@wandelbots/wandelbots-js-react-components 4.6.0 → 4.7.0

package/dist/wandelscript.cjs.js

@@ -1,2 +1,2 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const t=require("./WandelscriptEditor-D6_vS5Uk.cjs");exports.WandelscriptEditor=t.WandelscriptEditor;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const t=require("./WandelscriptEditor-6sAoniLC.cjs");exports.WandelscriptEditor=t.WandelscriptEditor;
 //# sourceMappingURL=wandelscript.cjs.js.map

package/dist/wandelscript.es.js

@@ -1,4 +1,4 @@
-import { W as t } from "./WandelscriptEditor-7eN-Yw7m.js";
+import { W as t } from "./WandelscriptEditor-kWC2VyG_.js";
 export {
   t as WandelscriptEditor
 };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "4.6.0",
+  "version": "4.7.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/3d-viewport/SafetyZonesRenderer.tsx

@@ -1,170 +1,165 @@
 import { useEffect, useMemo } from "react"
 import { type ThreeElements } from "@react-three/fiber"
-import { type Collider, type ConvexHull, type DHParameter, type MotionGroupDescription } from "@wandelbots/nova-js/v2"
-import type { Geometry, SafetySetupSafetyZone } from "@wandelbots/nova-js/v1"
 import * as THREE from "three"
-import { ConvexGeometry } from "three-stdlib"
-import type { Vector3 } from "three"
+import { ConvexGeometry, RoundedBoxGeometry } from "three-stdlib"
+
+import type {
+  Collider,
+  ConvexHull,
+  DHParameter,
+  MotionGroupDescription,
+  Sphere,
+  Capsule,
+  RectangularCapsule,
+} from "@wandelbots/nova-js/v2"
+import type { Geometry, SafetySetupSafetyZone } from "@wandelbots/nova-js/v1"
+
+import { dhParametersToPlaneSize, orientationToQuaternion, verticesToCoplanarity } from "../utils/converters"
 
 export type SafetyZonesRendererProps = {
   safetyZones: SafetySetupSafetyZone[] | MotionGroupDescription["safety_zones"]
   dhParameters?: DHParameter[]
 } & ThreeElements["group"]
 
-interface CoplanarityResult {
-  isCoplanar: boolean
-  normal?: THREE.Vector3
-}
-
-function areVerticesCoplanar(vertices: THREE.Vector3[]): CoplanarityResult {
-  if (vertices.length < 3) {
-    console.log("Not enough vertices to define a plane")
-    return { isCoplanar: false }
-  }
-
-  // Convert Vector3d to THREE.Vector3
-  const v0 = new THREE.Vector3(vertices[0].x, vertices[0].y, vertices[0].z)
-  const v1 = new THREE.Vector3(vertices[1].x, vertices[1].y, vertices[1].z)
-  const v2 = new THREE.Vector3(vertices[2].x, vertices[2].y, vertices[2].z)
-
-  const vector1 = new THREE.Vector3().subVectors(v1, v0)
-  const vector2 = new THREE.Vector3().subVectors(v2, v0)
-  const normal = new THREE.Vector3().crossVectors(vector1, vector2).normalize()
-
-  // Check if all remaining vertices lie on the same plane
-  for (let i = 3; i < vertices.length; i++) {
-    const vi = new THREE.Vector3(vertices[i].x, vertices[i].y, vertices[i].z)
-    const vector = new THREE.Vector3().subVectors(vi, v0)
-    const dotProduct = normal.dot(vector)
-    if (Math.abs(dotProduct) > 1e-6) {
-      // Allowing a small tolerance
-      console.log("Vertices are not on the same plane")
-      return { isCoplanar: false }
-    }
-  }
-
-  return { isCoplanar: true, normal }
-}
-
 export function SafetyZonesRenderer({
                                       safetyZones,
                                       dhParameters,
                                       ...props
                                     }: SafetyZonesRendererProps) {
+  /**
+   * Common material properties for safety zone meshes
+   */
+  const safetyZoneMaterialProps = {
+    attach: "material" as const,
+    color: "#009f4d",
+    opacity: 0.2,
+    depthTest: false,
+    depthWrite: false,
+    transparent: true,
+    polygonOffset: true,
+  }
+
+  /**
+   * Plane size for the plane safety zones, returns the reach distance
+   * of the robot
+   */
+  const planeSize = dhParametersToPlaneSize(dhParameters ?? [])
 
