@wandelbots/wandelbots-js-react-components 4.5.0 → 4.6.0

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

@@ -1,16 +1,16 @@
-import { j as t, e as C } from "./externalizeComponent-Dc3fViZA.js";
+import { j as t, e as O } from "./externalizeComponent-Dc3fViZA.js";
 import * as x from "three";
-import { Matrix4 as w, Vector3 as T, Quaternion as E } from "three";
+import { Matrix4 as w, Vector3 as V, Quaternion as J } from "three";
 import { ConvexGeometry as re } from "three-stdlib";
-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 ve, { useEffect as M, useMemo as F, useRef as R, useCallback as T, useState as S, Suspense as oe } from "react";
+import { useThree as se, useFrame as ie, Canvas as Y } from "@react-three/fiber";
+import { Environment as _e, Lightformer as A, Line as z, useGLTF as Te, Bounds as X } from "@react-three/drei";
+import { useTheme as Ve, Card as Se, Box as b, Typography as K, Divider as Q, Button as Z } from "@mui/material";
+import { observer as Ae } from "mobx-react-lite";
+import { useTranslation as Fe } from "react-i18next";
+import { N as Le, V as ae, c as le, b as ee, M as v, J as D } from "./interpolation-BxZtUOAs.js";
 import { ErrorBoundary as ce } from "react-error-boundary";
-function ke(e) {
+function Ge(e) {
   switch (e.shape_type) {
     case "convex_hull":
       return new re(
@@ -47,13 +47,13 @@ function ke(e) {
       return console.warn(`${e.shape_type} is not supported`), new x.BufferGeometry();
   }
 }
-function Fe({
+function Pe({
   name: e,
   collider: r,
   children: n
 }) {
-  var f, s;
-  const l = ((f = r.pose) == null ? void 0 : f.position) ?? [0, 0, 0], o = ((s = r.pose) == null ? void 0 : s.orientation) ?? [0, 0, 0];
+  var d, u;
+  const l = ((d = r.pose) == null ? void 0 : d.position) ?? [0, 0, 0], i = ((u = r.pose) == null ? void 0 : u.orientation) ?? [0, 0, 0];
   return r.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ t.jsx(
     "mesh",
     {
@@ -63,26 +63,26 @@ function Fe({
         l[1],
         l[2]
       ).divideScalar(1e3),
-      rotation: new x.Euler(o[0], o[1], o[2], "XYZ"),
-      geometry: ke(r.shape),
+      rotation: new x.Euler(i[0], i[1], i[2], "XYZ"),
+      geometry: Ge(r.shape),
       children: n
     }
   );
 }
-function Pe({
+function ke({
   name: e,
   colliders: r,
   meshChildrenProvider: n,
   ...l
 }) {
-  return /* @__PURE__ */ t.jsx("group", { name: e, ...l, children: Object.entries(r).map(([o, f]) => /* @__PURE__ */ t.jsx(
-    Fe,
+  return /* @__PURE__ */ t.jsx("group", { name: e, ...l, children: Object.entries(r).map(([i, d]) => /* @__PURE__ */ t.jsx(
+    Pe,
     {
-      name: o,
-      collider: f,
-      children: n(o, f)
+      name: i,
+      collider: d,
+      children: n(i, d)
     },
-    o
+    i
   )) });
 }
 function ot({
@@ -91,7 +91,7 @@ function ot({
 }) {
   const n = e.colliders;
   return /* @__PURE__ */ t.jsx("group", { children: n && /* @__PURE__ */ t.jsx(
-    Pe,
+    ke,
     {
       meshChildrenProvider: r,
       colliders: n
@@ -104,7 +104,7 @@ function te() {
 function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
   return /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
     /* @__PURE__ */ t.jsx(
-      L,
+      A,
       {
         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(
-      L,
+      A,
       {
         form: "circle",
         intensity: 5,
@@ -124,7 +124,7 @@ function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       n
     )) }) }),
     /* @__PURE__ */ t.jsx(
-      L,
+      A,
       {
         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(
-      L,
+      A,
       {
         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(
-      L,
+      A,
       {
         "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(
-      L,
+      A,
       {
         "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(
-      L,
+      A,
       {
         form: "ring",
         color: "white",
@@ -172,40 +172,41 @@ function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
     )
   ] });
 }
-function ze(e) {
+function De(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), 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)
+  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), i = new x.Vector3().subVectors(n, r), d = new x.Vector3().subVectors(l, r), u = new x.Vector3().crossVectors(i, d).normalize();
