@wandelbots/wandelbots-js-react-components 4.4.1 → 4.5.0

package/dist/{MotionGroupVisualizer-Catdk92m.js → MotionGroupVisualizer-Ce9kTMPy.js}

@@ -1,16 +1,16 @@
 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 E } from "three";
+import { Matrix4 as w, Vector3 as T, 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 Me, { useEffect as v, useMemo as z, useRef as R, useCallback as V, useState as A, Suspense as oe } from "react";
+import { useThree as se, useFrame as ie, Canvas as q } from "@react-three/fiber";
+import { Environment as _e, Lightformer as L, Line as J, useGLTF as Ve, Bounds as X } from "@react-three/drei";
+import { useTheme as Te, Card as Ae, Box as b, Typography as K, Divider as Q, Button as Z } from "@mui/material";
+import { observer as Le } from "mobx-react-lite";
+import { useTranslation as Ge } from "react-i18next";
+import { N as Se, V as ae, c as le, b as ee, M, J as I } from "./interpolation-Chyc6Hfo.js";
 import { ErrorBoundary as ce } from "react-error-boundary";
-function Pe(e) {
+function ke(e) {
   switch (e.shape_type) {
     case "convex_hull":
       return new re(
@@ -47,40 +47,40 @@ function Pe(e) {
       return console.warn(`${e.shape_type} is not supported`), new x.BufferGeometry();
   }
 }
-function Ae({
+function Fe({
   name: e,
   collider: r,
   children: n
 }) {
-  var u, a;
-  const i = ((u = r.pose) == null ? void 0 : u.position) ?? [0, 0, 0], o = ((a = r.pose) == null ? void 0 : a.orientation) ?? [0, 0, 0];
+  var f, s;
+  const l = ((f = r.pose) == null ? void 0 : f.position) ?? [0, 0, 0], o = ((s = r.pose) == null ? void 0 : s.orientation) ?? [0, 0, 0];
   return r.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ t.jsx(
     "mesh",
     {
       name: e,
       position: new x.Vector3(
-        i[0],
-        i[1],
-        i[2]
+        l[0],
+        l[1],
+        l[2]
       ).divideScalar(1e3),
       rotation: new x.Euler(o[0], o[1], o[2], "XYZ"),
-      geometry: Pe(r.shape),
+      geometry: ke(r.shape),
       children: n
     }
   );
 }
-function Se({
+function Pe({
   name: e,
   colliders: r,
   meshChildrenProvider: n,
-  ...i
+  ...l
 }) {
-  return /* @__PURE__ */ t.jsx("group", { name: e, ...i, children: Object.entries(r).map(([o, u]) => /* @__PURE__ */ t.jsx(
-    Ae,
+  return /* @__PURE__ */ t.jsx("group", { name: e, ...l, children: Object.entries(r).map(([o, f]) => /* @__PURE__ */ t.jsx(
+    Fe,
     {
       name: o,
-      collider: u,
-      children: n(o, u)
+      collider: f,
+      children: n(o, f)
     },
     o
   )) });
@@ -91,7 +91,7 @@ function ot({
 }) {
   const n = e.colliders;
   return /* @__PURE__ */ t.jsx("group", { children: n && /* @__PURE__ */ t.jsx(
-    Se,
+    Pe,
     {
       meshChildrenProvider: r,
       colliders: n
@@ -99,12 +99,12 @@ function ot({
   ) });
 }
 function te() {
-  return /* @__PURE__ */ t.jsx(Me, { children: /* @__PURE__ */ t.jsx(Ie, {}) });
+  return /* @__PURE__ */ t.jsx(_e, { children: /* @__PURE__ */ t.jsx(Ie, {}) });
 }
 function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
   return /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
     /* @__PURE__ */ t.jsx(
-      G,
+      L,
       {
         intensity: 5,
         "rotation-x": Math.PI / 2,
@@ -113,7 +113,7 @@ function Ie({ 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(
-      G,
+      L,
       {
         form: "circle",
         intensity: 5,
@@ -124,7 +124,7 @@ function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       n
     )) }) }),
     /* @__PURE__ */ t.jsx(
-      G,
+      L,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -133,7 +133,7 @@ function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      G,
+      L,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -142,7 +142,7 @@ function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      G,
+      L,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -151,7 +151,7 @@ function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      G,
+      L,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -160,7 +160,7 @@ function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ t.jsx(
-      G,
+      L,
       {
         form: "ring",
         color: "white",
@@ -172,64 +172,76 @@ function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
     )
   ] });
 }
-function Ce(e) {
+function ze(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 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)
+  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), l = new x.Vector3(e[2].x, e[2].y, e[2].z), o = new x.Vector3().subVectors(n, r), f = new x.Vector3().subVectors(l, r), s = new x.Vector3().crossVectors(o, f).normalize();
+  for (let u = 3; u < e.length; u++) {
+    const a = new x.Vector3(e[u].x, e[u].y, e[u].z), d = new x.Vector3().subVectors(a, r), m = s.dot(d);
+    if (Math.abs(m) > 1e-6)
       return console.log("Vertices are not on the same plane"), { isCoplanar: !1 };
   }
-  return { isCoplanar: !0, normal: a };
+  return { isCoplanar: !0, normal: s };
 }
 function st({
   safetyZones: e,
   ...r
 }) {
-  return /* @__PURE__ */ t.jsx("group", { ...r, children: e.map((n, i) => {
-    let o = [];
-    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(
-        (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],