   /**
    * Warning during runtime stating the deprecation of the V1 safety zones
    */
   useEffect(() => {
-    Array.isArray(safetyZones) && console.warn("SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.")
+    Array.isArray(safetyZones) &&
+    console.warn("SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.")
   }, [safetyZones])
 
   /**
-   * Helper function to render convex hulls mesh materials
-   * @param vertices Vector3[]
+   * Helper function to render plane, sphere, and capsule meshes
    * @param id number
+   * @param zone Collider
    */
-  const renderHullMesh = (vertices: Vector3[], id: number) => {
-    // Check if the vertices are on the same plane and only define a plane
-    // Algorithm has troubles with vertices that are on the same plane so we
-    // add a new vertex slightly moved along the normal direction
-    const coplanarityResult = areVerticesCoplanar(vertices)
-
-    if (coplanarityResult.isCoplanar && coplanarityResult.normal) {
-      // Add a new vertex slightly moved along the normal direction
-      const offset = 0.0001 // Adjust the offset as needed
-      const newVertex = new THREE.Vector3().addVectors(
-        vertices[0],
-        coplanarityResult.normal.multiplyScalar(offset),
-      )
-      vertices.push(newVertex)
-    }
-
-    let convexGeometry
-    try {
-      convexGeometry = new ConvexGeometry(vertices)
-    } catch (error) {
-      console.log("Error creating ConvexGeometry:", error)
+  const renderMesh = (id: number, zone: Collider) => {
+    if (!zone?.pose?.position || !zone?.pose?.orientation) {
       return null
     }
 
-    return (
-      <mesh key={`safety-zone-mesh-${id}`} geometry={convexGeometry}>
-        <meshStandardMaterial
-          key={`safety-zone-material-${id}`}
-          attach="material"
-          color="#009f4d"
-          opacity={0.2}
-          depthTest={false}
-          depthWrite={false}
-          transparent
-          polygonOffset
-          polygonOffsetFactor={-id}
-        />
-      </mesh>
-    )
-  }
+    const position = new THREE.Vector3(zone.pose.position[0] / 1000, zone.pose.position[1] / 1000, zone.pose.position[2] / 1000)
+    const orientation = new THREE.Vector3(zone.pose.orientation[0], zone.pose.orientation[1], zone.pose.orientation[2])
+
+    let geometry: React.ReactElement | null
+
+    const materialProps = zone.shape.shape_type === "plane"
+      ? { ...safetyZoneMaterialProps, side: THREE.DoubleSide }
+      : { ...safetyZoneMaterialProps, side: THREE.FrontSide }
+
+    switch (zone.shape.shape_type) {
+      /**
+       * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
+       */
+      case "plane":
+        geometry = <planeGeometry args={[planeSize, planeSize]} />
+        break
+
+      /**
+       * Sphere shape
+       */
+      case "sphere": {
+        const radius = (zone?.shape as Sphere).radius / 1000
+        geometry = <sphereGeometry args={[radius]} />
+        break
+      }
 
-  /**
-   * Plane size is calculated based on the reach radius of the robot
-   */
-  const planeSize = useMemo(() => {
-    const defaultPlaneSize = 5
-    if (!dhParameters || dhParameters.length === 0) {
-      return defaultPlaneSize
-    }
-    const reachRadiusM = dhParameters.reduce((sum, p) => {
-      return sum + (Math.abs(p.a ?? 0) / 1000) + (Math.abs(p.d ?? 0) / 1000)
-    }, 0)
-    const size = reachRadiusM * 2
-    if (!Number.isFinite(size) || size <= 0) {
-      return defaultPlaneSize
-    }
-    return size
-  }, [dhParameters])
+      /**
+       * Capsule shape
+       */
+      case "capsule": {
+        const capsuleRadius = (zone?.shape as Capsule).radius / 1000
+        const height = (zone?.shape as Capsule).cylinder_height / 1000
+        geometry = <capsuleGeometry args={[capsuleRadius, height]} />
+        break
+      }
 
