@wandelbots/wandelbots-js-react-components 4.6.0 → 4.7.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/3d.cjs.js +1 -1
- package/dist/3d.es.js +1 -1
- package/dist/{LoadingCover-6gWr11KP.js → LoadingCover-B3UN1lnU.js} +12 -19
- package/dist/LoadingCover-B3UN1lnU.js.map +1 -0
- package/dist/LoadingCover-DXcsXWDy.cjs +2 -0
- package/dist/LoadingCover-DXcsXWDy.cjs.map +1 -0
- package/dist/MotionGroupVisualizer-D8_sA8PA.js +1347 -0
- package/dist/MotionGroupVisualizer-D8_sA8PA.js.map +1 -0
- package/dist/MotionGroupVisualizer-DcHXsQ4A.cjs +2 -0
- package/dist/MotionGroupVisualizer-DcHXsQ4A.cjs.map +1 -0
- package/dist/{WandelscriptEditor-D6_vS5Uk.cjs → WandelscriptEditor-6sAoniLC.cjs} +2 -2
- package/dist/{WandelscriptEditor-D6_vS5Uk.cjs.map → WandelscriptEditor-6sAoniLC.cjs.map} +1 -1
- package/dist/{WandelscriptEditor-7eN-Yw7m.js → WandelscriptEditor-kWC2VyG_.js} +3 -3
- package/dist/{WandelscriptEditor-7eN-Yw7m.js.map → WandelscriptEditor-kWC2VyG_.js.map} +1 -1
- package/dist/components/3d-viewport/SafetyZonesRenderer.d.ts +1 -1
- package/dist/components/3d-viewport/SafetyZonesRenderer.d.ts.map +1 -1
- package/dist/components/utils/converters.d.ts +9 -0
- package/dist/components/utils/converters.d.ts.map +1 -1
- package/dist/core.cjs.js +1 -1
- package/dist/core.es.js +4 -4
- package/dist/{externalizeComponent-CkVWk2F_.cjs → externalizeComponent-B98tgTPP.cjs} +6 -6
- package/dist/externalizeComponent-B98tgTPP.cjs.map +1 -0
- package/dist/{externalizeComponent-Dc3fViZA.js → externalizeComponent-BOqKMZMc.js} +167 -130
- package/dist/externalizeComponent-BOqKMZMc.js.map +1 -0
- package/dist/index.cjs.js +1 -1
- package/dist/index.es.js +6 -6
- package/dist/{interpolation-BxZtUOAs.js → interpolation-B8AcxfdD.js} +274 -274
- package/dist/interpolation-B8AcxfdD.js.map +1 -0
- package/dist/{interpolation-D4zTPZou.cjs → interpolation-SWzo5zr4.cjs} +4 -4
- package/dist/interpolation-SWzo5zr4.cjs.map +1 -0
- package/dist/{theming-3PEA0ksG.js → theming-BKpqgTRM.js} +4 -4
- package/dist/{theming-3PEA0ksG.js.map → theming-BKpqgTRM.js.map} +1 -1
- package/dist/{theming-U3LOZpcT.cjs → theming-CatQaIl_.cjs} +2 -2
- package/dist/{theming-U3LOZpcT.cjs.map → theming-CatQaIl_.cjs.map} +1 -1
- package/dist/wandelscript.cjs.js +1 -1
- package/dist/wandelscript.es.js +1 -1
- package/package.json +1 -1
- package/src/components/3d-viewport/SafetyZonesRenderer.tsx +139 -149
- package/src/components/utils/converters.ts +64 -0
- package/dist/LoadingCover-6gWr11KP.js.map +0 -1
- package/dist/LoadingCover-CukpS_aj.cjs +0 -2
- package/dist/LoadingCover-CukpS_aj.cjs.map +0 -1
- package/dist/MotionGroupVisualizer-BlWkdkaM.js +0 -1338
- package/dist/MotionGroupVisualizer-BlWkdkaM.js.map +0 -1
- package/dist/MotionGroupVisualizer-Bw-h3U_t.cjs +0 -2
- package/dist/MotionGroupVisualizer-Bw-h3U_t.cjs.map +0 -1
- package/dist/externalizeComponent-CkVWk2F_.cjs.map +0 -1
- package/dist/externalizeComponent-Dc3fViZA.js.map +0 -1
- package/dist/interpolation-BxZtUOAs.js.map +0 -1
- package/dist/interpolation-D4zTPZou.cjs.map +0 -1
|
@@ -1,1338 +0,0 @@
|
|
|
1
|
-
import { j as t, e as O } from "./externalizeComponent-Dc3fViZA.js";
|
|
2
|
-
import * as x from "three";
|
|
3
|
-
import { Matrix4 as w, Vector3 as V, Quaternion as J } from "three";
|
|
4
|
-
import { ConvexGeometry as re } from "three-stdlib";
|
|
5
|
-
import ve, { useEffect as M, useMemo as F, useRef as R, useCallback as T, useState as S, Suspense as oe } from "react";
|
|
6
|
-
import { useThree as se, useFrame as ie, Canvas as Y } from "@react-three/fiber";
|
|
7
|
-
import { Environment as _e, Lightformer as A, Line as z, useGLTF as Te, Bounds as X } from "@react-three/drei";
|
|
8
|
-
import { useTheme as Ve, Card as Se, Box as b, Typography as K, Divider as Q, Button as Z } from "@mui/material";
|
|
9
|
-
import { observer as Ae } from "mobx-react-lite";
|
|
10
|
-
import { useTranslation as Fe } from "react-i18next";
|
|
11
|
-
import { N as Le, V as ae, c as le, b as ee, M as v, J as D } from "./interpolation-BxZtUOAs.js";
|
|
12
|
-
import { ErrorBoundary as ce } from "react-error-boundary";
|
|
13
|
-
function Ge(e) {
|
|
14
|
-
switch (e.shape_type) {
|
|
15
|
-
case "convex_hull":
|
|
16
|
-
return new re(
|
|
17
|
-
e.vertices.map(
|
|
18
|
-
(n) => new x.Vector3(
|
|
19
|
-
n[0] / 1e3,
|
|
20
|
-
n[1] / 1e3,
|
|
21
|
-
n[2] / 1e3
|
|
22
|
-
)
|
|
23
|
-
)
|
|
24
|
-
);
|
|
25
|
-
case "box":
|
|
26
|
-
return new x.BoxGeometry(
|
|
27
|
-
e.size_x / 1e3,
|
|
28
|
-
e.size_y / 1e3,
|
|
29
|
-
e.size_z / 1e3
|
|
30
|
-
);
|
|
31
|
-
case "sphere":
|
|
32
|
-
return new x.SphereGeometry(e.radius / 1e3);
|
|
33
|
-
case "capsule":
|
|
34
|
-
return new x.CapsuleGeometry(
|
|
35
|
-
e.radius / 1e3,
|
|
36
|
-
e.cylinder_height / 1e3
|
|
37
|
-
);
|
|
38
|
-
case "cylinder":
|
|
39
|
-
return new x.CylinderGeometry(
|
|
40
|
-
e.radius / 1e3,
|
|
41
|
-
e.radius / 1e3,
|
|
42
|
-
e.height / 1e3
|
|
43
|
-
);
|
|
44
|
-
case "rectangle":
|
|
45
|
-
return new x.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
|
|
46
|
-
default:
|
|
47
|
-
return console.warn(`${e.shape_type} is not supported`), new x.BufferGeometry();
|
|
48
|
-
}
|
|
49
|
-
}
|
|
50
|
-
function Pe({
|
|
51
|
-
name: e,
|
|
52
|
-
collider: r,
|
|
53
|
-
children: n
|
|
54
|
-
}) {
|
|
55
|
-
var d, u;
|
|
56
|
-
const l = ((d = r.pose) == null ? void 0 : d.position) ?? [0, 0, 0], i = ((u = r.pose) == null ? void 0 : u.orientation) ?? [0, 0, 0];
|
|
57
|
-
return r.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ t.jsx(
|
|
58
|
-
"mesh",
|
|
59
|
-
{
|
|
60
|
-
name: e,
|
|
61
|
-
position: new x.Vector3(
|
|
62
|
-
l[0],
|
|
63
|
-
l[1],
|
|
64
|
-
l[2]
|
|
65
|
-
).divideScalar(1e3),
|
|
66
|
-
rotation: new x.Euler(i[0], i[1], i[2], "XYZ"),
|
|
67
|
-
geometry: Ge(r.shape),
