
+  return M(() => {
     (async () => {
       try {
         if (typeof e == "string")
@@ -524,7 +524,7 @@ function he({
     }
   ) : null;
 }
-const pe = (e, r) => {
+const xe = (e, r) => {
   e.userData.isGhost || (e.traverse((n) => {
     if (n instanceof x.Mesh) {
       n.material instanceof x.Material && (n.material.colorWrite = !1);
@@ -548,7 +548,7 @@ const pe = (e, r) => {
       }), o.userData.isGhost = !0, n.parent && (n.parent.add(i), n.parent.add(o));
     }
   }), e.userData.isGhost = !0);
-}, xe = (e) => {
+}, ye = (e) => {
   if (!e.userData.isGhost) return;
   const r = [];
   e.traverse((n) => {
@@ -557,64 +557,64 @@ const pe = (e, r) => {
   }), r.forEach((n) => {
     n.parent && n.parent.remove(n);
   }), e.userData.isGhost = !1;
-}, ge = I(
+}, ge = C(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: r,
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+function ct({
   connectedMotionGroup: e,
-  getModel: r = C,
+  getModel: r = D,
   flangeRef: n,
   transparentColor: i,
   postModelRender: o,
@@ -1181,7 +1181,7 @@ function lt({
     return null;
   const a = e.modelFromController || "";
   return a && r(a) ? /* @__PURE__ */ t.jsx(
-    we,
+    be,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       modelFromController: a,
@@ -1193,7 +1193,7 @@ function lt({
       ...u
     }
   ) : /* @__PURE__ */ t.jsx(
-    je,
+    we,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       dhParameters: e.dhParameters,
@@ -1201,7 +1201,7 @@ function lt({
     }
   );
 }
-const ee = {
+const ne = {
   [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],
@@ -1241,74 +1241,37 @@ function $e(e) {
       return null;
   }
 }
-function ct(e, r) {
+function ut(e, r) {
   const n = $e(e);
-  return n && n in ee ? ee[n] : r || null;
+  return n && n in ne ? ne[n] : r || null;
 }
-const ut = I((e) => {
+const ft = C((e) => {
   const {
-    instanceUrl: r,
-    inverseSolver: n,
-    modelFromController: i,
-    ...o
-  } = e, [u, a] = k(
-    n
-  ), [, f] = k(!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 = Fe(() => [
-    "KUKA_DKP250",
-    "KUKA_DKP500_2",
-    "Yaskawa_TURN1",
-    "Yaskawa_TURN2",
-    "Yaskawa_TURN3"
-  ].some((m) => m.toLowerCase() === i.toLowerCase()), [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(I.RevoluteJoint);
+  M(() => {
+    n.length && u(n[0].type ?? I.RevoluteJoint);
+  }, [n]);
+  const a = O(() => r === null && o === I.RevoluteJoint, [r, o]), f = O(() => r === null && o === I.PrismaticJoint, [r, o]);
+  return O(() => !!r, [r]) || a ? /* @__PURE__ */ t.jsx(ge, { dhParameters: n, ...i }) : f ? /* @__PURE__ */ t.jsx(be, { dhParameters: n, ...i }) : /* @__PURE__ */ t.jsx(t.Fragment, {});
 });
 export {
-  rt as C,
-  lt as L,
-  ee as M,
-  Q as P,
+  ot as C,
+  ct as L,
+  ne as M,
+  te as P,
   We as R,
-  ot as S,
-  st as T,
-  ut as a,
-  it as b,
-  we as c,
+  st as S,
+  it as T,
+  ft as a,
+  at as b,
+  be as c,
   ge as d,
-  at as e,
-  C as f,
+  lt as e,
+  D as f,
   $e as g,
-  ct as h
+  ut as h
 };
-//# sourceMappingURL=MotionGroupVisualizer-BgvrTXeT.js.map
+//# sourceMappingURL=MotionGroupVisualizer-Catdk92m.js.map