-  /**
-   * Helper function to render plane meshes
-   *
-   * @param position THREE.Vector3 - The transform origin. This is the point on the plane defined in the Nova V2 API.
-   *                                  In this visualization, we center the (theoretically infinite) plane on this point.
-   *                                  This point also acts as the pivot around which the rotation is applied.
-   * @param orientationVector THREE.Vector3 - A rotation vector (Rodrigues notation).
-   *                                          - Direction: The axis around which the plane is rotated.
-   *                                          - Length: The angle of rotation in radians.
-   * @param id number
-   */
-  const renderPlaneMesh = (position: THREE.Vector3, orientationVector: THREE.Vector3, id: number) => {
-    // The orientation is provided as a rotation vector (also known as Rodrigues notation or axis-angle representation).
-    // 1. The direction of the vector defines the axis of rotation in 3D space.
-    // 2. The magnitude (length) of the vector represents the rotation angle in radians.
-    // The rotation is applied to the default THREE.PlaneGeometry (which starts in the XY plane with normal along +Z).
-    const angle = orientationVector.length()
-
-    const quaternion = new THREE.Quaternion()
-    if (angle > 1e-6) {
-      const axis = orientationVector.clone().normalize()
-      quaternion.setFromAxisAngle(axis, angle)
+      /**
+       * Convex hull, checks at first if the vertices are coplanar - if yes, adds a small offset for
+       * renderer to be able to visualize the convex hull.
+       */
+      case "convex_hull": {
+        const vertices = (zone?.shape as ConvexHull).vertices.map(
+          (v) => new THREE.Vector3(v[0] / 1000, v[1] / 1000, v[2] / 1000),
+        )
+        // Check if the vertices are on the same plane
+        const coplanarityResult = verticesToCoplanarity(vertices)
+        if (coplanarityResult.isCoplanar && coplanarityResult.normal) {
+          const offset = 0.0001
+          const newVertex = new THREE.Vector3().addVectors(
+            vertices[0],
+            coplanarityResult.normal.multiplyScalar(offset),
+          )
+          vertices.push(newVertex)
+        }
+        try {
+          geometry = <primitive object={new ConvexGeometry(vertices)} attach="geometry" />
+        } catch (error) {
+          console.log("Error creating ConvexGeometry:", error)
+          return null
+        }
+        break
+      }
+
+      /**
+       * Convex hull around four spheres. Sphere center points in x/y-plane,
+       * offset by either combination "+/- sizeX" or "+/- sizeY".
+       * Alternative description: Rectangle in x/y-plane with a 3D padding (source: nova-api docs)
+       *
+       * Basically a rounded box with a rectangular cross-section.
+       */
+      case "rectangular_capsule": {
+        const shape = (zone.shape as RectangularCapsule)
+        const rcRadius = shape.radius / 1000
+        const width = shape.sphere_center_distance_x / 1000
+        const height = shape.sphere_center_distance_y / 1000
+        const depth = rcRadius * 2
+
+        geometry = <primitive object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)} attach="geometry" />
+        break
+      }
+
+      default: {
+        console.warn("Unsupported safety zone shape type:", zone.shape.shape_type)
+        geometry = null
+      }
     }
 