|
|
68
|
-
children: n
|
|
69
|
-
}
|
|
70
|
-
);
|
|
71
|
-
}
|
|
72
|
-
function ke({
|
|
73
|
-
name: e,
|
|
74
|
-
colliders: r,
|
|
75
|
-
meshChildrenProvider: n,
|
|
76
|
-
...l
|
|
77
|
-
}) {
|
|
78
|
-
return /* @__PURE__ */ t.jsx("group", { name: e, ...l, children: Object.entries(r).map(([i, d]) => /* @__PURE__ */ t.jsx(
|
|
79
|
-
Pe,
|
|
80
|
-
{
|
|
81
|
-
name: i,
|
|
82
|
-
collider: d,
|
|
83
|
-
children: n(i, d)
|
|
84
|
-
},
|
|
85
|
-
i
|
|
86
|
-
)) });
|
|
87
|
-
}
|
|
88
|
-
function ot({
|
|
89
|
-
scene: e,
|
|
90
|
-
meshChildrenProvider: r
|
|
91
|
-
}) {
|
|
92
|
-
const n = e.colliders;
|
|
93
|
-
return /* @__PURE__ */ t.jsx("group", { children: n && /* @__PURE__ */ t.jsx(
|
|
94
|
-
ke,
|
|
95
|
-
{
|
|
96
|
-
meshChildrenProvider: r,
|
|
97
|
-
colliders: n
|
|
98
|
-
}
|
|
99
|
-
) });
|
|
100
|
-
}
|
|
101
|
-
function te() {
|
|
102
|
-
return /* @__PURE__ */ t.jsx(_e, { children: /* @__PURE__ */ t.jsx(Ie, {}) });
|
|
103
|
-
}
|
|
104
|
-
function Ie({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
|
|
105
|
-
return /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
|
|
106
|
-
/* @__PURE__ */ t.jsx(
|
|
107
|
-
A,
|
|
108
|
-
{
|
|
109
|
-
intensity: 5,
|
|
110
|
-
"rotation-x": Math.PI / 2,
|
|
111
|
-
position: [0, 5, -9],
|
|
112
|
-
scale: [10, 10, 1]
|
|
113
|
-
}
|
|
114
|
-
),
|
|
115
|
-
/* @__PURE__ */ t.jsx("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ t.jsx("group", { children: e.map((r, n) => /* @__PURE__ */ t.jsx(
|
|
116
|
-
A,
|
|
117
|
-
{
|
|
118
|
-
form: "circle",
|
|
119
|
-
intensity: 5,
|
|
120
|
-
rotation: [Math.PI / 2, 0, 0],
|
|
121
|
-
position: [r, 4, n * 4],
|
|
122
|
-
scale: [3, 1, 1]
|
|
123
|
-
},
|
|
124
|
-
n
|
|
125
|
-
)) }) }),
|
|
126
|
-
/* @__PURE__ */ t.jsx(
|
|
127
|
-
A,
|
|
128
|
-
{
|
|
129
|
-
intensity: 40,
|
|
130
|
-
"rotation-y": Math.PI / 2,
|
|
131
|
-
position: [-5, 1, -1],
|
|
132
|
-
scale: [20, 0.1, 1]
|
|
133
|
-
}
|
|
134
|
-
),
|
|
135
|
-
/* @__PURE__ */ t.jsx(
|
|
136
|
-
A,
|
|
137
|
-
{
|
|
138
|
-
intensity: 20,
|
|
139
|
-
"rotation-y": -Math.PI,
|
|
140
|
-
position: [-5, -2, -1],
|
|
141
|
-
scale: [20, 0.1, 1]
|
|
142
|
-
}
|
|
143
|
-
),
|
|
144
|
-
/* @__PURE__ */ t.jsx(
|
|
145
|
-
A,
|
|
146
|
-
{
|
|
147
|
-
"rotation-y": Math.PI / 2,
|
|
148
|
-
position: [-5, -1, -1],
|
|
149
|
-
scale: [20, 0.5, 1],
|
|
150
|
-
intensity: 5
|
|
151
|
-
}
|
|
152
|
-
),
|
|
153
|
-
/* @__PURE__ */ t.jsx(
|
|
154
|
-
A,
|
|
155
|
-
{
|
|
156
|
-
"rotation-y": -Math.PI / 2,
|
|
157
|
-
position: [10, 1, 0],
|
|
158
|
-
scale: [20, 1, 1],
|
|
159
|
-
intensity: 10
|
|
160
|
-
}
|
|
161
|
-
),
|
|
162
|
-
/* @__PURE__ */ t.jsx(
|
|
163
|
-
A,
|
|
164
|
-
{
|
|
165
|
-
form: "ring",
|
|
166
|
-
color: "white",
|
|
167
|
-
intensity: 5,
|
|
168
|
-
scale: 10,
|
|
169
|
-
position: [-15, 4, -18],
|
|
170
|
-
target: [0, 0, 0]
|
|
171
|
-
}
|
|
172
|
-
)
|
|
173
|
-
] });
|
|
174
|
-
}
|
|
175
|
-
function De(e) {
|
|
176
|
-
if (e.length < 3)
|
|
177
|
-
return console.log("Not enough vertices to define a plane"), { isCoplanar: !1 };
|
|
178
|
-
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();
|
|
179
|
-
for (let m = 3; m < e.length; m++) {
|
|
180
|
-
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);
|
|
181
|
-
if (Math.abs(p) > 1e-6)
|
|
182
|
-
return console.log("Vertices are not on the same plane"), { isCoplanar: !1 };
|
|
183
|
-
}
|
|
184
|
-
return { isCoplanar: !0, normal: u };
|
|
185
|
-
}
|
|
186
|
-
function st({
|
|
187
|
-
safetyZones: e,
|
|
188
|
-
dhParameters: r,
|
|
189
|
-
...n
|
|
190
|
-
}) {
|
|
191
|
-
M(() => {
|
|
192
|
-
Array.isArray(e) && console.warn("SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.");
|
|
193
|
-
}, [e]);
|
|
194
|
-
const l = (s, p) => {
|
|
195
|
-
const o = De(s);
|
|
196
|
-
if (o.isCoplanar && o.normal) {
|
|
197
|
-
const y = new x.Vector3().addVectors(
|
|
198
|
-
s[0],
|
|
199
|
-
o.normal.multiplyScalar(1e-4)
|
|
200
|
-
);
|
|
201
|
-
s.push(y);
|
|
202
|
-
}
|
|
203
|
-
let a;
|
|
204
|
-
try {
|
|
205
|
-
a = new re(s);
|
|
206
|
-
} catch (c) {
|
|
207
|
-
return console.log("Error creating ConvexGeometry:", c), null;
|
|
208
|
-
}
|
|
209
|
-
return /* @__PURE__ */ t.jsx("mesh", { geometry: a, children: /* @__PURE__ */ t.jsx(
|
|
210
|
-
"meshStandardMaterial",
|
|
211
|
-
{
|
|
212
|
-
attach: "material",
|
|
213
|
-
color: "#009f4d",
|
|
214
|
-
opacity: 0.2,
|
|
215
|
-
depthTest: !1,
|
|
216
|
-
depthWrite: !1,
|
|
217
|
-
transparent: !0,
|
|
218
|
-
polygonOffset: !0,
|
|
219
|
-
polygonOffsetFactor: -p
|
|
220
|
-
},
|
|
221
|
-
`safety-zone-material-${p}`
|
|
222
|
-
) }, `safety-zone-mesh-${p}`);
|
|
223
|
-
}, i = F(() => {
|
|
224
|
-
if (!r || r.length === 0)
|
|
225
|
-
return 5;
|
|
226
|
-
const o = r.reduce((a, c) => a + Math.abs(c.a ?? 0) / 1e3 + Math.abs(c.d ?? 0) / 1e3, 0) * 2;
|
|
227
|
-
return !Number.isFinite(o) || o <= 0 ? 5 : o;
|
|
228
|
-
}, [r]), d = (s, p, o) => {
|
|
229
|
-
const a = p.length(), c = new x.Quaternion();
|
|
230
|
-
if (a > 1e-6) {
|
|
231
|
-
const y = p.clone().normalize();
|
|
232
|
-
c.setFromAxisAngle(y, a);
|
|
233
|
-
}
|
|
234
|
-
return /* @__PURE__ */ t.jsxs(
|
|
235
|
-
"mesh",
|
|
236
|
-
{
|
|
237
|
-
renderOrder: o,
|
|
238
|
-
position: s,
|
|
239
|
-
quaternion: c,
|
|
240
|
-
children: [
|
|
241
|
-
/* @__PURE__ */ t.jsx("planeGeometry", { args: [i, i] }),
|
|
242
|
-
/* @__PURE__ */ t.jsx(
|
|
243
|
-
"meshStandardMaterial",
|
|
244
|
-
{
|
|
245
|
-
attach: "material",
|
|
246
|
-
color: "#009f4d",
|
|
247
|
-
opacity: 0.2,
|
|
248
|
-
depthTest: !1,
|
|
249
|
-
depthWrite: !1,
|
|
250
|
-
transparent: !0,
|
|
251
|
-
side: x.DoubleSide,
|
|
252
|
-
polygonOffset: !0,
|
|
253
|
-
polygonOffsetFactor: -o
|
|
254
|
-
},
|
|
255
|
-