+  for (let m = 3; m < e.length; m++) {
+    const f = new x.Vector3(e[m].x, e[m].y, e[m].z), s = new x.Vector3().subVectors(f, r), p = u.dot(s);
+    if (Math.abs(p) > 1e-6)
       return console.log("Vertices are not on the same plane"), { isCoplanar: !1 };
   }
-  return { isCoplanar: !0, normal: s };
+  return { isCoplanar: !0, normal: u };
 }
 function st({
   safetyZones: e,
-  ...r
+  dhParameters: r,
+  ...n
 }) {
-  v(() => {
+  M(() => {
     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(
+  const l = (s, p) => {
+    const o = De(s);
+    if (o.isCoplanar && o.normal) {
+      const y = new x.Vector3().addVectors(
         s[0],
-        a.normal.multiplyScalar(1e-4)
+        o.normal.multiplyScalar(1e-4)
       );
-      s.push(i);
+      s.push(y);
     }
-    let d;
+    let a;
     try {
-      d = new re(s);
-    } catch (m) {
-      return console.log("Error creating ConvexGeometry:", m), null;
+      a = new re(s);
+    } catch (c) {
+      return console.log("Error creating ConvexGeometry:", c), null;
     }
-    return /* @__PURE__ */ t.jsx("mesh", { geometry: d, children: /* @__PURE__ */ t.jsx(
+    return /* @__PURE__ */ t.jsx("mesh", { geometry: a, children: /* @__PURE__ */ t.jsx(
       "meshStandardMaterial",
       {
         attach: "material",
@@ -215,39 +216,87 @@ function st({
         depthWrite: !1,
         transparent: !0,
         polygonOffset: !0,
-        polygonOffsetFactor: -u
+        polygonOffsetFactor: -p
+      },
+      `safety-zone-material-${p}`
+    ) }, `safety-zone-mesh-${p}`);
+  }, i = F(() => {
+    if (!r || r.length === 0)
+      return 5;
+    const o = r.reduce((a, c) => a + Math.abs(c.a ?? 0) / 1e3 + Math.abs(c.d ?? 0) / 1e3, 0) * 2;
+    return !Number.isFinite(o) || o <= 0 ? 5 : o;
+  }, [r]), d = (s, p, o) => {
+    const a = p.length(), c = new x.Quaternion();
+    if (a > 1e-6) {
+      const y = p.clone().normalize();
+      c.setFromAxisAngle(y, a);
+    }
+    return /* @__PURE__ */ t.jsxs(
+      "mesh",
+      {
+        renderOrder: o,
+        position: s,
+        quaternion: c,
+        children: [
+          /* @__PURE__ */ t.jsx("planeGeometry", { args: [i, i] }),
+          /* @__PURE__ */ t.jsx(
+            "meshStandardMaterial",
+            {
+              attach: "material",
+              color: "#009f4d",
+              opacity: 0.2,
+              depthTest: !1,
+              depthWrite: !1,
+              transparent: !0,
+              side: x.DoubleSide,
+              polygonOffset: !0,
+              polygonOffsetFactor: -o
+            },
+            `safety-zone-plane-material-${o}`
+          )
+        ]
       },
-      `safety-zone-material-${u}`
-    ) }, `safety-zone-mesh-${u}`);
-  }, l = () => Object.values(e ?? {}).map((s, u) => {
-    let a = [];
-    Object.keys(s.shape).includes("vertices") && (a = s.shape.vertices);
-    const d = a.map((m) => new x.Vector3(m[0] / 1e3, m[1] / 1e3, m[2] / 1e3));
-    return n(d, u);
-  }), o = () => Array.isArray(e) ? e.map((s, u) => {
-    let a = [];
-    return s.geometry && (s.geometry.compound ? a = s.geometry.compound.child_geometries : s.geometry.convex_hull && (a = [s.geometry])), a.map((d, m) => {
-      if (!d.convex_hull) return null;
-      const i = d.convex_hull.vertices.map(
-        (c) => new x.Vector3(c.x / 1e3, c.y / 1e3, c.z / 1e3)
+      `safety-zone-plane-${o}`
+    );
+  }, u = () => Object.values(e ?? {}).map((s, p) => {
+    var o, a;
+    switch (s.shape.shape_type) {
+      case "convex_hull":
+        return l(
+          s.shape.vertices.map((c) => new x.Vector3(c[0] / 1e3, c[1] / 1e3, c[2] / 1e3)),
+          p
+        );
+      case "plane":
+        return ((o = s == null ? void 0 : s.pose) == null ? void 0 : o.position) && ((a = s == null ? void 0 : s.pose) == null ? void 0 : a.orientation) && d(
+          new x.Vector3(s.pose.position[0] / 1e3, s.pose.position[1] / 1e3, s.pose.position[2] / 1e3),
+          new x.Vector3(s.pose.orientation[0], s.pose.orientation[1], s.pose.orientation[2]),
+          p
+        );
+    }
+  }), m = () => Array.isArray(e) ? e.map((s, p) => {
+    let o = [];
+    return s.geometry && (s.geometry.compound ? o = s.geometry.compound.child_geometries : s.geometry.convex_hull && (o = [s.geometry])), o.map((a, c) => {