-          c.normal.multiplyScalar(1e-4)
-        );
-        f.push(s);
-      }
-      let d;
-      try {
-        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",
-        {
-          attach: "material",
-          color: "#009f4d",
-          opacity: 0.2,
-          depthTest: !1,
-          depthWrite: !1,
-          transparent: !0,
-          polygonOffset: !0,
-          polygonOffsetFactor: -a
-        },
-        i
-      ) }, `${i}-${a}`);
+  v(() => {
+    Array.isArray(e) && console.warn("SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.");
+  }, [e]);
+  const n = (s, u) => {
+    const a = ze(s);
+    if (a.isCoplanar && a.normal) {
+      const i = new x.Vector3().addVectors(
+        s[0],
+        a.normal.multiplyScalar(1e-4)
+      );
+      s.push(i);
+    }
+    let d;
+    try {
+      d = new re(s);
+    } catch (m) {
+      return console.log("Error creating ConvexGeometry:", m), null;
+    }
+    return /* @__PURE__ */ t.jsx("mesh", { geometry: d, children: /* @__PURE__ */ t.jsx(
+      "meshStandardMaterial",
+      {
+        attach: "material",
+        color: "#009f4d",
+        opacity: 0.2,
+        depthTest: !1,
+        depthWrite: !1,
+        transparent: !0,
+        polygonOffset: !0,
+        polygonOffsetFactor: -u
+      },
+      `safety-zone-material-${u}`
+    ) }, `safety-zone-mesh-${u}`);
+  }, l = () => Object.values(e ?? {}).map((s, u) => {
+    let a = [];
+    Object.keys(s.shape).includes("vertices") && (a = s.shape.vertices);
+    const d = a.map((m) => new x.Vector3(m[0] / 1e3, m[1] / 1e3, m[2] / 1e3));
+    return n(d, u);
+  }), o = () => Array.isArray(e) ? e.map((s, u) => {
+    let a = [];
+    return s.geometry && (s.geometry.compound ? a = s.geometry.compound.child_geometries : s.geometry.convex_hull && (a = [s.geometry])), a.map((d, m) => {
+      if (!d.convex_hull) return null;
+      const i = d.convex_hull.vertices.map(
+        (c) => new x.Vector3(c.x / 1e3, c.y / 1e3, c.z / 1e3)
+      );
+      return n(i, u * 1e3 + m);
     });
-  }) });
+  }) : null, f = z(() => Array.isArray(e) ? o() : l(), [e, o, l]);
+  return /* @__PURE__ */ t.jsx("group", { ...r, children: f });
 }
 function it({
   trajectory: e,
   ...r
 }) {
-  var i;
-  const n = ((i = e.trajectory) == null ? void 0 : i.map((o) => o.tcp_pose ? new x.Vector3(
+  var l;
+  const n = ((l = e.trajectory) == null ? void 0 : l.map((o) => o.tcp_pose ? new x.Vector3(
     o.tcp_pose.position.x / 1e3,
     o.tcp_pose.position.z / 1e3,
     -o.tcp_pose.position.y / 1e3
@@ -250,24 +262,24 @@ async function D(e, r) {
   if (U.has(e))
     return U.get(e);
   const n = (async () => {
-    var a;
-    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 c;
-      return (c = f.url) != null && c.includes("/glb") && (f.responseType = "blob"), f;
+    var s;
+    const l = r || "", o = new Se({ instanceUrl: l }), f = o.api.motionGroupModels;
+    (s = f.axios) != null && s.interceptors && f.axios.interceptors.request.use((u) => {
+      var a;
+      return (a = u.url) != null && a.includes("/glb") && (u.responseType = "blob"), u;
     });
     try {
-      const f = await o.api.motionGroupModels.getMotionGroupGlbModel(e);
-      return URL.createObjectURL(f);
-    } catch (f) {
-      throw console.error("Failed to fetch model:", f), f;
+      const u = await o.api.motionGroupModels.getMotionGroupGlbModel(e);
+      return URL.createObjectURL(u);
+    } catch (u) {
+      throw console.error("Failed to fetch model:", u), u;
     }
   })();
   return U.set(e, n), n;
 }
 function ue(e) {
   function r(n) {
-    return n.children.length === 0 ? [n] : [n, ...n.children.flatMap((i) => r(i))];
+    return n.children.length === 0 ? [n] : [n, ...n.children.flatMap((l) => r(l))];
   }
   return r(e).filter((n) => de(n));
 }
@@ -277,9 +289,9 @@ function fe(e) {
 function de(e) {
   return /_J[0-9]+$/.test(e.name);
 }
-function De(e, r) {
+function Ce(e, r) {
   let n;
-  function i(o) {
+  function l(o) {
     if (fe(o)) {
       if (n)
         throw Error(
@@ -287,9 +299,9 @@ function De(e, r) {
         );
       n = o;
     }
-    de(o), o.children.map(i);
+    de(o), o.children.map(l);
   }
-  if (i(e.scene), !n)
+  if (l(e.scene), !n)
     throw Error(
       `No flange group found in robot model ${r}. Flange must be identified with a name ending in _FLG.`
     );
@@ -299,90 +311,90 @@ function me({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   onRotationChanged: n,
-  children: i
+  children: l
 }) {
-  const o = R([]), u = R([]), a = R(null), { invalidate: f } = oe();
-  M(() => {
-    const s = e.joint_position.filter(
-      (l) => l !== void 0
+  const o = R([]), f = R([]), s = R(null), { invalidate: u } = se();
+  v(() => {
+    const i = e.joint_position.filter(
+      (c) => c !== void 0
     );
-    return a.current = new ae(s, {
+    return s.current = new ae(i, {
       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 l;
-      (l = a.current) == null || l.destroy();
+      var c;
+      (c = s.current) == null || c.destroy();
     };
-  }, []), se((s, l) => {
-    if (a.current) {
-      const m = a.current.update(l);
-      d(), m || f();
+  }, []), ie((i, c) => {
+    if (s.current) {
+      const h = s.current.update(c);
+      d(), h || u();
     }