`safety-zone-plane-material-${o}`
|
|
256
|
-
)
|
|
257
|
-
]
|
|
258
|
-
},
|
|
259
|
-
`safety-zone-plane-${o}`
|
|
260
|
-
);
|
|
261
|
-
}, u = () => Object.values(e ?? {}).map((s, p) => {
|
|
262
|
-
var o, a;
|
|
263
|
-
switch (s.shape.shape_type) {
|
|
264
|
-
case "convex_hull":
|
|
265
|
-
return l(
|
|
266
|
-
s.shape.vertices.map((c) => new x.Vector3(c[0] / 1e3, c[1] / 1e3, c[2] / 1e3)),
|
|
267
|
-
p
|
|
268
|
-
);
|
|
269
|
-
case "plane":
|
|
270
|
-
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(
|
|
271
|
-
new x.Vector3(s.pose.position[0] / 1e3, s.pose.position[1] / 1e3, s.pose.position[2] / 1e3),
|
|
272
|
-
new x.Vector3(s.pose.orientation[0], s.pose.orientation[1], s.pose.orientation[2]),
|
|
273
|
-
p
|
|
274
|
-
);
|
|
275
|
-
}
|
|
276
|
-
}), m = () => Array.isArray(e) ? e.map((s, p) => {
|
|
277
|
-
let o = [];
|
|
278
|
-
return s.geometry && (s.geometry.compound ? o = s.geometry.compound.child_geometries : s.geometry.convex_hull && (o = [s.geometry])), o.map((a, c) => {
|
|
279
|
-
if (!a.convex_hull) return null;
|
|
280
|
-
const y = a.convex_hull.vertices.map(
|
|
281
|
-
(h) => new x.Vector3(h.x / 1e3, h.y / 1e3, h.z / 1e3)
|
|
282
|
-
);
|
|
283
|
-
return l(y, p * 1e3 + c);
|
|
284
|
-
});
|
|
285
|
-
}) : null, f = F(() => Array.isArray(e) ? m() : u(), [e, m, u]);
|
|
286
|
-
return /* @__PURE__ */ t.jsx("group", { ...n, children: f });
|
|
287
|
-
}
|
|
288
|
-
function it({
|
|
289
|
-
trajectory: e,
|
|
290
|
-
...r
|
|
291
|
-
}) {
|
|
292
|
-
var l;
|
|
293
|
-
const n = ((l = e.trajectory) == null ? void 0 : l.map((i) => i.tcp_pose ? new x.Vector3(
|
|
294
|
-
i.tcp_pose.position.x / 1e3,
|
|
295
|
-
i.tcp_pose.position.z / 1e3,
|
|
296
|
-
-i.tcp_pose.position.y / 1e3
|
|
297
|
-
) : null).filter((i) => i !== null)) || [];
|
|
298
|
-
return /* @__PURE__ */ t.jsx("group", { ...r, children: n.length > 0 && /* @__PURE__ */ t.jsx(
|
|
299
|
-
z,
|
|
300
|
-
{
|
|
301
|
-
points: n,
|
|
302
|
-
lineWidth: 3,
|
|
303
|
-
polygonOffset: !0,
|
|
304
|
-
polygonOffsetFactor: 10,
|
|
305
|
-
polygonOffsetUnits: 10
|
|
306
|
-
}
|
|
307
|
-
) });
|
|
308
|
-
}
|
|
309
|
-
const E = /* @__PURE__ */ new Map();
|
|
310
|
-
async function C(e, r) {
|
|
311
|
-
if (E.has(e))
|
|
312
|
-
return E.get(e);
|
|
313
|
-
const n = (async () => {
|
|
314
|
-
var u;
|
|
315
|
-
const l = r || "", i = new Le({ instanceUrl: l }), d = i.api.motionGroupModels;
|
|
316
|
-
(u = d.axios) != null && u.interceptors && d.axios.interceptors.request.use((m) => {
|
|
317
|
-
var f;
|
|
318
|
-
return (f = m.url) != null && f.includes("/glb") && (m.responseType = "blob"), m;
|
|
319
|
-
});
|
|
320
|
-
try {
|
|
321
|
-
const m = await i.api.motionGroupModels.getMotionGroupGlbModel(e);
|
|
322
|
-
return URL.createObjectURL(m);
|
|
323
|
-
} catch (m) {
|
|
324
|
-
throw console.error("Failed to fetch model:", m), m;
|
|
325
|
-
}
|
|
326
|
-
})();
|
|
327
|
-
return E.set(e, n), n;
|
|
328
|
-
}
|
|
329
|
-
function ue(e) {
|
|
330
|
-
function r(n) {
|
|
331
|
-
return n.children.length === 0 ? [n] : [n, ...n.children.flatMap((l) => r(l))];
|
|
332
|
-
}
|
|
333
|
-
return r(e).filter((n) => de(n));
|
|
334
|
-
}
|
|
335
|
-
function fe(e) {
|
|
336
|
-
return e.name.endsWith("_FLG");
|
|
337
|
-
}
|
|
338
|
-
function de(e) {
|
|
339
|
-
return /_J[0-9]+$/.test(e.name);
|
|
340
|
-
}
|
|
341
|
-
function Oe(e, r) {
|
|
342
|
-
let n;
|
|
343
|
-
function l(i) {
|
|
344
|
-
if (fe(i)) {
|
|
345
|
-
if (n)
|
|
346
|
-
throw Error(
|
|
347
|
-
`Found multiple flange groups in robot model ${r}; first ${n.name} then ${i.name}. Only one _FLG group is allowed.`
|
|
348
|
-
);
|
|
349
|
-
n = i;
|
|
350
|
-
}
|
|
351
|
-
de(i), i.children.map(l);
|
|
352
|
-
}
|
|
353
|
-
if (l(e.scene), !n)
|
|
354
|
-
throw Error(
|
|
355
|
-
`No flange group found in robot model ${r}. Flange must be identified with a name ending in _FLG.`
|
|
356
|
-
);
|
|
357
|
-
return { gltf: e };
|
|
358
|
-
}
|
|
359
|
-
function pe({
|
|
360
|
-
rapidlyChangingMotionState: e,
|
|
361
|
-
dhParameters: r,
|
|
362
|
-
onRotationChanged: n,
|
|
363
|
-
children: l
|
|
364
|
-
}) {
|
|
365
|
-
const i = R([]), d = R([]), u = R(null), { invalidate: m } = se();
|
|
366
|
-
M(() => {
|
|
367
|
-
const o = e.joint_position.filter(
|
|
368
|
-
(a) => a !== void 0
|
|
369
|
-
);
|
|
370
|
-
return u.current = new ae(o, {
|
|
371
|
-
tension: 120,
|
|
372
|
-
// Controls spring stiffness - higher values create faster, more responsive motion
|
|
373
|
-
friction: 20,
|
|
374
|
-
// Controls damping - higher values reduce oscillation and create smoother settling
|
|
375
|
-
threshold: 1e-3
|
|
376
|
-
}), () => {
|
|
377
|
-
var a;
|
|
378
|
-
(a = u.current) == null || a.destroy();
|
|
379
|
-
};
|
|
380
|
-
}, []), ie((o, a) => {
|
|
381
|
-
if (u.current) {
|
|
382
|
-
const c = u.current.update(a);
|
|
383
|
-
s(), c || m();
|
|
384
|
-
}
|
|
385
|
-
});
|
|
386
|
-
function f(o) {
|
|
387
|
-
o && (d.current = ue(o), s(), m());
|
|
388
|
-
}
|
|
389
|
-
function s() {
|
|
390
|
-
var a;
|
|
391
|
-
const o = ((a = u.current) == null ? void 0 : a.getCurrentValues()) || [];
|
|
392
|
-
if (n)
|
|
393
|
-
n(d.current, o);
|
|
394
|
-
else
|
|
395
|
-
for (const [c, y] of d.current.entries()) {
|
|
396
|
-
const h = r[c], j = h.theta || 0, g = h.reverse_rotation_direction ? -1 : 1;
|
|
397
|
-
y.rotation.y = g * (o[c] || 0) + j;
|
|
398
|
-
}
|
|
399
|
-
}
|
|
400
|
-
const p = T(() => {
|
|
401
|
-
const o = e.joint_position.filter(
|
|
402
|
-
(a) => a !== void 0
|
|
403
|
-
);
|
|
404
|
-
requestAnimationFrame(() => {
|
|
405
|
-
var a;
|
|
406
|
-
i.current = o, (a = u.current) == null || a.setTarget(o);
|
|
407
|
-
});
|
|
408
|
-
}, [e]);
|
|
409
|
-
return M(() => {
|
|
410
|
-
p();
|
|
411
|
-
}, [e, p]), le(() => {
|