+      if (!a.convex_hull) return null;
+      const y = a.convex_hull.vertices.map(
+        (h) => new x.Vector3(h.x / 1e3, h.y / 1e3, h.z / 1e3)
       );
-      return n(i, u * 1e3 + m);
+      return l(y, p * 1e3 + c);
     });
-  }) : null, f = z(() => Array.isArray(e) ? o() : l(), [e, o, l]);
-  return /* @__PURE__ */ t.jsx("group", { ...r, children: f });
+  }) : null, f = F(() => Array.isArray(e) ? m() : u(), [e, m, u]);
+  return /* @__PURE__ */ t.jsx("group", { ...n, children: f });
 }
 function it({
   trajectory: e,
   ...r
 }) {
   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
-  ) : null).filter((o) => o !== null)) || [];
+  const n = ((l = e.trajectory) == null ? void 0 : l.map((i) => i.tcp_pose ? new x.Vector3(
+    i.tcp_pose.position.x / 1e3,
+    i.tcp_pose.position.z / 1e3,
+    -i.tcp_pose.position.y / 1e3
+  ) : null).filter((i) => i !== null)) || [];
   return /* @__PURE__ */ t.jsx("group", { ...r, children: n.length > 0 && /* @__PURE__ */ t.jsx(
-    J,
+    z,
     {
       points: n,
       lineWidth: 3,
@@ -257,25 +306,25 @@ function it({
     }
   ) });
 }
-const U = /* @__PURE__ */ new Map();
-async function D(e, r) {
-  if (U.has(e))
-    return U.get(e);
+const E = /* @__PURE__ */ new Map();
+async function C(e, r) {
+  if (E.has(e))
+    return E.get(e);
   const n = (async () => {
-    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;
+    var u;
+    const l = r || "", i = new Le({ instanceUrl: l }), d = i.api.motionGroupModels;
+    (u = d.axios) != null && u.interceptors && d.axios.interceptors.request.use((m) => {
+      var f;
+      return (f = m.url) != null && f.includes("/glb") && (m.responseType = "blob"), m;
     });
     try {
-      const u = await o.api.motionGroupModels.getMotionGroupGlbModel(e);
-      return URL.createObjectURL(u);
-    } catch (u) {
-      throw console.error("Failed to fetch model:", u), u;
+      const m = await i.api.motionGroupModels.getMotionGroupGlbModel(e);
+      return URL.createObjectURL(m);
+    } catch (m) {
+      throw console.error("Failed to fetch model:", m), m;
     }
   })();
-  return U.set(e, n), n;
+  return E.set(e, n), n;
 }
 function ue(e) {
   function r(n) {
@@ -289,17 +338,17 @@ function fe(e) {
 function de(e) {
   return /_J[0-9]+$/.test(e.name);
 }
-function Ce(e, r) {
+function Oe(e, r) {
   let n;
-  function l(o) {
-    if (fe(o)) {
+  function l(i) {
+    if (fe(i)) {
       if (n)
         throw Error(
-          `Found multiple flange groups in robot model ${r}; first ${n.name} then ${o.name}. Only one _FLG group is allowed.`
+          `Found multiple flange groups in robot model ${r}; first ${n.name} then ${i.name}. Only one _FLG group is allowed.`
         );
-      n = o;
+      n = i;
     }
-    de(o), o.children.map(l);
+    de(i), i.children.map(l);
   }
   if (l(e.scene), !n)
     throw Error(
@@ -307,121 +356,121 @@ function Ce(e, r) {
     );
   return { gltf: e };
 }
-function me({
+function pe({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   onRotationChanged: n,
   children: l
 }) {
-  const o = R([]), f = R([]), s = R(null), { invalidate: u } = se();
-  v(() => {
-    const i = e.joint_position.filter(
-      (c) => c !== void 0
+  const i = R([]), d = R([]), u = R(null), { invalidate: m } = se();
+  M(() => {
+    const o = e.joint_position.filter(
+      (a) => a !== void 0
     );
-    return s.current = new ae(i, {
+    return u.current = new ae(o, {
       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 = s.current) == null || c.destroy();
+      var a;
+      (a = u.current) == null || a.destroy();
     };
-  }, []), ie((i, c) => {
-    if (s.current) {
-      const h = s.current.update(c);
-      d(), h || u();
+  }, []), ie((o, a) => {
+    if (u.current) {
+      const c = u.current.update(a);
+      s(), c || m();
     }
   });
-  function a(i) {
-    i && (f.current = ue(i), d(), u());
+  function f(o) {
+    o && (d.current = ue(o), s(), m());
   }
-  function d() {
-    var c;
-    const i = ((c = s.current) == null ? void 0 : c.getCurrentValues()) || [];
+  function s() {
+    var a;
+    const o = ((a = u.current) == null ? void 0 : a.getCurrentValues()) || [];
     if (n)
-      n(f.current, i);
+      n(d.current, o);
     else
-      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;
+      for (const [c, y] of d.current.entries()) {