   });
-  function c(s) {
-    s && (u.current = ue(s), d(), f());
+  function a(i) {
+    i && (f.current = ue(i), d(), u());
   }
   function d() {
-    var l;
-    const s = ((l = a.current) == null ? void 0 : l.getCurrentValues()) || [];
+    var c;
+    const i = ((c = s.current) == null ? void 0 : c.getCurrentValues()) || [];
     if (n)
-      n(u.current, s);
+      n(f.current, i);
     else
-      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;
+      for (const [h, y] of f.current.entries()) {
+        const p = r[h], j = p.theta || 0, g = p.reverse_rotation_direction ? -1 : 1;
+        y.rotation.y = g * (i[h] || 0) + j;
       }
   }
-  const h = T(() => {
-    const s = e.joint_position.filter(
-      (l) => l !== void 0
+  const m = V(() => {
+    const i = e.joint_position.filter(
+      (c) => c !== void 0
     );
     requestAnimationFrame(() => {
-      var l;
-      o.current = s, (l = a.current) == null || l.setTarget(s);
+      var c;
+      o.current = i, (c = s.current) == null || c.setTarget(i);
     });
   }, [e]);
-  return M(() => {
-    h();
-  }, [e, h]), le(() => {
-    h();
-  }), /* @__PURE__ */ t.jsx("group", { ref: c, children: i });
+  return v(() => {
+    m();
+  }, [e, m]), le(() => {
+    m();
+  }), /* @__PURE__ */ t.jsx("group", { ref: a, children: l });
 }
-const ze = "line", Oe = "mesh";
+const De = "line", Oe = "mesh";
 function Ue({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   ...n
 }) {
-  const i = new w(), o = R([]), u = R([]);
-  Ge.useEffect(() => {
-    o.current = new Array(r.length).fill(null), u.current = new Array(r.length).fill(null);
+  const l = new w(), o = R([]), f = R([]);
+  Me.useEffect(() => {
+    o.current = new Array(r.length).fill(null), f.current = new Array(r.length).fill(null);
   }, [r.length]);
-  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)
+  function s(d, m) {
+    const i = new T(), c = new E(), h = new T();
+    l.decompose(i, c, h);
+    const y = i.clone(), p = new w().makeRotationY(
+      d.theta + m * (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, l, m), { a: y, b: s };
+    return l.multiply(p), l.decompose(i, c, h), { a: y, b: i };
   }
-  function f(d, h, s, l) {
+  function u(d, m, i, c) {
     if (!r)
       return;
-    const m = r[d];
-    if (!m)
+    const h = r[d];
+    if (!h)
       return;
-    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);
+    const { a: y, b: p } = s(h, c);
+    m.geometry.setPositions([y.toArray(), p.toArray()].flat()), i.position.set(p.x, p.y, p.z);
   }
-  function c(d, h) {
-    i.identity();
-    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]);
+  function a(d, m) {
+    l.identity();
+    for (let i = 0; i < Math.min(d.length, m.length); i++) {
+      const c = o.current[i], h = f.current[i];
+      c && h && u(i, c, h, m[i]);
     }
   }
   return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
@@ -390,26 +402,26 @@ function Ue({
     {
       rapidlyChangingMotionState: e,
       dhParameters: r,
-      onRotationChanged: c,
+      onRotationChanged: a,
       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, h) => {
-          const { a: s, b: l } = a(
+        r.map((d, m) => {
+          const { a: i, b: c } = s(
             d,
-            e.joint_position[h] ?? 0
-          ), m = `dhrobot_J0${h}`;
-          return /* @__PURE__ */ t.jsxs("group", { name: m, children: [
+            e.joint_position[m] ?? 0
+          ), h = `dhrobot_J0${m}`;
+          return /* @__PURE__ */ t.jsxs("group", { name: h, children: [
             /* @__PURE__ */ t.jsx(
               J,
               {
                 ref: (y) => {
-                  o.current[h] = y;
+                  o.current[m] = y;
                 },
-                name: ze,
-                points: [s, l],
+                name: De,
+                points: [i, c],
                 color: "white",
                 lineWidth: 5
               }
@@ -418,18 +430,18 @@ function Ue({
               "mesh",
               {
                 ref: (y) => {
-                  u.current[h] = y;
+                  f.current[m] = y;
                 },
                 name: Oe,
-                position: l,
+                position: c,
                 children: [
                   /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
                   /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
                 ]
               },
-              "mesh_" + h
+              "mesh_" + m
             )
-          ] }, m);
+          ] }, h);
         })
       ] })
     }
@@ -437,7 +449,7 @@ function Ue({
 }
 const Ee = console.warn;
 function he() {
-  return M(() => {
+  return v(() => {
     console.warn = (e) => {
       e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Ee(e);
     };
@@ -450,68 +462,68 @@ function Be({
   url: e,
   flangeRef: r,
   postModelRender: n,
-  ...i
+  ...l
 }) {
-  const o = _e(e);
-  let u;
+  const o = Ve(e);
+  let f;
   try {
-    u = De(o, "robot.glb").gltf;
-  } catch (c) {
-    throw c;
+    f = Ce(o, "robot.glb").gltf;
+  } catch (a) {
+    throw a;
   }
-  const a = T(
-    (c) => {
-      c && n && n();
+  const s = V(
+    (a) => {
+      a && n && n();
     },
     [n]
   );
-  function f(c) {
+  function u(a) {