     return (
       <mesh
-        key={`safety-zone-plane-${id}`}
+        key={`safety-zone-${zone.shape.shape_type}-${id}`}
         renderOrder={id}
         position={position}
-        quaternion={quaternion}
+        quaternion={orientationToQuaternion(orientation)}
       >
-        <planeGeometry args={[planeSize, planeSize]} />
+        {geometry}
         <meshStandardMaterial
-          key={`safety-zone-plane-material-${id}`}
-          attach="material"
-          color="#009f4d"
-          opacity={0.2}
-          depthTest={false}
-          depthWrite={false}
-          transparent
-          side={THREE.DoubleSide}
-          polygonOffset
+          {...materialProps}
           polygonOffsetFactor={-id}
         />
       </mesh>
@@ -176,20 +171,7 @@ export function SafetyZonesRenderer({
    */
   const renderV2SafetyZones = () => {
     return Object.values(safetyZones ?? {}).map((zone: Collider, index: number) => {
-      switch (zone.shape.shape_type) {
-        case "convex_hull":
-          return renderHullMesh(
-            (zone.shape as ConvexHull).vertices
-              .map((vertex: number[]) => new THREE.Vector3(vertex[0] / 1000, vertex[1] / 1000, vertex[2] / 1000)), index,
-          )
-
-        case "plane":
-          return zone?.pose?.position && zone?.pose?.orientation && renderPlaneMesh(
-            new THREE.Vector3(zone.pose.position[0] / 1000, zone.pose.position[1] / 1000, zone.pose.position[2] / 1000),
-            new THREE.Vector3(zone.pose.orientation[0], zone.pose.orientation[1], zone.pose.orientation[2]),
-            index,
-          )
-      }
+      return renderMesh(index, zone)
     })
   }
 
@@ -213,12 +195,20 @@ export function SafetyZonesRenderer({
         return geometries.map((geometry, i) => {
           if (!geometry.convex_hull) return null
 
-          const vertices = geometry.convex_hull.vertices.map(
-            (v) => new THREE.Vector3(v.x / 1000, v.y / 1000, v.z / 1000),
-          )
-
           // Use a per-geometry identifier derived from both zone index and geometry index
-          return renderHullMesh(vertices, index * 1000 + i)
+          const id = index * 1000 + i
+          // Build a compatible zone object for renderMesh
+          const zone: Collider = {
+            pose: {
+              position: [0, 0, 0],
+              orientation: [0, 0, 0],
+            },
+            shape: {
+              shape_type: "convex_hull",
+              vertices: geometry.convex_hull.vertices.map((v) => [v.x, v.y, v.z]),
+            } as ConvexHull,
+          }
+          return renderMesh(id, zone)
         })
       })
     }

package/src/components/utils/converters.ts

@@ -1,3 +1,11 @@
+import * as THREE from "three"
+import type { DHParameter } from "@wandelbots/nova-js/v2"
+
+export interface CoplanarityResult {
+  isCoplanar: boolean
+  normal?: THREE.Vector3
+}
+
 export function radiansToDegree(radians: number): number {
   return radians * (180 / Math.PI)
 }
@@ -21,3 +29,59 @@ export function tryStringifyJson(json: unknown): string | undefined {
     return undefined
   }
 }
+
+export function orientationToQuaternion(orientation: THREE.Vector3): THREE.Quaternion {
+  const angle = orientation.length()
+  const quaternion = new THREE.Quaternion()
+  if (angle > 1e-6) {
+    const axis = orientation.clone().normalize()
+    quaternion.setFromAxisAngle(axis, angle)
+  }
+  return quaternion
+}
+
+export function dhParametersToPlaneSize(dhParameters: DHParameter[]) {
+  const defaultPlaneSize = 5
+  if (!dhParameters || dhParameters.length === 0) {
+    return defaultPlaneSize
+  }
+  const reachRadiusM = dhParameters.reduce((sum, p) => {
+    return sum + (Math.abs(p.a ?? 0) / 1000) + (Math.abs(p.d ?? 0) / 1000)
+  }, 0)
+  const size = reachRadiusM * 2
+  if (!Number.isFinite(size) || size <= 0) {
+    return defaultPlaneSize
+  }
+  return size
+}
+
+
+export function verticesToCoplanarity(vertices: THREE.Vector3[]): CoplanarityResult {
+  if (vertices.length < 3) {
+    console.log("Not enough vertices to define a plane")
+    return { isCoplanar: false }
+  }
+
+  // Convert Vector3d to THREE.Vector3
+  const v0 = new THREE.Vector3(vertices[0].x, vertices[0].y, vertices[0].z)
+  const v1 = new THREE.Vector3(vertices[1].x, vertices[1].y, vertices[1].z)
+  const v2 = new THREE.Vector3(vertices[2].x, vertices[2].y, vertices[2].z)
+
+  const vector1 = new THREE.Vector3().subVectors(v1, v0)
+  const vector2 = new THREE.Vector3().subVectors(v2, v0)
+  const normal = new THREE.Vector3().crossVectors(vector1, vector2).normalize()
+
+  // Check if all remaining vertices lie on the same plane
+  for (let i = 3; i < vertices.length; i++) {
+    const vi = new THREE.Vector3(vertices[i].x, vertices[i].y, vertices[i].z)
+    const vector = new THREE.Vector3().subVectors(vi, v0)
+    const dotProduct = normal.dot(vector)
+    if (Math.abs(dotProduct) > 1e-6) {
+      // Allowing a small tolerance
+      console.log("Vertices are not on the same plane")
+      return { isCoplanar: false }
+    }
+  }
+
+  return { isCoplanar: true, normal }
+}