+        const h = r[c], j = h.theta || 0, g = h.reverse_rotation_direction ? -1 : 1;
+        y.rotation.y = g * (o[c] || 0) + j;
       }
   }
-  const m = V(() => {
-    const i = e.joint_position.filter(
-      (c) => c !== void 0
+  const p = T(() => {
+    const o = e.joint_position.filter(
+      (a) => a !== void 0
     );
     requestAnimationFrame(() => {
-      var c;
-      o.current = i, (c = s.current) == null || c.setTarget(i);
+      var a;
+      i.current = o, (a = u.current) == null || a.setTarget(o);
     });
   }, [e]);
-  return v(() => {
-    m();
-  }, [e, m]), le(() => {
-    m();
-  }), /* @__PURE__ */ t.jsx("group", { ref: a, children: l });
+  return M(() => {
+    p();
+  }, [e, p]), le(() => {
+    p();
+  }), /* @__PURE__ */ t.jsx("group", { ref: f, children: l });
 }
-const De = "line", Oe = "mesh";
-function Ue({
+const Ce = "line", Ue = "mesh";
+function Ee({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   ...n
 }) {
-  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);
+  const l = new w(), i = R([]), d = R([]);
+  ve.useEffect(() => {
+    i.current = new Array(r.length).fill(null), d.current = new Array(r.length).fill(null);
   }, [r.length]);
-  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 l.multiply(p), l.decompose(i, c, h), { a: y, b: i };
+  function u(s, p) {
+    const o = new V(), a = new J(), c = new V();
+    l.decompose(o, a, c);
+    const y = o.clone(), h = new w().makeRotationY(
+      s.theta + p * (s.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new w().makeTranslation(0, s.d / 1e3, 0)).multiply(new w().makeTranslation(s.a / 1e3, 0, 0)).multiply(new w().makeRotationX(s.alpha));
+    return l.multiply(h), l.decompose(o, a, c), { a: y, b: o };
   }
-  function u(d, m, i, c) {
+  function m(s, p, o, a) {
     if (!r)
       return;
-    const h = r[d];
-    if (!h)
+    const c = r[s];
+    if (!c)
       return;
-    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);
+    const { a: y, b: h } = u(c, a);
+    p.geometry.setPositions([y.toArray(), h.toArray()].flat()), o.position.set(h.x, h.y, h.z);
   }
-  function a(d, m) {
+  function f(s, p) {
     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]);
+    for (let o = 0; o < Math.min(s.length, p.length); o++) {
+      const a = i.current[o], c = d.current[o];
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                 lineWidth: 5
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+              "mesh_" + p
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 }
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+    d = Oe(i, "robot.glb").gltf;
+  } catch (f) {
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-          children: a.children.map(u)
+          name: f.name,
+          position: f.position,
+          rotation: f.rotation,
+          ref: fe(f) ? r : void 0,
+          children: f.children.map(m)
         },
-        a.uuid
+        f.uuid
       );
-    } catch (d) {
-      return console.warn("Error rendering node", a.name, d), null;
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-  return /* @__PURE__ */ t.jsx("group", { ...l, dispose: null, ref: s, children: u(f.scene) });
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-  const [o, f] = A(null);
-  return v(() => {
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+          d(e);
         else {
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+          const m = await e;
+          d(m);
         }
-      } catch (u) {
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       n.material instanceof x.Material && (n.material.colorWrite = !1);
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         side: x.DoubleSide
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+      }), l.userData.isGhost = !0, i.material = new x.MeshStandardMaterial({
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-      }), o.userData.isGhost = !0, n.parent && (n.parent.add(l), n.parent.add(o));
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-    getModel: l = D,
-    flangeRef: o,
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-    transparentColor: s,
-    instanceUrl: u,
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+    flangeRef: i,
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+    const [s, p] = S(null), o = T((c) => {