     try {
-      return Je(c) ? c.geometry ? /* @__PURE__ */ t.jsx(
+      return Je(a) ? a.geometry ? /* @__PURE__ */ t.jsx(
         "mesh",
         {
-          name: c.name,
-          geometry: c.geometry,
-          material: c.material,
-          position: c.position,
-          rotation: c.rotation
+          name: a.name,
+          geometry: a.geometry,
+          material: a.material,
+          position: a.position,
+          rotation: a.rotation
         },
-        c.uuid
-      ) : /* @__PURE__ */ t.jsx("group", { name: c.name, position: c.position, rotation: c.rotation }, c.uuid) : /* @__PURE__ */ t.jsx(
+        a.uuid
+      ) : /* @__PURE__ */ t.jsx("group", { name: a.name, position: a.position, rotation: a.rotation }, a.uuid) : /* @__PURE__ */ t.jsx(
         "group",
         {
-          name: c.name,
-          position: c.position,
-          rotation: c.rotation,
-          ref: fe(c) ? r : void 0,
-          children: c.children.map(f)
+          name: a.name,
+          position: a.position,
+          rotation: a.rotation,
+          ref: fe(a) ? r : void 0,
+          children: a.children.map(u)
         },
-        c.uuid
+        a.uuid
       );
     } catch (d) {
-      return console.warn("Error rendering node", c.name, d), null;
+      return console.warn("Error rendering node", a.name, d), null;
     }
   }
-  return /* @__PURE__ */ t.jsx("group", { ...i, dispose: null, ref: a, children: f(u.scene) });
+  return /* @__PURE__ */ t.jsx("group", { ...l, dispose: null, ref: s, children: u(f.scene) });
 }
 function pe({
   modelURL: e,
   flangeRef: r,
   postModelRender: n,
-  ...i
+  ...l
 }) {
-  const [o, u] = V(null);
-  return M(() => {
+  const [o, f] = A(null);
+  return v(() => {
     (async () => {
       try {
         if (typeof e == "string")
-          u(e);
+          f(e);
         else {
-          const f = await e;
-          u(f);
+          const u = await e;
+          f(u);
         }
-      } catch (f) {
-        console.error("Failed to resolve model URL:", f);
+      } catch (u) {
+        console.error("Failed to resolve model URL:", u);
       }
     })();
   }, [e]), o ? /* @__PURE__ */ t.jsx(
@@ -520,7 +532,7 @@ function pe({
       url: o,
       flangeRef: r,
       postModelRender: n,
-      ...i
+      ...l
     }
   ) : null;
 }
@@ -528,15 +540,15 @@ const xe = (e, r) => {
   e.userData.isGhost || (e.traverse((n) => {
     if (n instanceof x.Mesh) {
       n.material instanceof x.Material && (n.material.colorWrite = !1);
-      const i = n.clone(), o = n.clone();
-      i.material = new x.MeshStandardMaterial({
+      const l = n.clone(), o = n.clone();
+      l.material = new x.MeshStandardMaterial({
         depthTest: !0,
         depthWrite: !0,
         colorWrite: !1,
         polygonOffset: !0,
         polygonOffsetFactor: -1,
         side: x.DoubleSide
-      }), i.userData.isGhost = !0, o.material = new x.MeshStandardMaterial({
+      }), l.userData.isGhost = !0, o.material = new x.MeshStandardMaterial({
         color: r,
         opacity: 0.3,
         depthTest: !0,
@@ -545,15 +557,15 @@ const xe = (e, r) => {
         polygonOffset: !0,
         polygonOffsetFactor: -2,
         side: x.DoubleSide
-      }), o.userData.isGhost = !0, n.parent && (n.parent.add(i), n.parent.add(o));
+      }), o.userData.isGhost = !0, n.parent && (n.parent.add(l), n.parent.add(o));
     }
   }), e.userData.isGhost = !0);
 }, ye = (e) => {
   if (!e.userData.isGhost) return;
   const r = [];
   e.traverse((n) => {
-    var i;
-    n instanceof x.Mesh && ((i = n.userData) != null && i.isGhost ? r.push(n) : n.material instanceof x.Material && (n.material.colorWrite = !0));
+    var l;
+    n instanceof x.Mesh && ((l = n.userData) != null && l.isGhost ? r.push(n) : n.material instanceof x.Material && (n.material.colorWrite = !0));
   }), r.forEach((n) => {
     n.parent && n.parent.remove(n);
   }), e.userData.isGhost = !1;
@@ -562,36 +574,36 @@ const xe = (e, r) => {
     rapidlyChangingMotionState: e,
     modelFromController: r,
     dhParameters: n,
-    getModel: i = D,
+    getModel: l = D,
     flangeRef: o,
-    postModelRender: u,
-    transparentColor: a,
-    instanceUrl: f,
-    ...c
+    postModelRender: f,
+    transparentColor: s,
+    instanceUrl: u,
+    ...a
   }) => {
-    const [d, h] = V(null), s = T((m) => {
-      h(m);
+    const [d, m] = A(null), i = V((h) => {
+      m(h);
     }, []);
-    M(() => {
-      d && (a ? xe(d, a) : ye(d));
-    }, [d, a]);
-    const l = /* @__PURE__ */ t.jsx(
+    v(() => {
+      d && (s ? xe(d, s) : ye(d));
+    }, [d, s]);
+    const c = /* @__PURE__ */ t.jsx(
       Ue,
       {
         rapidlyChangingMotionState: e,
         dhParameters: n,
-        ...c
+        ...a
       }
     );
     return /* @__PURE__ */ t.jsxs(
       ce,
       {
-        fallback: l,
-        onError: (m) => {
-          console.warn(m);
+        fallback: c,
+        onError: (h) => {
+          console.warn(h);
         },
         children: [
-          /* @__PURE__ */ t.jsx(ie, { fallback: l, children: /* @__PURE__ */ t.jsx("group", { ref: s, children: /* @__PURE__ */ t.jsx(
+          /* @__PURE__ */ t.jsx(oe, { fallback: c, children: /* @__PURE__ */ t.jsx("group", { ref: i, children: /* @__PURE__ */ t.jsx(