|
412
|
-
p();
|
|
413
|
-
}), /* @__PURE__ */ t.jsx("group", { ref: f, children: l });
|
|
414
|
-
}
|
|
415
|
-
const Ce = "line", Ue = "mesh";
|
|
416
|
-
function Ee({
|
|
417
|
-
rapidlyChangingMotionState: e,
|
|
418
|
-
dhParameters: r,
|
|
419
|
-
...n
|
|
420
|
-
}) {
|
|
421
|
-
const l = new w(), i = R([]), d = R([]);
|
|
422
|
-
ve.useEffect(() => {
|
|
423
|
-
i.current = new Array(r.length).fill(null), d.current = new Array(r.length).fill(null);
|
|
424
|
-
}, [r.length]);
|
|
425
|
-
function u(s, p) {
|
|
426
|
-
const o = new V(), a = new J(), c = new V();
|
|
427
|
-
l.decompose(o, a, c);
|
|
428
|
-
const y = o.clone(), h = new w().makeRotationY(
|
|
429
|
-
s.theta + p * (s.reverse_rotation_direction ? -1 : 1)
|
|
430
|
-
).multiply(new w().makeTranslation(0, s.d / 1e3, 0)).multiply(new w().makeTranslation(s.a / 1e3, 0, 0)).multiply(new w().makeRotationX(s.alpha));
|
|
431
|
-
return l.multiply(h), l.decompose(o, a, c), { a: y, b: o };
|
|
432
|
-
}
|
|
433
|
-
function m(s, p, o, a) {
|
|
434
|
-
if (!r)
|
|
435
|
-
return;
|
|
436
|
-
const c = r[s];
|
|
437
|
-
if (!c)
|
|
438
|
-
return;
|
|
439
|
-
const { a: y, b: h } = u(c, a);
|
|
440
|
-
p.geometry.setPositions([y.toArray(), h.toArray()].flat()), o.position.set(h.x, h.y, h.z);
|
|
441
|
-
}
|
|
442
|
-
function f(s, p) {
|
|
443
|
-
l.identity();
|
|
444
|
-
for (let o = 0; o < Math.min(s.length, p.length); o++) {
|
|
445
|
-
const a = i.current[o], c = d.current[o];
|
|
446
|
-
a && c && m(o, a, c, p[o]);
|
|
447
|
-
}
|
|
448
|
-
}
|
|
449
|
-
return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
|
|
450
|
-
pe,
|
|
451
|
-
{
|
|
452
|
-
rapidlyChangingMotionState: e,
|
|
453
|
-
dhParameters: r,
|
|
454
|
-
onRotationChanged: f,
|
|
455
|
-
children: /* @__PURE__ */ t.jsxs("group", { ...n, name: "Scene", children: [
|
|
456
|
-
/* @__PURE__ */ t.jsxs("mesh", { children: [
|
|
457
|
-
/* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
|
|
458
|
-
/* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
|
|
459
|
-
] }),
|
|
460
|
-
r.map((s, p) => {
|
|
461
|
-
const { a: o, b: a } = u(
|
|
462
|
-
s,
|
|
463
|
-
e.joint_position[p] ?? 0
|
|
464
|
-
), c = `dhrobot_J0${p}`;
|
|
465
|
-
return /* @__PURE__ */ t.jsxs("group", { name: c, children: [
|
|
466
|
-
/* @__PURE__ */ t.jsx(
|
|
467
|
-
z,
|
|
468
|
-
{
|
|
469
|
-
ref: (y) => {
|
|
470
|
-
i.current[p] = y;
|
|
471
|
-
},
|
|
472
|
-
name: Ce,
|
|
473
|
-
points: [o, a],
|
|
474
|
-
color: "white",
|
|
475
|
-
lineWidth: 5
|
|
476
|
-
}
|
|
477
|
-
),
|
|
478
|
-
/* @__PURE__ */ t.jsxs(
|
|
479
|
-
"mesh",
|
|
480
|
-
{
|
|
481
|
-
ref: (y) => {
|
|
482
|
-
d.current[p] = y;
|
|
483
|
-
},
|
|
484
|
-
name: Ue,
|
|
485
|
-
position: a,
|
|
486
|
-
children: [
|
|
487
|
-
/* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
|
|
488
|
-
/* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
|
|
489
|
-
]
|
|
490
|
-
},
|
|
491
|
-
"mesh_" + p
|
|
492
|
-
)
|
|
493
|
-
] }, c);
|
|
494
|
-
})
|
|
495
|
-
] })
|
|
496
|
-
}
|
|
497
|
-
) });
|
|
498
|
-
}
|
|
499
|
-
const Je = console.warn;
|
|
500
|
-
function me() {
|
|
501
|
-
return M(() => {
|
|
502
|
-
console.warn = (e) => {
|
|
503
|
-
e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Je(e);
|
|
504
|
-
};
|
|
505
|
-
}, []), /* @__PURE__ */ t.jsx(t.Fragment, {});
|
|
506
|
-
}
|
|
507
|
-
function ze(e) {
|
|
508
|
-
return e.type === "Mesh";
|
|
509
|
-
}
|
|
510
|
-
function Be({
|
|
511
|
-
url: e,
|
|
512
|
-
flangeRef: r,
|
|
513
|
-
postModelRender: n,
|
|
514
|
-
...l
|
|
515
|
-
}) {
|
|
516
|
-
const i = Te(e);
|
|
517
|
-
let d;
|
|
518
|
-
try {
|
|
519
|
-
d = Oe(i, "robot.glb").gltf;
|
|
520
|
-
} catch (f) {
|
|
521
|
-
throw f;
|
|
522
|
-
}
|
|
523
|
-
const u = T(
|
|
524
|
-
(f) => {
|
|
525
|
-
f && n && n();
|
|
526
|
-
},
|
|
527
|
-
[n]
|
|
528
|
-
);
|
|
529
|
-
function m(f) {
|
|
530
|
-
try {
|
|
531
|
-
return ze(f) ? f.geometry ? /* @__PURE__ */ t.jsx(
|
|
532
|
-
"mesh",
|
|
533
|
-
{
|
|
534
|
-
name: f.name,
|
|
535
|
-
geometry: f.geometry,
|
|
536
|
-
material: f.material,
|
|
537
|
-
position: f.position,
|
|
538
|
-
rotation: f.rotation
|
|
539
|
-
},
|
|
540
|
-
f.uuid
|
|
541
|
-
) : /* @__PURE__ */ t.jsx("group", { name: f.name, position: f.position, rotation: f.rotation }, f.uuid) : /* @__PURE__ */ t.jsx(
|
|
542
|
-
"group",
|
|
543
|
-
{
|
|
544
|
-
name: f.name,
|
|
545
|
-
position: f.position,
|
|
546
|
-
rotation: f.rotation,
|
|
547
|
-
ref: fe(f) ? r : void 0,
|
|
548
|
-
children: f.children.map(m)
|
|
549
|
-
},
|
|
550
|
-
f.uuid
|
|
551
|
-
);
|
|
552
|
-
} catch (s) {
|
|
553
|
-
return console.warn("Error rendering node", f.name, s), null;
|
|
554
|
-
}
|
|
555
|
-
}
|
|
556
|
-
return /* @__PURE__ */ t.jsx("group", { ...l, dispose: null, ref: u, children: m(d.scene) });
|
|
557
|
-
}
|
|
558
|
-
function he({
|
|
559
|
-
modelURL: e,
|
|
560
|
-
flangeRef: r,
|
|
561
|
-
postModelRender: n,
|
|
562
|
-
...l
|
|
563
|
-
}) {
|
|
564
|
-
const [i, d] = S(null);
|
|
565
|
-
return M(() => {
|
|
566
|
-
(async () => {
|
|
567
|
-
try {
|
|
568
|
-
if (typeof e == "string")
|
|
569
|
-
d(e);
|
|
570
|
-
else {
|
|
571
|
-
const m = await e;
|
|
572
|
-
d(m);
|
|
573
|
-
}
|
|
574
|
-
} catch (m) {
|
|
575
|
-
console.error("Failed to resolve model URL:", m);
|
|
576
|
-
}
|
|
577
|
-
})();
|
|
578
|
-
}, [e]), i ? /* @__PURE__ */ t.jsx(
|
|
579
|
-
Be,
|
|
580
|
-
{
|
|
581
|
-
url: i,
|
|
582
|
-
flangeRef: r,
|
|
583
|
-
postModelRender: n,
|
|
584
|
-
...l
|
|
585
|
-
}
|
|
586
|
-
) : null;
|
|
587
|
-
}
|
|
588
|
-
const xe = (e, r) => {
|
|
589
|
-
e.userData.isGhost || (e.traverse((n) => {
|
|
590
|
-
if (n instanceof x.Mesh) {
|
|
591
|
-
n.material instanceof x.Material && (n.material.colorWrite = !1);
|
|
592
|
-