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+    const a = /* @__PURE__ */ t.jsx(
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     return /* @__PURE__ */ t.jsxs(
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       {
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-                      return Promise.resolve(URL.createObjectURL(p));
+                    const c = l(r, m);
+                    if (!c) {
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 function We({
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 }
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+      onDriveToHomeRelease: u,
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+        const H = new ResizeObserver(I);
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+      const B = T(() => {
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       return /* @__PURE__ */ t.jsx(
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-            backgroundColor: (($ = i.palette.backgroundPaperElevation) == null ? void 0 : $[8]) || "#2A2A3F",
+            backgroundColor: (($ = o.palette.backgroundPaperElevation) == null ? void 0 : $[8]) || "#2A2A3F",
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@@ -829,7 +878,7 @@ const at = C(
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-                                    onMouseUp: k,
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-                                    onTouchStart: S,
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+                                    onTouchStart: G,
+                                    onTouchEnd: P,
                                     sx: {
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-                                    children: c("RobotCard.DriveToHome.bt")
+                                    children: a("RobotCard.DriveToHome.bt")
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@@ -905,7 +954,7 @@ const at = C(
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                         style: {
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@@ -958,28 +1007,28 @@ const at = C(
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                         justifyContent: "flex-start",
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                       },
                       children: /* @__PURE__ */ t.jsx(
                         Z,
                         {
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                           variant: "contained",
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-                          onMouseDown: S,
-                          onMouseUp: k,
+                          disabled: !i,
+                          onMouseDown: G,
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                           onMouseLeave: W,
-                          onTouchStart: S,
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+                          onTouchStart: G,
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                           sx: {
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                           },
-                          children: c("RobotCard.DriveToHome.bt")
+                          children: a("RobotCard.DriveToHome.bt")
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-  v(() => {
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+  const i = R([]), d = R([]), u = R(null), { invalidate: m } = se();
+  M(() => {
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+      (a) => a !== void 0
     );
-    return s.current = new ae(i, {
+    return u.current = new ae(o, {
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-      var c;
-      (c = s.current) == null || c.destroy();
+      var a;
+      (a = u.current) == null || a.destroy();
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-  }, []), ie((i, c) => {
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-      const h = s.current.update(c);
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+  }, []), ie((o, a) => {
+    if (u.current) {
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   });
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+      for (const [c, y] of d.current.entries()) {