             me,
             {
               rapidlyChangingMotionState: e,
@@ -600,16 +612,16 @@ const xe = (e, r) => {
                 pe,
                 {
                   modelURL: (() => {
-                    const m = i(r, f);
-                    if (!m) {
+                    const h = l(r, u);
+                    if (!h) {
                       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 m;
+                    return h;
                   })(),
-                  postModelRender: u,
+                  postModelRender: f,
                   flangeRef: o,
-                  ...c
+                  ...a
                 }
               )
             }
@@ -624,9 +636,9 @@ function We({
   connectedMotionGroup: e,
   getModel: r = D,
   flangeRef: n,
-  transparentColor: i,
+  transparentColor: l,
   postModelRender: o,
-  ...u
+  ...f
 }) {
   return e.dhParameters ? /* @__PURE__ */ t.jsx(
     ge,
@@ -636,56 +648,56 @@ function We({
       dhParameters: e.dhParameters,
       getModel: r,
       flangeRef: n,
-      transparentColor: i,
+      transparentColor: l,
       postModelRender: o,
-      ...u
+      ...f
     }
   ) : null;
 }
 const at = C(
-  Ve(
+  Le(
     ({
       robotName: e,
       programState: r,
       safetyState: n,
-      operationMode: i,
+      operationMode: l,
       driveToHomeEnabled: o = !1,
-      onDriveToHomePress: u,
-      onDriveToHomeRelease: a,
-      connectedMotionGroup: f,
-      robotComponent: c = We,
+      onDriveToHomePress: f,
+      onDriveToHomeRelease: s,
+      connectedMotionGroup: u,
+      robotComponent: a = We,
       customContentComponent: d,
-      className: h
+      className: m
     }) => {
       var $;
-      const s = Te(), { t: l } = Fe(), [m, y] = V(!1), p = R(null), j = R(null), [g, z] = V(!1), [F, Re] = V({ width: 400, height: 600 }), [He, ve] = V(0);
-      M(() => {
-        const S = () => {
+      const i = Te(), { t: c } = Ge(), [h, y] = A(!1), p = R(null), j = R(null), [g, O] = A(!1), [G, Re] = A({ width: 400, height: 600 }), [He, ve] = A(0);
+      v(() => {
+        const P = () => {
           if (j.current) {
             const { offsetWidth: N, offsetHeight: Y } = j.current;
-            z(N > Y), Re({ width: N, height: Y });
+            O(N > Y), Re({ width: N, height: Y });
           }
         };
-        S();
-        const H = new ResizeObserver(S);
+        P();
+        const H = new ResizeObserver(P);
         return j.current && H.observe(j.current), () => {
           H.disconnect();
         };
       }, []);
-      const B = T(() => {
-        ve((S) => S + 1);
-      }, []), k = T(() => {
-        !o || !u || (y(!0), u());
-      }, [o, u]), P = T(() => {
-        !o || !a || (y(!1), a());
-      }, [o, a]), W = T(() => {
-        m && a && (y(!1), a());
-      }, [m, a]), _ = g ? F.width < 350 : F.height < 200, A = g ? F.height < 310 : F.height < 450;
+      const B = V(() => {
+        ve((P) => P + 1);
+      }, []), S = V(() => {
+        !o || !f || (y(!0), f());
+      }, [o, f]), k = V(() => {
+        !o || !s || (y(!1), s());
+      }, [o, s]), W = V(() => {
+        h && s && (y(!1), s());
+      }, [h, s]), _ = g ? G.width < 350 : G.height < 200, F = g ? G.height < 310 : G.height < 450;
       return /* @__PURE__ */ t.jsx(
-        Le,
+        Ae,
         {
           ref: j,
-          className: h,
+          className: m,
           sx: {
             width: "100%",
             height: "100%",
@@ -696,10 +708,10 @@ const at = C(
             minWidth: { xs: 180, sm: 220, md: 250 },
             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}`,
+            border: `1px solid ${i.palette.divider}`,
             borderRadius: "18px",
             boxShadow: "none",
-            backgroundColor: (($ = s.palette.backgroundPaperElevation) == null ? void 0 : $[8]) || "#2A2A3F",
+            backgroundColor: (($ = i.palette.backgroundPaperElevation) == null ? void 0 : $[8]) || "#2A2A3F",
             backgroundImage: "none"
             // Override any gradient from elevation
           },
@@ -731,7 +743,7 @@ const at = C(
                     shadows: !0,
                     frameloop: "demand",
                     style: {
-                      borderRadius: s.shape.borderRadius,
+                      borderRadius: i.shape.borderRadius,
                       width: "100%",
                       height: "100%",
                       background: "transparent",
@@ -744,9 +756,9 @@ const at = C(
                     children: [
                       /* @__PURE__ */ t.jsx(te, {}),
                       /* @__PURE__ */ t.jsx(X, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ t.jsx(
-                        c,
+                        a,
                         {
-                          connectedMotionGroup: f,
+                          connectedMotionGroup: u,
                           postModelRender: B
                         }
                       ) })
@@ -781,7 +793,7 @@ const at = C(
                           {
                             programState: r,
                             safetyState: n,
-                            operationMode: i
+                            operationMode: l
                           }
                         )