const l = n.clone(), i = n.clone();
|
|
593
|
-
l.material = new x.MeshStandardMaterial({
|
|
594
|
-
depthTest: !0,
|
|
595
|
-
depthWrite: !0,
|
|
596
|
-
colorWrite: !1,
|
|
597
|
-
polygonOffset: !0,
|
|
598
|
-
polygonOffsetFactor: -1,
|
|
599
|
-
side: x.DoubleSide
|
|
600
|
-
}), l.userData.isGhost = !0, i.material = new x.MeshStandardMaterial({
|
|
601
|
-
color: r,
|
|
602
|
-
opacity: 0.3,
|
|
603
|
-
depthTest: !0,
|
|
604
|
-
depthWrite: !1,
|
|
605
|
-
transparent: !0,
|
|
606
|
-
polygonOffset: !0,
|
|
607
|
-
polygonOffsetFactor: -2,
|
|
608
|
-
side: x.DoubleSide
|
|
609
|
-
}), i.userData.isGhost = !0, n.parent && (n.parent.add(l), n.parent.add(i));
|
|
610
|
-
}
|
|
611
|
-
}), e.userData.isGhost = !0);
|
|
612
|
-
}, ye = (e) => {
|
|
613
|
-
if (!e.userData.isGhost) return;
|
|
614
|
-
const r = [];
|
|
615
|
-
e.traverse((n) => {
|
|
616
|
-
var l;
|
|
617
|
-
n instanceof x.Mesh && ((l = n.userData) != null && l.isGhost ? r.push(n) : n.material instanceof x.Material && (n.material.colorWrite = !0));
|
|
618
|
-
}), r.forEach((n) => {
|
|
619
|
-
n.parent && n.parent.remove(n);
|
|
620
|
-
}), e.userData.isGhost = !1;
|
|
621
|
-
}, ge = O(
|
|
622
|
-
({
|
|
623
|
-
rapidlyChangingMotionState: e,
|
|
624
|
-
modelFromController: r,
|
|
625
|
-
dhParameters: n,
|
|
626
|
-
getModel: l = C,
|
|
627
|
-
flangeRef: i,
|
|
628
|
-
postModelRender: d,
|
|
629
|
-
transparentColor: u,
|
|
630
|
-
instanceUrl: m,
|
|
631
|
-
...f
|
|
632
|
-
}) => {
|
|
633
|
-
const [s, p] = S(null), o = T((c) => {
|
|
634
|
-
p(c);
|
|
635
|
-
}, []);
|
|
636
|
-
M(() => {
|
|
637
|
-
s && (u ? xe(s, u) : ye(s));
|
|
638
|
-
}, [s, u]);
|
|
639
|
-
const a = /* @__PURE__ */ t.jsx(
|
|
640
|
-
Ee,
|
|
641
|
-
{
|
|
642
|
-
rapidlyChangingMotionState: e,
|
|
643
|
-
dhParameters: n,
|
|
644
|
-
...f
|
|
645
|
-
}
|
|
646
|
-
);
|
|
647
|
-
return /* @__PURE__ */ t.jsxs(
|
|
648
|
-
ce,
|
|
649
|
-
{
|
|
650
|
-
fallback: a,
|
|
651
|
-
onError: (c) => {
|
|
652
|
-
console.warn(c);
|
|
653
|
-
},
|
|
654
|
-
children: [
|
|
655
|
-
/* @__PURE__ */ t.jsx(oe, { fallback: a, children: /* @__PURE__ */ t.jsx("group", { ref: o, children: /* @__PURE__ */ t.jsx(
|
|
656
|
-
pe,
|
|
657
|
-
{
|
|
658
|
-
rapidlyChangingMotionState: e,
|
|
659
|
-
dhParameters: n,
|
|
660
|
-
children: /* @__PURE__ */ t.jsx(
|
|
661
|
-
he,
|
|
662
|
-
{
|
|
663
|
-
modelURL: (() => {
|
|
664
|
-
const c = l(r, m);
|
|
665
|
-
if (!c) {
|
|
666
|
-
const y = new Blob([], { type: "model/gltf-binary" }), h = new File([y], `${r}.glb`, { type: "model/gltf-binary" });
|
|
667
|
-
return Promise.resolve(URL.createObjectURL(h));
|
|
668
|
-
}
|
|
669
|
-
return c;
|
|
670
|
-
})(),
|
|
671
|
-
postModelRender: d,
|
|
672
|
-
flangeRef: i,
|
|
673
|
-
...f
|
|
674
|
-
}
|
|
675
|
-
)
|
|
676
|
-
}
|
|
677
|
-
) }) }),
|
|
678
|
-
/* @__PURE__ */ t.jsx(me, {})
|
|
679
|
-
]
|
|
680
|
-
}
|
|
681
|
-
);
|
|
682
|
-
}
|
|
683
|
-
);
|
|
684
|
-
function We({
|
|
685
|
-
connectedMotionGroup: e,
|
|
686
|
-
getModel: r = C,
|
|
687
|
-
flangeRef: n,
|
|
688
|
-
transparentColor: l,
|
|
689
|
-
postModelRender: i,
|
|
690
|
-
...d
|
|
691
|
-
}) {
|
|
692
|
-
return e.dhParameters ? /* @__PURE__ */ t.jsx(
|
|
693
|
-
ge,
|
|
694
|
-
{
|
|
695
|
-
rapidlyChangingMotionState: e.rapidlyChangingMotionState,
|
|
696
|
-
modelFromController: e.modelFromController || "",
|
|
697
|
-
dhParameters: e.dhParameters,
|
|
698
|
-
getModel: r,
|
|
699
|
-
flangeRef: n,
|
|
700
|
-
transparentColor: l,
|
|
701
|
-
postModelRender: i,
|
|
702
|
-
...d
|
|
703
|
-
}
|
|
704
|
-
) : null;
|
|
705
|
-
}
|
|
706
|
-
const at = O(
|
|
707
|
-
Ae(
|
|
708
|
-
({
|
|
709
|
-
robotName: e,
|
|
710
|
-
programState: r,
|
|
711
|
-
safetyState: n,
|
|
712
|
-
operationMode: l,
|
|
713
|
-
driveToHomeEnabled: i = !1,
|
|
714
|
-
onDriveToHomePress: d,
|
|
715
|
-
onDriveToHomeRelease: u,
|
|
716
|
-
connectedMotionGroup: m,
|
|
717
|
-
robotComponent: f = We,
|
|
718
|
-
customContentComponent: s,
|
|
719
|
-
className: p
|
|
720
|
-
}) => {
|
|
721
|
-
var $;
|
|
722
|
-
const o = Ve(), { t: a } = Fe(), [c, y] = S(!1), h = R(null), j = R(null), [g, U] = S(!1), [L, Re] = S({ width: 400, height: 600 }), [He, Me] = S(0);
|
|
723
|
-
M(() => {
|
|
724
|
-
const I = () => {
|
|
725
|
-
if (j.current) {
|
|
726
|
-
const { offsetWidth: N, offsetHeight: q } = j.current;
|
|
727
|
-
U(N > q), Re({ width: N, height: q });
|
|
728
|
-
}
|
|
729
|
-
};
|
|
730
|
-
I();
|
|
731
|
-
const H = new ResizeObserver(I);
|
|
732
|
-
return j.current && H.observe(j.current), () => {
|
|
733
|
-
H.disconnect();
|
|
734
|
-
};
|
|
735
|
-
}, []);
|
|
736
|
-
const B = T(() => {
|
|
737
|
-
Me((I) => I + 1);
|
|
738
|
-
}, []), G = T(() => {
|
|
739
|
-
!i || !d || (y(!0), d());
|
|
740
|
-
}, [i, d]), P = T(() => {
|
|
741
|
-
!i || !u || (y(!1), u());
|
|
742
|
-
}, [i, u]), W = T(() => {
|
|
743
|
-
c && u && (y(!1), u());
|
|
744
|
-
}, [c, u]), _ = g ? L.width < 350 : L.height < 200, k = g ? L.height < 310 : L.height < 450;
|
|
745
|
-
return /* @__PURE__ */ t.jsx(
|
|
746
|
-
Se,
|
|
747
|
-
{
|
|
748
|
-
ref: j,
|
|
749
|
-
className: p,
|
|
750
|
-
sx: {
|
|
751
|
-
width: "100%",
|
|
752
|
-
height: "100%",
|
|
753
|
-
display: "flex",
|
|
754
|
-
flexDirection: g ? "row" : "column",
|
|
755
|
-
position: "relative",
|
|
756
|
-
overflow: "hidden",
|
|
757
|
-
minWidth: { xs: 180, sm: 220, md: 250 },
|
|
758
|
-
minHeight: g ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
|
|
759
|
-
// Allow progressive hiding in portrait mode
|
|
760
|
-
border: `1px solid ${o.palette.divider}`,
|
|
761
|
-
borderRadius: "18px",
|
|
762
|
-
boxShadow: "none",
|
|
763
|
-
backgroundColor: (($ = o.palette.backgroundPaperElevation) == null ? void 0 : $[8]) || "#2A2A3F",
|
|
764
|
-