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-  const m = V(() => {
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+  const p = T(() => {
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-  }, [e, m]), le(() => {
-    m();
-  }), /* @__PURE__ */ t.jsx("group", { ref: a, children: l });
+  return M(() => {
+    p();
+  }, [e, p]), le(() => {
+    p();
+  }), /* @__PURE__ */ t.jsx("group", { ref: f, children: l });
 }
 function we({
   rapidlyChangingMotionState: e,
   dhParameters: r,
   ...n
 }) {
-  const l = new w(), o = R(null), f = R(null);
-  function s(d) {
-    const m = new w();
+  const l = new w(), i = R(null), d = R(null);
+  function u(s) {
+    const p = 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(
+      const h = r[y], j = s[y] ?? 0, g = new w().makeRotationY(h.theta).multiply(
         new w().makeTranslation(
-          p.a / 1e3,
-          (p.d + j * (p.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          h.a / 1e3,
+          (h.d + j * (h.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new w().makeRotationX(p.alpha));
-      m.multiply(g);
+      ).multiply(new w().makeRotationX(h.alpha));
+      p.multiply(g);
     }
-    const i = new T(), c = new E(), h = new T();
-    return m.decompose(i, c, h), i;
+    const o = new V(), a = new J(), c = new V();
+    return p.decompose(o, a, c), o;
   }
-  const u = s(e.joint_position);
-  function a(d, m) {
+  const m = u(e.joint_position);
+  function f(s, p) {
     l.identity();
-    let i = new T();
-    for (let p = 0; p < r.length; p++) {
-      const j = m[p] ?? 0, g = r[p], O = new w().makeRotationY(g.theta).multiply(
+    let o = new V();
+    for (let h = 0; h < r.length; h++) {
+      const j = p[h] ?? 0, g = r[h], U = 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));
-      l.multiply(O);
+      l.multiply(U);
     }
-    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]);
+    const a = new V(), c = new J(), y = new V();
+    if (l.decompose(a, c, y), o = a, i.current && i.current.position.set(o.x, o.y, o.z), d.current) {
+      const h = d.current.geometry;
+      h && h.setPositions && h.setPositions([0, 0, 0, o.x, o.y, o.z]);
     }
   }
   return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
@@ -1095,22 +1144,22 @@ function we({
     {
       rapidlyChangingMotionState: e,
       dhParameters: r,
-      onTranslationChanged: a,
+      onTranslationChanged: f,
       children: /* @__PURE__ */ t.jsxs("group", { ...n, name: "Scene", children: [
         /* @__PURE__ */ t.jsxs("mesh", { name: "Base", position: [0, 0, 0], children: [
           /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.02, 32, 32] }),
           /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "green", depthTest: !0 })
         ] }),
         /* @__PURE__ */ t.jsx(
-          J,
+          z,
           {
-            ref: f,
-            points: [new T(0, 0, 0), u],
+            ref: d,
+            points: [new V(0, 0, 0), m],
             color: "White",
             lineWidth: 5
           }
         ),
-        /* @__PURE__ */ t.jsxs("mesh", { ref: o, name: "TCP", position: u, children: [
+        /* @__PURE__ */ t.jsxs("mesh", { ref: i, name: "TCP", position: m, children: [
           /* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.025, 32, 32] }),
           /* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "red", depthTest: !0 })
         ] })
@@ -1118,64 +1167,64 @@ function we({
     }
   ) });
 }
-const be = C(
+const be = O(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: r,
     dhParameters: n,
-    getModel: l = D,
-    flangeRef: o,
-    postModelRender: f,
-    transparentColor: s,
-    instanceUrl: u,
-    ...a
+    getModel: l = C,
+    flangeRef: i,
+    postModelRender: d,
+    transparentColor: u,
+    instanceUrl: m,
+    ...f
   }) => {
-    const [d, m] = A(null), i = V((h) => {
-      m(h);
+    const [s, p] = S(null), o = T((c) => {
+      p(c);
     }, []);
-    v(() => {
-      d && (s ? xe(d, s) : ye(d));
-    }, [d, s]);
-    const c = /* @__PURE__ */ t.jsx(
+    M(() => {
+      s && (u ? xe(s, u) : ye(s));
+    }, [s, u]);
+    const a = /* @__PURE__ */ t.jsx(
       we,
       {
         rapidlyChangingMotionState: e,
         dhParameters: n,
-        ...a
+        ...f
       }
     );
     return /* @__PURE__ */ t.jsxs(
       ce,
