@wandelbots/wandelbots-js-react-components 4.7.0 → 4.7.1

package/dist/{MotionGroupVisualizer-D8_sA8PA.js → MotionGroupVisualizer-7Mw9PINy.js}

@@ -1,19 +1,19 @@
-import { j as e, d as Me, v as Te, o as Se, e as C } from "./externalizeComponent-BOqKMZMc.js";
+import { j as e, d as Te, v as Z, o as Se, e as U } from "./externalizeComponent-BOqKMZMc.js";
 import * as g from "three";
-import { Matrix4 as b, Vector3 as G, Quaternion as B } from "three";
-import { ConvexGeometry as oe, RoundedBoxGeometry as ke } from "three-stdlib";
-import Ge, { useEffect as M, useMemo as U, useRef as _, useCallback as k, useState as A, Suspense as ie } from "react";
-import { useThree as ae, useFrame as ce, Canvas as Q } from "@react-three/fiber";
-import { Environment as Ae, Lightformer as L, Line as W, useGLTF as Le, Bounds as Z } from "@react-three/drei";
-import { useTheme as Pe, Card as Fe, Box as v, Typography as z, Divider as ee, Button as te } from "@mui/material";
-import { observer as Ie } from "mobx-react-lite";
-import { useTranslation as Ve } from "react-i18next";
-import { N as De, V as le, c as ue, b as re, M as T, J as O } from "./interpolation-B8AcxfdD.js";
-import { ErrorBoundary as pe } from "react-error-boundary";
+import { Matrix4 as R, Vector3 as k, Quaternion as B } from "three";
+import { ConvexGeometry as W, RoundedBoxGeometry as Ge } from "three-stdlib";
+import ke, { useEffect as M, useMemo as C, useRef as _, useCallback as G, useState as A, Suspense as ae } from "react";
+import { useThree as le, useFrame as ce, Canvas as z } from "@react-three/fiber";
+import { Environment as Ae, Lightformer as L, Line as $, useGLTF as Le, Bounds as ee } from "@react-three/drei";
+import { useTheme as Fe, Card as Pe, Box as v, Typography as te, Divider as re, Button as ne } from "@mui/material";
+import { observer as Ve } from "mobx-react-lite";
+import { useTranslation as Ie } from "react-i18next";
+import { N as De, V as ue, c as pe, b as se, M as T, J as O } from "./interpolation-B8AcxfdD.js";
+import { ErrorBoundary as de } from "react-error-boundary";
 function Oe(t) {
   switch (t.shape_type) {
     case "convex_hull":
-      return new oe(
+      return new W(
         t.vertices.map(
           (r) => new g.Vector3(
             r[0] / 1e3,
@@ -47,21 +47,21 @@ function Oe(t) {
       return console.warn(`${t.shape_type} is not supported`), new g.BufferGeometry();
   }
 }
-function Ue({
+function Ce({
   name: t,
   collider: n,
   children: r
 }) {
-  var d, u;
-  const c = ((d = n.pose) == null ? void 0 : d.position) ?? [0, 0, 0], s = ((u = n.pose) == null ? void 0 : u.orientation) ?? [0, 0, 0];
+  var f, u;
+  const l = ((f = n.pose) == null ? void 0 : f.position) ?? [0, 0, 0], s = ((u = n.pose) == null ? void 0 : u.orientation) ?? [0, 0, 0];
   return n.margin && console.warn(`${t} margin is not supported`), /* @__PURE__ */ e.jsx(
     "mesh",
     {
       name: t,
       position: new g.Vector3(
-        c[0],
-        c[1],
-        c[2]
+        l[0],
+        l[1],
+        l[2]
       ).divideScalar(1e3),
       rotation: new g.Euler(s[0], s[1], s[2], "XYZ"),
       geometry: Oe(n.shape),
@@ -69,18 +69,18 @@ function Ue({
     }
   );
 }
-function Ce({
+function Ue({
   name: t,
   colliders: n,
   meshChildrenProvider: r,
-  ...c
+  ...l
 }) {
-  return /* @__PURE__ */ e.jsx("group", { name: t, ...c, children: Object.entries(n).map(([s, d]) => /* @__PURE__ */ e.jsx(
-    Ue,
+  return /* @__PURE__ */ e.jsx("group", { name: t, ...l, children: Object.entries(n).map(([s, f]) => /* @__PURE__ */ e.jsx(
+    Ce,
     {
       name: s,
-      collider: d,
-      children: r(s, d)
+      collider: f,
+      children: r(s, f)
     },
     s
   )) });
@@ -91,14 +91,14 @@ function at({
 }) {
   const r = t.colliders;
   return /* @__PURE__ */ e.jsx("group", { children: r && /* @__PURE__ */ e.jsx(
-    Ce,
+    Ue,
     {
       meshChildrenProvider: n,
       colliders: r
     }
   ) });
 }
-function ne() {
+function oe() {
   return /* @__PURE__ */ e.jsx(Ae, { children: /* @__PURE__ */ e.jsx(Ee, {}) });
 }
 function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
@@ -172,12 +172,12 @@ function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
     )
   ] });
 }
-function ct({
+function lt({
   safetyZones: t,
   dhParameters: n,
   ...r
 }) {
-  const c = {
+  const l = {
     attach: "material",