backgroundImage: "none"
|
|
765
|
-
// Override any gradient from elevation
|
|
766
|
-
},
|
|
767
|
-
children: g ? /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
|
|
768
|
-
/* @__PURE__ */ t.jsx(
|
|
769
|
-
b,
|
|
770
|
-
{
|
|
771
|
-
sx: {
|
|
772
|
-
flex: "0 0 50%",
|
|
773
|
-
position: "relative",
|
|
774
|
-
height: "100%",
|
|
775
|
-
minHeight: "100%",
|
|
776
|
-
maxHeight: "100%",
|
|
777
|
-
borderRadius: 1,
|
|
778
|
-
m: { xs: 1.5, sm: 2, md: 3 },
|
|
779
|
-
mr: { xs: 0.75, sm: 1, md: 1.5 },
|
|
780
|
-
overflow: "hidden",
|
|
781
|
-
// Prevent content from affecting container size
|
|
782
|
-
display: _ ? "none" : "block"
|
|
783
|
-
},
|
|
784
|
-
children: !_ && /* @__PURE__ */ t.jsxs(
|
|
785
|
-
Y,
|
|
786
|
-
{
|
|
787
|
-
orthographic: !0,
|
|
788
|
-
camera: {
|
|
789
|
-
position: [3, 2, 3],
|
|
790
|
-
zoom: 1
|
|
791
|
-
},
|
|
792
|
-
shadows: !0,
|
|
793
|
-
frameloop: "demand",
|
|
794
|
-
style: {
|
|
795
|
-
borderRadius: o.shape.borderRadius,
|
|
796
|
-
width: "100%",
|
|
797
|
-
height: "100%",
|
|
798
|
-
background: "transparent",
|
|
799
|
-
position: "absolute",
|
|
800
|
-
top: 0,
|
|
801
|
-
left: 0
|
|
802
|
-
},
|
|
803
|
-
dpr: [1, 2],
|
|
804
|
-
gl: { alpha: !0, antialias: !0 },
|
|
805
|
-
children: [
|
|
806
|
-
/* @__PURE__ */ t.jsx(te, {}),
|
|
807
|
-
/* @__PURE__ */ t.jsx(X, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ t.jsx(
|
|
808
|
-
f,
|
|
809
|
-
{
|
|
810
|
-
connectedMotionGroup: m,
|
|
811
|
-
postModelRender: B
|
|
812
|
-
}
|
|
813
|
-
) })
|
|
814
|
-
]
|
|
815
|
-
}
|
|
816
|
-
)
|
|
817
|
-
}
|
|
818
|
-
),
|
|
819
|
-
/* @__PURE__ */ t.jsxs(
|
|
820
|
-
b,
|
|
821
|
-
{
|
|
822
|
-
sx: {
|
|
823
|
-
flex: "1",
|
|
824
|
-
display: "flex",
|
|
825
|
-
flexDirection: "column",
|
|
826
|
-
justifyContent: "flex-start",
|
|
827
|
-
width: _ ? "100%" : "50%"
|
|
828
|
-
},
|
|
829
|
-
children: [
|
|
830
|
-
/* @__PURE__ */ t.jsxs(
|
|
831
|
-
b,
|
|
832
|
-
{
|
|
833
|
-
sx: {
|
|
834
|
-
p: { xs: 1.5, sm: 2, md: 3 },
|
|
835
|
-
pb: { xs: 1, sm: 1.5, md: 2 },
|
|
836
|
-
textAlign: "left"
|
|
837
|
-
},
|
|
838
|
-
children: [
|
|
839
|
-
/* @__PURE__ */ t.jsx(K, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
|
|
840
|
-
/* @__PURE__ */ t.jsx(
|
|
841
|
-
ee,
|
|
842
|
-
{
|
|
843
|
-
programState: r,
|
|
844
|
-
safetyState: n,
|
|
845
|
-
operationMode: l
|
|
846
|
-
}
|
|
847
|
-
)
|
|
848
|
-
]
|
|
849
|
-
}
|
|
850
|
-
),
|
|
851
|
-
/* @__PURE__ */ t.jsxs(
|
|
852
|
-
b,
|
|
853
|
-
{
|
|
854
|
-
sx: {
|
|
855
|
-
p: { xs: 1.5, sm: 2, md: 3 },
|
|
856
|
-
pt: 0,
|
|
857
|
-
flex: "1",
|
|
858
|
-
display: "flex",
|
|
859
|
-
flexDirection: "column",
|
|
860
|
-
justifyContent: "space-between"
|
|
861
|
-
},
|
|
862
|
-
children: [
|
|
863
|
-
!k && s && /* @__PURE__ */ t.jsxs(b, { children: [
|
|
864
|
-
/* @__PURE__ */ t.jsx(s, {}),
|
|
865
|
-
/* @__PURE__ */ t.jsx(
|
|
866
|
-
Q,
|
|
867
|
-
{
|
|
868
|
-
sx: {
|
|
869
|
-
mt: 1,
|
|
870
|
-
mb: 0,
|
|
871
|
-
borderColor: o.palette.divider,
|
|
872
|
-
opacity: 0.5
|
|
873
|
-
}
|
|
874
|
-
}
|
|
875
|
-
)
|
|
876
|
-
] }),
|
|
877
|
-
/* @__PURE__ */ t.jsx(
|
|
878
|
-
b,
|
|
879
|
-
{
|
|
880
|
-
sx: {
|
|
881
|
-
mt: !k && s ? "auto" : 0
|
|
882
|
-
},
|
|
883
|
-
children: /* @__PURE__ */ t.jsx(
|
|
884
|
-
b,
|
|
885
|
-
{
|
|
886
|
-
sx: {
|
|
887
|
-
display: "flex",
|
|
888
|
-
justifyContent: "flex-start",
|
|
889
|
-
mt: { xs: 1, sm: 1.5, md: 2 },
|
|
890
|
-
mb: { xs: 0.5, sm: 0.75, md: 1 }
|
|
891
|
-
},
|
|
892
|
-
children: /* @__PURE__ */ t.jsx(
|
|
893
|
-
Z,
|
|
894
|
-
{
|
|
895
|
-
ref: h,
|
|
896
|
-
variant: "contained",
|
|
897
|
-
color: "secondary",
|
|
898
|
-
size: "small",
|
|
899
|
-
disabled: !i,
|
|
900
|
-
onMouseDown: G,
|
|
901
|
-
onMouseUp: P,
|
|
902
|
-
onMouseLeave: W,
|
|
903
|
-
onTouchStart: G,
|
|
904
|
-
onTouchEnd: P,
|
|
905
|
-
sx: {
|
|
906
|
-
textTransform: "none",
|
|
907
|
-
px: 1.5,
|
|
908
|
-
py: 0.5
|
|
909
|
-
},
|
|
910
|
-
children: a("RobotCard.DriveToHome.bt")
|
|
911
|
-
}
|
|
912
|
-
)
|
|
913
|
-
}
|
|
914
|
-
)
|
|
915
|
-
}
|
|
916
|
-
)
|
|
917
|
-
]
|
|
918
|
-
}
|
|
919
|
-
)
|
|
920
|
-
]
|
|
921
|
-
}
|
|
922
|
-
)
|
|
923
|
-
] }) : /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsxs(
|
|
924
|
-
b,
|
|
925
|
-
{
|
|
926
|
-
sx: {
|
|
927
|
-
p: 3,
|
|
928
|
-
height: "100%",
|
|
929
|
-
display: "flex",
|
|
930
|
-
flexDirection: "column"
|
|
931
|
-
},
|
|
932
|
-
children: [
|
|
933
|
-
/* @__PURE__ */ t.jsxs(b, { children: [
|
|
934
|
-
/* @__PURE__ */ t.jsx(K, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
|
|
935
|
-
/* @__PURE__ */ t.jsx(
|
|
936
|
-
ee,
|
|
937
|
-
{
|
|
938
|
-
programState: r,
|
|
939
|
-
safetyState: n,
|
|
940
|
-
operationMode: l
|
|
941
|
-
}
|
|
942
|
-
)
|
|
943
|
-
] }),
|
|
944
|
-
/* @__PURE__ */ t.jsx(
|
|
945
|
-
b,
|
|
946
|
-
{
|
|
947
|
-
sx: {
|
|
948
|
-
flex: _ ? 0 : 1,
|
|
949
|
-
position: "relative",
|
|
950
|
-
minHeight: _ ? 0 : { xs: 120, sm: 150, md: 200 },
|
|
951
|
-
height: _ ? 0 : "auto",
|
|
952
|
-
borderRadius: 1,
|
|
953
|
-
overflow: "hidden",
|
|
954
|
-
display: _ ? "none" : "block"
|
|
955
|
-
},
|
|
956
|
-
children: !_ && /* @__PURE__ */ t.jsxs(
|
|
957
|
-
Y,
|
|
958
|
-
{
|
|
959
|
-
orthographic: !0,
|
|
960
|
-
camera: {
|
|
961
|
-
position: [3, 2, 3],
|
|
962
|
-
zoom: 1
|
|
963
|
-
},
|
|
964
|
-
shadows: !0,
|
|
965
|
-
frameloop: "demand",
|
|
966
|
-
style: {
|
|
967
|
-
borderRadius: o.shape.borderRadius,
|
|
968
|
-
width: "100%",
|
|
969
|
-
height: "100%",
|
|
970
|
-
background: "transparent",
|
|
971
|
-
position: "absolute"
|
|
972
|
-
},
|
|
973
|
-
dpr: [1, 2],
|
|
974
|
-
gl: { alpha: !0, antialias: !0 },
|
|
975
|
-
children: [
|
|
976
|
-
/* @__PURE__ */ t.jsx(te, {}),
|
|
977
|
-