       {
-        fallback: c,
-        onError: (h) => {
-          console.warn(h);
+        fallback: a,
+        onError: (c) => {
+          console.warn(c);
         },
         children: [
-          /* @__PURE__ */ t.jsx(oe, { fallback: c, children: /* @__PURE__ */ t.jsx("group", { ref: i, children: /* @__PURE__ */ t.jsx(
+          /* @__PURE__ */ t.jsx(oe, { fallback: a, children: /* @__PURE__ */ t.jsx("group", { ref: o, children: /* @__PURE__ */ t.jsx(
             je,
             {
               rapidlyChangingMotionState: e,
               dhParameters: n,
               children: /* @__PURE__ */ t.jsx(
-                pe,
+                he,
                 {
                   modelURL: (() => {
-                    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));
+                    const c = l(r, m);
+                    if (!c) {
+                      const y = new Blob([], { type: "model/gltf-binary" }), h = new File([y], `${r}.glb`, { type: "model/gltf-binary" });
+                      return Promise.resolve(URL.createObjectURL(h));
                     }
-                    return h;
+                    return c;
                   })(),
-                  postModelRender: f,
-                  flangeRef: o,
-                  ...a
+                  postModelRender: d,
+                  flangeRef: i,
+                  ...f
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ t.jsx(he, {})
+          /* @__PURE__ */ t.jsx(me, {})
         ]
       }
     );
@@ -1183,41 +1232,41 @@ const be = C(
 );
 function ct({
   connectedMotionGroup: e,
-  getModel: r = D,
+  getModel: r = C,
   flangeRef: n,
   transparentColor: l,
-  postModelRender: o,
-  ...f
+  postModelRender: i,
+  ...d
 }) {
   if (!e.dhParameters)
     return null;
-  const s = e.modelFromController || "";
-  return s && r(s) ? /* @__PURE__ */ t.jsx(
+  const u = e.modelFromController || "";
+  return u && r(u) ? /* @__PURE__ */ t.jsx(
     be,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
-      modelFromController: s,
+      modelFromController: u,
       dhParameters: e.dhParameters,
       getModel: r,
       flangeRef: n,
       transparentColor: l,
-      postModelRender: o,
-      ...f
+      postModelRender: i,
+      ...d
     }
   ) : /* @__PURE__ */ t.jsx(
     we,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       dhParameters: e.dhParameters,
-      ...f
+      ...d
     }
   );
 }
 const ne = {
-  [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]: [
+  [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]: [
     0,
     -Math.PI / 2,
     Math.PI / 2,
@@ -1226,7 +1275,7 @@ const ne = {
     0,
     0
   ],
-  [M.Universalrobots]: [
+  [v.Universalrobots]: [
     0,
     -Math.PI / 2,
     -Math.PI / 2,
@@ -1240,15 +1289,15 @@ function $e(e) {
   const [r] = e.split("_");
   switch (r) {
     case "ABB":
-      return M.Abb;
+      return v.Abb;
     case "FANUC":
-      return M.Fanuc;
+      return v.Fanuc;
     case "YASKAWA":
-      return M.Yaskawa;
+      return v.Yaskawa;
     case "KUKA":
-      return M.Kuka;
+      return v.Kuka;
     case "UniversalRobots":
-      return M.Universalrobots;
+      return v.Universalrobots;
     default:
       return null;
   }
@@ -1257,17 +1306,17 @@ function ut(e, r) {
   const n = $e(e);
   return n && n in ne ? ne[n] : r || null;
 }
-const ft = C((e) => {
+const ft = O((e) => {
   const {
     inverseSolver: r,
     dhParameters: n,
     ...l
-  } = e, [o, f] = A(I.RevoluteJoint);
-  v(() => {
-    n.length && f(n[0].type ?? I.RevoluteJoint);
+  } = e, [i, d] = S(D.RevoluteJoint);
+  M(() => {
+    n.length && d(n[0].type ?? D.RevoluteJoint);
   }, [n]);
-  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, {});
+  const u = F(() => r === null && i === D.RevoluteJoint, [r, i]), m = F(() => r === null && i === D.PrismaticJoint, [r, i]);
+  return F(() => !!r, [r]) || u ? /* @__PURE__ */ t.jsx(ge, { dhParameters: n, ...l }) : m ? /* @__PURE__ */ t.jsx(be, { dhParameters: n, ...l }) : /* @__PURE__ */ t.jsx(t.Fragment, {});
 });
 export {
   ot as C,
@@ -1282,8 +1331,8 @@ export {
   be as c,
   ge as d,
   lt as e,
-  D as f,
+  C as f,
   $e as g,
   ut as h
 };
-//# sourceMappingURL=MotionGroupVisualizer-Ce9kTMPy.js.map
+//# sourceMappingURL=MotionGroupVisualizer-BlWkdkaM.js.map