package/dist/LoadingCover-6gWr11KP.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"LoadingCover-6gWr11KP.js","sources":["../src/components/utils/converters.ts","../src/components/utils/errorHandling.ts","../src/components/LoadingCover.tsx"],"sourcesContent":["export function radiansToDegree(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n","import { AxiosError } from \"axios\"\nimport { tryStringifyJson } from \"./converters\"\n\n// Please note: These helper functions also exist in nova.js\n// (with slightly different formatting), and will be unified\n// at some point in the future.\n\nexport function delay(ms: number) {\n  return new Promise((resolve) => setTimeout(resolve, ms))\n}\n\nexport function makeShortErrorMessage(err: unknown) {\n  if (err instanceof AxiosError && err.code === \"ERR_NETWORK\") {\n    return \"Failed to connect to the server. Please check your internet connection.\"\n  } else if (err instanceof AxiosError && err.response) {\n    return `${err.response?.status} ${err.response?.statusText}: ${JSON.stringify(err.response?.data)}`\n  } else if (err instanceof Error) {\n    return err.message\n  } else {\n    return `Unexpected error: ${err}`\n  }\n}\n\nexport function assertUnreachable(x: never, msg: string): never {\n  throw new Error(msg + ` ${JSON.stringify(x)}`)\n}\n\nexport function makeErrorMessage(err: unknown) {\n  if (err instanceof AxiosError && err.code === \"ERR_NETWORK\") {\n    return \"Failed to connect to the server. Please check your internet connection.\"\n  } else if (err instanceof AxiosError && err.response) {\n    return `${err.response?.status} ${err.response?.statusText} from ${err.response?.config.url}: ${JSON.stringify(err.response?.data)}`\n  } else if (err instanceof Error) {\n    return err.message\n  } else {\n    return `Unexpected error: ${tryStringifyJson(err) || err}`\n  }\n}\n","import { capitalize, CircularProgress, Stack, useTheme } from \"@mui/material\"\nimport { lowerFirst } from \"lodash-es\"\nimport { useEffect, useState } from \"react\"\nimport { makeErrorMessage } from \"./utils/errorHandling\"\n\nexport const LoadingCover = (props: {\n  message?: string\n  error?: unknown\n  softTimeout?: number\n}) => {\n  const softTimeout = props.softTimeout || 3000\n\n  const [showSlowLoadingMessage, setShowSlowLoadingMessage] = useState(false)\n  const theme = useTheme()\n\n  useEffect(() => {\n    const timeout = setTimeout(() => {\n      setShowSlowLoadingMessage(true)\n    }, softTimeout)\n\n    return () => clearTimeout(timeout)\n  })\n\n  return (\n    <Stack\n      width=\"100%\"\n      height=\"100%\"\n      alignItems=\"center\"\n      justifyContent=\"center\"\n      sx={{ color: theme.palette.text.primary }}\n    >\n      {props.error ? 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package/dist/LoadingCover-CukpS_aj.cjs

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-//# sourceMappingURL=LoadingCover-CukpS_aj.cjs.map

package/dist/LoadingCover-CukpS_aj.cjs.map

@@ -1 +0,0 @@
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