                       ]
@@ -799,15 +811,15 @@ const at = C(
                         justifyContent: "space-between"
                       },
                       children: [
-                        !A && d && /* @__PURE__ */ t.jsxs(b, { children: [
+                        !F && d && /* @__PURE__ */ t.jsxs(b, { children: [
                           /* @__PURE__ */ t.jsx(d, {}),
                           /* @__PURE__ */ t.jsx(
-                            Z,
+                            Q,
                             {
                               sx: {
                                 mt: 1,
                                 mb: 0,
-                                borderColor: s.palette.divider,
+                                borderColor: i.palette.divider,
                                 opacity: 0.5
                               }
                             }
@@ -817,7 +829,7 @@ const at = C(
                           b,
                           {
                             sx: {
-                              mt: !A && d ? "auto" : 0
+                              mt: !F && d ? "auto" : 0
                             },
                             children: /* @__PURE__ */ t.jsx(
                               b,
@@ -829,24 +841,24 @@ const at = C(
                                   mb: { xs: 0.5, sm: 0.75, md: 1 }
                                 },
                                 children: /* @__PURE__ */ t.jsx(
-                                  Q,
+                                  Z,
                                   {
                                     ref: p,
                                     variant: "contained",
                                     color: "secondary",
                                     size: "small",
                                     disabled: !o,
-                                    onMouseDown: k,
-                                    onMouseUp: P,
+                                    onMouseDown: S,
+                                    onMouseUp: k,
                                     onMouseLeave: W,
-                                    onTouchStart: k,
-                                    onTouchEnd: P,
+                                    onTouchStart: S,
+                                    onTouchEnd: k,
                                     sx: {
                                       textTransform: "none",
                                       px: 1.5,
                                       py: 0.5
                                     },
-                                    children: l("RobotCard.DriveToHome.bt")
+                                    children: c("RobotCard.DriveToHome.bt")
                                   }
                                 )
                               }
@@ -876,7 +888,7 @@ const at = C(
                     {
                       programState: r,
                       safetyState: n,
-                      operationMode: i
+                      operationMode: l
                     }
                   )
                 ] }),
@@ -903,7 +915,7 @@ const at = C(
                         shadows: !0,
                         frameloop: "demand",
                         style: {
-                          borderRadius: s.shape.borderRadius,
+                          borderRadius: i.shape.borderRadius,
                           width: "100%",
                           height: "100%",
                           background: "transparent",
@@ -914,9 +926,9 @@ const at = C(
                         children: [
                           /* @__PURE__ */ t.jsx(te, {}),
                           /* @__PURE__ */ t.jsx(X, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ t.jsx(
-                            c,
+                            a,
                             {
-                              connectedMotionGroup: f,
+                              connectedMotionGroup: u,
                               postModelRender: B
                             }
                           ) })
@@ -926,15 +938,15 @@ const at = C(
                   }
                 ),
                 /* @__PURE__ */ t.jsxs(b, { children: [
-                  !A && d && /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
+                  !F && d && /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
                     /* @__PURE__ */ t.jsx(d, {}),
                     /* @__PURE__ */ t.jsx(
-                      Z,
+                      Q,
                       {
                         sx: {
                           mt: 1,
                           mb: 0,
-                          borderColor: s.palette.divider,
+                          borderColor: i.palette.divider,
                           opacity: 0.5
                         }
                       }
@@ -946,28 +958,28 @@ const at = C(
                       sx: {
                         display: "flex",
                         justifyContent: "flex-start",
-                        mt: !A && d ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
+                        mt: !F && 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(
-                        Q,
+                        Z,
                         {