/* @__PURE__ */ t.jsx(X, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ t.jsx(
|
|
978
|
-
f,
|
|
979
|
-
{
|
|
980
|
-
connectedMotionGroup: m,
|
|
981
|
-
postModelRender: B
|
|
982
|
-
}
|
|
983
|
-
) })
|
|
984
|
-
]
|
|
985
|
-
}
|
|
986
|
-
)
|
|
987
|
-
}
|
|
988
|
-
),
|
|
989
|
-
/* @__PURE__ */ t.jsxs(b, { children: [
|
|
990
|
-
!k && s && /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
|
|
991
|
-
/* @__PURE__ */ t.jsx(s, {}),
|
|
992
|
-
/* @__PURE__ */ t.jsx(
|
|
993
|
-
Q,
|
|
994
|
-
{
|
|
995
|
-
sx: {
|
|
996
|
-
mt: 1,
|
|
997
|
-
mb: 0,
|
|
998
|
-
borderColor: o.palette.divider,
|
|
999
|
-
opacity: 0.5
|
|
1000
|
-
}
|
|
1001
|
-
}
|
|
1002
|
-
)
|
|
1003
|
-
] }),
|
|
1004
|
-
/* @__PURE__ */ t.jsx(
|
|
1005
|
-
b,
|
|
1006
|
-
{
|
|
1007
|
-
sx: {
|
|
1008
|
-
display: "flex",
|
|
1009
|
-
justifyContent: "flex-start",
|
|
1010
|
-
mt: !k && s ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
|
|
1011
|
-
mb: { xs: 0.5, sm: 0.75, md: 1 }
|
|
1012
|
-
},
|
|
1013
|
-
children: /* @__PURE__ */ t.jsx(
|
|
1014
|
-
Z,
|
|
1015
|
-
{
|
|
1016
|
-
ref: h,
|
|
1017
|
-
variant: "contained",
|
|
1018
|
-
color: "secondary",
|
|
1019
|
-
size: "small",
|
|
1020
|
-
disabled: !i,
|
|
1021
|
-
onMouseDown: G,
|
|
1022
|
-
onMouseUp: P,
|
|
1023
|
-
onMouseLeave: W,
|
|
1024
|
-
onTouchStart: G,
|
|
1025
|
-
onTouchEnd: P,
|
|
1026
|
-
sx: {
|
|
1027
|
-
textTransform: "none",
|
|
1028
|
-
px: 1.5,
|
|
1029
|
-
py: 0.5
|
|
1030
|
-
},
|
|
1031
|
-
children: a("RobotCard.DriveToHome.bt")
|
|
1032
|
-
}
|
|
1033
|
-
)
|
|
1034
|
-
}
|
|
1035
|
-
)
|
|
1036
|
-
] })
|
|
1037
|
-
]
|
|
1038
|
-
}
|
|
1039
|
-
) })
|
|
1040
|
-
}
|
|
1041
|
-
);
|
|
1042
|
-
}
|
|
1043
|
-
)
|
|
1044
|
-
), lt = Array(6).fill(2 * Math.PI);
|
|
1045
|
-
function je({
|
|
1046
|
-
rapidlyChangingMotionState: e,
|
|
1047
|
-
dhParameters: r,
|
|
1048
|
-
onTranslationChanged: n,
|
|
1049
|
-
children: l
|
|
1050
|
-
}) {
|
|
1051
|
-
const i = R([]), d = R([]), u = R(null), { invalidate: m } = se();
|
|
1052
|
-
M(() => {
|
|
1053
|
-
const o = e.joint_position.filter(
|
|
1054
|
-
(a) => a !== void 0
|
|
1055
|
-
);
|
|
1056
|
-
return u.current = new ae(o, {
|
|
1057
|
-
tension: 120,
|
|
1058
|
-
// Controls spring stiffness - higher values create faster, more responsive motion
|
|
1059
|
-
friction: 20,
|
|
1060
|
-
// Controls damping - higher values reduce oscillation and create smoother settling
|
|
1061
|
-
threshold: 1e-3
|
|
1062
|
-
}), () => {
|
|
1063
|
-
var a;
|
|
1064
|
-
(a = u.current) == null || a.destroy();
|
|
1065
|
-
};
|
|
1066
|
-
}, []), ie((o, a) => {
|
|
1067
|
-
if (u.current) {
|
|
1068
|
-
const c = u.current.update(a);
|
|
1069
|
-
s(), c || m();
|
|
1070
|
-
}
|
|
1071
|
-
});
|
|
1072
|
-
function f(o) {
|
|
1073
|
-
o && (d.current = ue(o), s(), m());
|
|
1074
|
-
}
|
|
1075
|
-
function s() {
|
|
1076
|
-
var a;
|
|
1077
|
-
const o = ((a = u.current) == null ? void 0 : a.getCurrentValues()) || [];
|
|
1078
|
-
if (n)
|
|
1079
|
-
n(d.current, o);
|
|
1080
|
-
else
|
|
1081
|
-
for (const [c, y] of d.current.entries()) {
|
|
1082
|
-
const j = r[c].reverse_rotation_direction ? -1 : 1;
|
|
1083
|
-
y.position.y = j * (o[c] || 0) / 1e3;
|
|
1084
|
-
}
|
|
1085
|
-
}
|
|
1086
|
-
const p = T(() => {
|
|
1087
|
-
const o = e.joint_position.filter(
|
|
1088
|
-
(a) => a !== void 0
|
|
1089
|
-
);
|
|
1090
|
-
requestAnimationFrame(() => {
|
|
1091
|
-
var a;
|
|
1092
|
-
i.current = o, (a = u.current) == null || a.setTarget(o);
|
|
1093
|
-
});
|
|
1094
|
-
}, [e]);
|
|
1095
|
-
return M(() => {
|
|
1096
|
-
p();
|
|
1097
|
-
}, [e, p]), le(() => {
|
|
1098
|
-
p();
|
|
1099
|
-
}), /* @__PURE__ */ t.jsx("group", { ref: f, children: l });
|
|
1100
|
-
}
|
|
1101
|
-
function we({
|
|
1102
|
-
rapidlyChangingMotionState: e,
|
|
1103
|
-
dhParameters: r,
|
|
1104
|
-
...n
|
|
1105
|
-
}) {
|
|
1106
|
-
const l = new w(), i = R(null), d = R(null);
|
|
1107
|
-
function u(s) {
|
|
1108
|
-
const p = new w();
|
|
1109
|
-
for (let y = 0; y < r.length; y++) {
|
|
1110
|
-
const h = r[y], j = s[y] ?? 0, g = new w().makeRotationY(h.theta).multiply(
|
|
1111
|
-
new w().makeTranslation(
|
|
1112
|
-
h.a / 1e3,
|
|
1113
|
-
(h.d + j * (h.reverse_rotation_direction ? -1 : 1)) / 1e3,
|
|
1114
|
-
0
|
|
1115
|
-
)
|
|
1116
|
-
).multiply(new w().makeRotationX(h.alpha));
|
|
1117
|
-
p.multiply(g);
|
|
1118
|
-
}
|
|
1119
|
-
const o = new V(), a = new J(), c = new V();
|
|
1120
|
-
return p.decompose(o, a, c), o;
|
|
1121
|
-
}
|
|
1122
|
-
const m = u(e.joint_position);
|
|
1123
|
-
function f(s, p) {
|
|
1124
|
-
l.identity();
|
|
1125
|
-
let o = new V();
|
|
1126
|
-
for (let h = 0; h < r.length; h++) {
|
|
1127
|
-
const j = p[h] ?? 0, g = r[h], U = new w().makeRotationY(g.theta).multiply(
|
|
1128
|
-
new w().makeTranslation(
|
|
1129
|
-
g.a / 1e3,
|
|
1130
|
-
(g.d + j * (g.reverse_rotation_direction ? -1 : 1)) / 1e3,
|
|
1131
|
-
0
|
|
1132
|
-
)
|
|
1133
|
-
).multiply(new w().makeRotationX(g.alpha));
|
|
1134
|
-
l.multiply(U);
|
|
1135
|
-
}
|
|
1136
|
-
const a = new V(), c = new J(), y = new V();
|
|
1137
|
-
if (l.decompose(a, c, y), o = a, i.current && i.current.position.set(o.x, o.y, o.z), d.current) {
|
|
1138
|
-
const h = d.current.geometry;
|
|
1139
|
-
h && h.setPositions && h.setPositions([0, 0, 0, o.x, o.y, o.z]);
|
|
1140
|
-
}
|
|
1141
|
-
}
|
|
1142
|
-
return /* @__PURE__ */ t.jsx(t.Fragment, { children: /* @__PURE__ */ t.jsx(
|
|
1143
|
-
je,
|
|
1144
|
-
{
|
|
1145
|
-
rapidlyChangingMotionState: e,
|
|
1146
|
-
dhParameters: r,
|
|
1147
|
-
onTranslationChanged: f,
|
|
1148
|
-
children: /* @__PURE__ */ t.jsxs("group", { ...n, name: "Scene", children: [
|
|
1149
|
-
/* @__PURE__ */ t.jsxs("mesh", { name: "Base", position: [0, 0, 0], children: [
|