                           ref: p,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
                           disabled: !o,
-                          onMouseDown: k,
-                          onMouseUp: P,
+                          onMouseDown: S,
+                          onMouseUp: k,
                           onMouseLeave: W,
-                          onTouchStart: k,
-                          onTouchEnd: P,
+                          onTouchStart: S,
+                          onTouchEnd: k,
                           sx: {
                             textTransform: "none",
                             px: 1.5,
                             py: 0.5
                           },
-                          children: l("RobotCard.DriveToHome.bt")
+                          children: c("RobotCard.DriveToHome.bt")
                         }
                       )
                     }
@@ -985,66 +997,66 @@ function je({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   onTranslationChanged: n,
-  children: i
+  children: l
 }) {
-  const o = R([]), u = R([]), a = R(null), { invalidate: f } = oe();
-  M(() => {
-    const s = e.joint_position.filter(
-      (l) => l !== void 0
+  const o = R([]), f = R([]), s = R(null), { invalidate: u } = se();
+  v(() => {
+    const i = e.joint_position.filter(
+      (c) => c !== void 0
     );
-    return a.current = new ae(s, {
+    return s.current = new ae(i, {
       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 l;
-      (l = a.current) == null || l.destroy();
+      var c;
+      (c = s.current) == null || c.destroy();
     };
-  }, []), se((s, l) => {
-    if (a.current) {
-      const m = a.current.update(l);
-      d(), m || f();
+  }, []), ie((i, c) => {
+    if (s.current) {
+      const h = s.current.update(c);
+      d(), h || u();
     }
   });
-  function c(s) {
-    s && (u.current = ue(s), d(), f());
+  function a(i) {
+    i && (f.current = ue(i), d(), u());
   }
   function d() {
-    var l;
-    const s = ((l = a.current) == null ? void 0 : l.getCurrentValues()) || [];
+    var c;
+    const i = ((c = s.current) == null ? void 0 : c.getCurrentValues()) || [];
     if (n)
-      n(u.current, s);
+      n(f.current, i);
     else
-      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;
+      for (const [h, y] of f.current.entries()) {
+        const j = r[h].reverse_rotation_direction ? -1 : 1;
+        y.position.y = j * (i[h] || 0) / 1e3;
       }
   }
-  const h = T(() => {
-    const s = e.joint_position.filter(
-      (l) => l !== void 0
+  const m = V(() => {
+    const i = e.joint_position.filter(
+      (c) => c !== void 0
     );
     requestAnimationFrame(() => {
-      var l;
-      o.current = s, (l = a.current) == null || l.setTarget(s);
+      var c;
+      o.current = i, (c = s.current) == null || c.setTarget(i);
     });
   }, [e]);
-  return M(() => {
-    h();
-  }, [e, h]), le(() => {
-    h();
-  }), /* @__PURE__ */ t.jsx("group", { ref: c, children: i });
+  return v(() => {
+    m();
+  }, [e, m]), le(() => {
+    m();
+  }), /* @__PURE__ */ t.jsx("group", { ref: a, children: l });
 }
 function we({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   ...n
 }) {
-  const i = new w(), o = R(null), u = R(null);
-  function a(d) {
-    const h = new w();
+  const l = new w(), o = R(null), f = R(null);
+  function s(d) {
+    const m = 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(
@@ -1053,29 +1065,29 @@ function we({
           0
         )
       ).multiply(new w().makeRotationX(p.alpha));
-      h.multiply(g);
+      m.multiply(g);
     }
-    const s = new L(), l = new E(), m = new L();
-    return h.decompose(s, l, m), s;
+    const i = new T(), c = new E(), h = new T();
+    return m.decompose(i, c, h), i;
   }
-  const f = a(e.joint_position);
-  function c(d, h) {
-    i.identity();
-    let s = new L();
+  const u = s(e.joint_position);
+  function a(d, m) {
+    l.identity();
+    let i = new T();
     for (let p = 0; p < r.length; p++) {
-      const j = h[p] ?? 0, g = r[p], z = new w().makeRotationY(g.theta).multiply(
+      const j = m[p] ?? 0, g = r[p], O = new w().makeRotationY(g.theta).multiply(
         new w().makeTranslation(
           g.a / 1e3,
           (g.d + j * (g.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
       ).multiply(new w().makeRotationX(g.alpha));
-      i.multiply(z);
+      l.multiply(O);
     }
-    const l = new L(), m = new E(), 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]);
+    const c = new T(), h = new E(), y = new T();
+    if (l.decompose(c, h, y), i = c, o.current && o.current.position.set(i.x, i.y, i.z), f.current) {
+      const p = f.current.geometry;
+      p && p.setPositions && p.setPositions([0, 0, 0, i.x, i.y, i.z]);
     }
   }
   return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
@@ -1083,7 +1095,7 @@ function we({
     {
       rapidlyChangingMotionState: e,
       dhParameters: r,
-      onTranslationChanged: c,
+      onTranslationChanged: a,
       children: /* @__PURE__ */ t.jsxs("group", { ...n, name: "Scene", children: [
         /* @__PURE__ */ t.jsxs("mesh", { name: "Base", position: [0, 0, 0], children: [
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@@ -1092,13 +1104,13 @@ function we({
         /* @__PURE__ */ t.jsx(
           J,
           {
-            ref: u,
-            points: [new L(0, 0, 0), f],
+            ref: f,
+            points: [new T(0, 0, 0), u],
             color: "White",
             lineWidth: 5
           }
         ),
-        /* @__PURE__ */ t.jsxs("mesh", { ref: o, name: "TCP", position: f, children: [
+        /* @__PURE__ */ t.jsxs("mesh", { ref: o, name: "TCP", position: u, children: [
           /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.025, 32, 32] }),
           /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "red", depthTest: !0 })
         ] })
@@ -1111,36 +1123,36 @@ const be = C(
     rapidlyChangingMotionState: e,
     modelFromController: r,
     dhParameters: n,
-    getModel: i = D,
+    getModel: l = D,
     flangeRef: o,
-    postModelRender: u,
-    transparentColor: a,
-    instanceUrl: f,
-    ...c
+    postModelRender: f,
+    transparentColor: s,
+    instanceUrl: u,
+    ...a
   }) => {
-    const [d, h] = V(null), s = T((m) => {
-      h(m);
+    const [d, m] = A(null), i = V((h) => {
+      m(h);
     }, []);
-    M(() => {
-      d && (a ? xe(d, a) : ye(d));
-    }, [d, a]);
-    const l = /* @__PURE__ */ t.jsx(
+    v(() => {
+      d && (s ? xe(d, s) : ye(d));
+    }, [d, s]);
+    const c = /* @__PURE__ */ t.jsx(
       we,
       {
         rapidlyChangingMotionState: e,
         dhParameters: n,
-        ...c
+        ...a
       }
     );
     return /* @__PURE__ */ t.jsxs(
       ce,
       {
-        fallback: l,
-        onError: (m) => {
-          console.warn(m);
+        fallback: c,
+        onError: (h) => {
+          console.warn(h);
         },
         children: [
-          /* @__PURE__ */ t.jsx(ie, { fallback: l, children: /* @__PURE__ */ t.jsx("group", { ref: s, children: /* @__PURE__ */ t.jsx(
+          /* @__PURE__ */ t.jsx(oe, { fallback: c, children: /* @__PURE__ */ t.jsx("group", { ref: i, children: /* @__PURE__ */ t.jsx(
             je,
             {
               rapidlyChangingMotionState: e,
@@ -1149,16 +1161,16 @@ const be = C(
                 pe,
                 {
                   modelURL: (() => {
-                    const m = i(r, f);
-                    if (!m) {
+                    const h = l(r, u);
+                    if (!h) {
                       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 m;
+                    return h;
                   })(),
-                  postModelRender: u,
+                  postModelRender: f,
                   flangeRef: o,
-                  ...c
+                  ...a
                 }
               )
             }
@@ -1173,39 +1185,39 @@ function ct({
   connectedMotionGroup: e,
   getModel: r = D,
   flangeRef: n,
-  transparentColor: i,
+  transparentColor: l,
   postModelRender: o,
-  ...u
+  ...f
 }) {
   if (!e.dhParameters)
     return null;
-  const a = e.modelFromController || "";
-  return a && r(a) ? /* @__PURE__ */ t.jsx(
+  const s = e.modelFromController || "";
+  return s && r(s) ? /* @__PURE__ */ t.jsx(
     be,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
-      modelFromController: a,
+      modelFromController: s,
       dhParameters: e.dhParameters,
       getModel: r,
       flangeRef: n,
-      transparentColor: i,
+      transparentColor: l,
       postModelRender: o,
-      ...u
+      ...f
     }
   ) : /* @__PURE__ */ t.jsx(
     we,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       dhParameters: e.dhParameters,
-      ...u
+      ...f
     }
   );
 }
 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],
-  [v.Kuka]: [
+  [M.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
+  [M.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [M.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [M.Kuka]: [
     0,
     -Math.PI / 2,
     Math.PI / 2,
@@ -1214,7 +1226,7 @@ const ne = {
     0,
     0
   ],
-  [v.Universalrobots]: [
+  [M.Universalrobots]: [
     0,
     -Math.PI / 2,
     -Math.PI / 2,
@@ -1228,15 +1240,15 @@ function $e(e) {
   const [r] = e.split("_");
   switch (r) {
     case "ABB":
-      return v.Abb;
+      return M.Abb;
     case "FANUC":
-      return v.Fanuc;
+      return M.Fanuc;
     case "YASKAWA":
-      return v.Yaskawa;
+      return M.Yaskawa;
     case "KUKA":
-      return v.Kuka;
+      return M.Kuka;
     case "UniversalRobots":
-      return v.Universalrobots;
+      return M.Universalrobots;
     default:
       return null;
   }
@@ -1249,13 +1261,13 @@ const ft = C((e) => {
   const {
     inverseSolver: r,
     dhParameters: n,
-    ...i
-  } = e, [o, u] = V(I.RevoluteJoint);
-  M(() => {
-    n.length && u(n[0].type ?? I.RevoluteJoint);
+    ...l
+  } = e, [o, f] = A(I.RevoluteJoint);
+  v(() => {
+    n.length && f(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, {});
+  const s = z(() => r === null && o === I.RevoluteJoint, [r, o]), u = z(() => r === null && o === I.PrismaticJoint, [r, o]);
+  return z(() => !!r, [r]) || s ? /* @__PURE__ */ t.jsx(ge, { dhParameters: n, ...l }) : u ? /* @__PURE__ */ t.jsx(be, { dhParameters: n, ...l }) : /* @__PURE__ */ t.jsx(t.Fragment, {});
 });
 export {
   ot as C,
@@ -1274,4 +1286,4 @@ export {
   $e as g,
   ut as h
 };
-//# sourceMappingURL=MotionGroupVisualizer-Catdk92m.js.map
+//# sourceMappingURL=MotionGroupVisualizer-Ce9kTMPy.js.map