|
1150
|
-
/* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.02, 32, 32] }),
|
|
1151
|
-
/* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "green", depthTest: !0 })
|
|
1152
|
-
] }),
|
|
1153
|
-
/* @__PURE__ */ t.jsx(
|
|
1154
|
-
z,
|
|
1155
|
-
{
|
|
1156
|
-
ref: d,
|
|
1157
|
-
points: [new V(0, 0, 0), m],
|
|
1158
|
-
color: "White",
|
|
1159
|
-
lineWidth: 5
|
|
1160
|
-
}
|
|
1161
|
-
),
|
|
1162
|
-
/* @__PURE__ */ t.jsxs("mesh", { ref: i, name: "TCP", position: m, children: [
|
|
1163
|
-
/* @__PURE__ */ t.jsx("sphereGeometry", { args: [0.025, 32, 32] }),
|
|
1164
|
-
/* @__PURE__ */ t.jsx("meshStandardMaterial", { color: "red", depthTest: !0 })
|
|
1165
|
-
] })
|
|
1166
|
-
] })
|
|
1167
|
-
}
|
|
1168
|
-
) });
|
|
1169
|
-
}
|
|
1170
|
-
const be = O(
|
|
1171
|
-
({
|
|
1172
|
-
rapidlyChangingMotionState: e,
|
|
1173
|
-
modelFromController: r,
|
|
1174
|
-
dhParameters: n,
|
|
1175
|
-
getModel: l = C,
|
|
1176
|
-
flangeRef: i,
|
|
1177
|
-
postModelRender: d,
|
|
1178
|
-
transparentColor: u,
|
|
1179
|
-
instanceUrl: m,
|
|
1180
|
-
...f
|
|
1181
|
-
}) => {
|
|
1182
|
-
const [s, p] = S(null), o = T((c) => {
|
|
1183
|
-
p(c);
|
|
1184
|
-
}, []);
|
|
1185
|
-
M(() => {
|
|
1186
|
-
s && (u ? xe(s, u) : ye(s));
|
|
1187
|
-
}, [s, u]);
|
|
1188
|
-
const a = /* @__PURE__ */ t.jsx(
|
|
1189
|
-
we,
|
|
1190
|
-
{
|
|
1191
|
-
rapidlyChangingMotionState: e,
|
|
1192
|
-
dhParameters: n,
|
|
1193
|
-
...f
|
|
1194
|
-
}
|
|
1195
|
-
);
|
|
1196
|
-
return /* @__PURE__ */ t.jsxs(
|
|
1197
|
-
ce,
|
|
1198
|
-
{
|
|
1199
|
-
fallback: a,
|
|
1200
|
-
onError: (c) => {
|
|
1201
|
-
console.warn(c);
|
|
1202
|
-
},
|
|
1203
|
-
children: [
|
|
1204
|
-
/* @__PURE__ */ t.jsx(oe, { fallback: a, children: /* @__PURE__ */ t.jsx("group", { ref: o, children: /* @__PURE__ */ t.jsx(
|
|
1205
|
-
je,
|
|
1206
|
-
{
|
|
1207
|
-
rapidlyChangingMotionState: e,
|
|
1208
|
-
dhParameters: n,
|
|
1209
|
-
children: /* @__PURE__ */ t.jsx(
|
|
1210
|
-
he,
|
|
1211
|
-
{
|
|
1212
|
-
modelURL: (() => {
|
|
1213
|
-
const c = l(r, m);
|
|
1214
|
-
if (!c) {
|
|
1215
|
-
const y = new Blob([], { type: "model/gltf-binary" }), h = new File([y], `${r}.glb`, { type: "model/gltf-binary" });
|
|
1216
|
-
return Promise.resolve(URL.createObjectURL(h));
|
|
1217
|
-
}
|
|
1218
|
-
return c;
|
|
1219
|
-
})(),
|
|
1220
|
-
postModelRender: d,
|
|
1221
|
-
flangeRef: i,
|
|
1222
|
-
...f
|
|
1223
|
-
}
|
|
1224
|
-
)
|
|
1225
|
-
}
|
|
1226
|
-
) }) }),
|
|
1227
|
-
/* @__PURE__ */ t.jsx(me, {})
|
|
1228
|
-
]
|
|
1229
|
-
}
|
|
1230
|
-
);
|
|
1231
|
-
}
|
|
1232
|
-
);
|
|
1233
|
-
function ct({
|
|
1234
|
-
connectedMotionGroup: e,
|
|
1235
|
-
getModel: r = C,
|
|
1236
|
-
flangeRef: n,
|
|
1237
|
-
transparentColor: l,
|
|
1238
|
-
postModelRender: i,
|
|
1239
|
-
...d
|
|
1240
|
-
}) {
|
|
1241
|
-
if (!e.dhParameters)
|
|
1242
|
-
return null;
|
|
1243
|
-
const u = e.modelFromController || "";
|
|
1244
|
-
return u && r(u) ? /* @__PURE__ */ t.jsx(
|
|
1245
|
-
be,
|
|
1246
|
-
{
|
|
1247
|
-
rapidlyChangingMotionState: e.rapidlyChangingMotionState,
|
|
1248
|
-
modelFromController: u,
|
|
1249
|
-
dhParameters: e.dhParameters,
|
|
1250
|
-
getModel: r,
|
|
1251
|
-
flangeRef: n,
|
|
1252
|
-
transparentColor: l,
|
|
1253
|
-
postModelRender: i,
|
|
1254
|
-
...d
|
|
1255
|
-
}
|
|
1256
|
-
) : /* @__PURE__ */ t.jsx(
|
|
1257
|
-
we,
|
|
1258
|
-
{
|
|
1259
|
-
rapidlyChangingMotionState: e.rapidlyChangingMotionState,
|
|
1260
|
-
dhParameters: e.dhParameters,
|
|
1261
|
-
...d
|
|
1262
|
-
}
|
|
1263
|
-
);
|
|
1264
|
-
}
|
|
1265
|
-
const ne = {
|
|
1266
|
-
[v.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
|
|
1267
|
-
[v.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
|
|
1268
|
-
[v.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
|
|
1269
|
-
[v.Kuka]: [
|
|
1270
|
-
0,
|
|
1271
|
-
-Math.PI / 2,
|
|
1272
|
-
Math.PI / 2,
|
|
1273
|
-
0,
|
|
1274
|
-
Math.PI / 2,
|
|
1275
|
-
0,
|
|
1276
|
-
0
|
|
1277
|
-
],
|
|
1278
|
-
[v.Universalrobots]: [
|
|
1279
|
-
0,
|
|
1280
|
-
-Math.PI / 2,
|
|
1281
|
-
-Math.PI / 2,
|
|
1282
|
-
-Math.PI / 2,
|
|
1283
|
-
Math.PI / 2,
|
|
1284
|
-
-Math.PI / 2,
|
|
1285
|
-
0
|
|
1286
|
-
]
|
|
1287
|
-
};
|
|
1288
|
-
function $e(e) {
|
|
1289
|
-
const [r] = e.split("_");
|
|
1290
|
-
switch (r) {
|
|
1291
|
-
case "ABB":
|
|
1292
|
-
return v.Abb;
|
|
1293
|
-
case "FANUC":
|
|
1294
|
-
return v.Fanuc;
|
|
1295
|
-
case "YASKAWA":
|
|
1296
|
-
return v.Yaskawa;
|
|
1297
|
-
case "KUKA":
|
|
1298
|
-
return v.Kuka;
|
|
1299
|
-
case "UniversalRobots":
|
|
1300
|
-
return v.Universalrobots;
|
|
1301
|
-
default:
|
|
1302
|
-
return null;
|
|
1303
|
-
}
|
|
1304
|
-
}
|
|
1305
|
-
function ut(e, r) {
|
|
1306
|
-
const n = $e(e);
|
|
1307
|
-
return n && n in ne ? ne[n] : r || null;
|
|
1308
|
-
}
|
|
1309
|
-
const ft = O((e) => {
|
|
1310
|
-
const {
|
|
1311
|
-
inverseSolver: r,
|
|
1312
|
-
dhParameters: n,
|
|
1313
|
-
...l
|
|
1314
|
-
} = e, [i, d] = S(D.RevoluteJoint);
|
|
1315
|
-
M(() => {
|
|
1316
|
-
n.length && d(n[0].type ?? D.RevoluteJoint);
|
|
1317
|
-
}, [n]);
|
|
1318
|
-
const u = F(() => r === null && i === D.RevoluteJoint, [r, i]), m = F(() => r === null && i === D.PrismaticJoint, [r, i]);
|
|
1319
|
-
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, {});
|
|
1320
|
-
});
|
|
1321
|
-
export {
|
|
1322
|
-
ot as C,
|
|
1323
|
-
ct as L,
|
|
1324
|
-
ne as M,
|
|
1325
|
-
te as P,
|
|
1326
|
-
We as R,
|
|
1327
|
-
st as S,
|
|
1328
|
-
it as T,
|
|
1329
|
-
ft as a,
|
|
1330
|
-
at as b,
|
|
1331
|
-
be as c,
|
|
1332
|
-
ge as d,
|
|
1333
|
-
lt as e,
|
|
1334
|
-
C as f,
|
|
1335
|
-
$e as g,
|
|
1336
|
-
ut as h
|
|
1337
|
-
};
|
|
1338
|
-
//# sourceMappingURL=MotionGroupVisualizer-BlWkdkaM.js.map
|