     color: "#009f4d",
     opacity: 0.2,
@@ -185,38 +185,38 @@ function ct({
     depthWrite: !1,
     transparent: !0,
     polygonOffset: !0
-  }, s = Me(n ?? []);
+  }, s = Te(n ?? []);
   M(() => {
     Array.isArray(t) && console.warn("SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.");
   }, [t]);
-  const d = (p, i) => {
+  const f = (p, i) => {
     var m, j;
     if (!((m = i == null ? void 0 : i.pose) != null && m.position) || !((j = i == null ? void 0 : i.pose) != null && j.orientation))
       return null;
     const o = new g.Vector3(i.pose.position[0] / 1e3, i.pose.position[1] / 1e3, i.pose.position[2] / 1e3), a = new g.Vector3(i.pose.orientation[0], i.pose.orientation[1], i.pose.orientation[2]);
-    let l;
-    const x = i.shape.shape_type === "plane" ? { ...c, side: g.DoubleSide } : { ...c, side: g.FrontSide };
+    let c;
+    const y = i.shape.shape_type === "plane" ? { ...l, side: g.DoubleSide } : { ...l, side: g.FrontSide };
     switch (i.shape.shape_type) {
       /**
        * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
        */
       case "plane":
-        l = /* @__PURE__ */ e.jsx("planeGeometry", { args: [s, s] });
+        c = /* @__PURE__ */ e.jsx("planeGeometry", { args: [s, s] });
         break;
       /**
        * Sphere shape
        */
       case "sphere": {
-        const y = (i == null ? void 0 : i.shape).radius / 1e3;
-        l = /* @__PURE__ */ e.jsx("sphereGeometry", { args: [y] });
+        const x = (i == null ? void 0 : i.shape).radius / 1e3;
+        c = /* @__PURE__ */ e.jsx("sphereGeometry", { args: [x] });
         break;
       }
       /**
        * Capsule shape
        */
       case "capsule": {
-        const y = (i == null ? void 0 : i.shape).radius / 1e3, R = (i == null ? void 0 : i.shape).cylinder_height / 1e3;
-        l = /* @__PURE__ */ e.jsx("capsuleGeometry", { args: [y, R] });
+        const x = (i == null ? void 0 : i.shape).radius / 1e3, w = (i == null ? void 0 : i.shape).cylinder_height / 1e3;
+        c = /* @__PURE__ */ e.jsx("capsuleGeometry", { args: [x, w] });
         break;
       }
       /**
@@ -224,20 +224,20 @@ function ct({
        * renderer to be able to visualize the convex hull.
        */
       case "convex_hull": {
-        const y = (i == null ? void 0 : i.shape).vertices.map(
-          (w) => new g.Vector3(w[0] / 1e3, w[1] / 1e3, w[2] / 1e3)
-        ), R = Te(y);
-        if (R.isCoplanar && R.normal) {
-          const P = new g.Vector3().addVectors(
-            y[0],
-            R.normal.multiplyScalar(1e-4)
+        const x = (i == null ? void 0 : i.shape).vertices.map(
+          (b) => new g.Vector3(b[0] / 1e3, b[1] / 1e3, b[2] / 1e3)
+        ), w = Z(x);
+        if (w.isCoplanar && w.normal) {
+          const F = new g.Vector3().addVectors(
+            x[0],
+            w.normal.multiplyScalar(1e-4)
           );
-          y.push(P);
+          x.push(F);
         }
         try {
-          l = /* @__PURE__ */ e.jsx("primitive", { object: new oe(y), attach: "geometry" });
-        } catch (w) {
-          return console.log("Error creating ConvexGeometry:", w), null;
+          c = /* @__PURE__ */ e.jsx("primitive", { object: new W(x), attach: "geometry" });
+        } catch (b) {
+          return console.log("Error creating ConvexGeometry:", b), null;
         }
         break;
       }
@@ -249,12 +249,12 @@ function ct({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        const y = i.shape, R = y.radius / 1e3, w = y.sphere_center_distance_x / 1e3, P = y.sphere_center_distance_y / 1e3, $ = R * 2;
-        l = /* @__PURE__ */ e.jsx("primitive", { object: new ke(w, P, $, 2, R), attach: "geometry" });
+        const x = i.shape, w = x.radius / 1e3, b = x.sphere_center_distance_x / 1e3, F = x.sphere_center_distance_y / 1e3, H = w * 2;
+        c = /* @__PURE__ */ e.jsx("primitive", { object: new Ge(b, F, H, 2, w), attach: "geometry" });
         break;
       }
       default:
-        console.warn("Unsupported safety zone shape type:", i.shape.shape_type), l = null;
+        console.warn("Unsupported safety zone shape type:", i.shape.shape_type), c = null;
     }
     return /* @__PURE__ */ e.jsxs(
       "mesh",
@@ -263,11 +263,11 @@ function ct({
         position: o,
         quaternion: Se(a),
         children: [
-          l,
+          c,
           /* @__PURE__ */ e.jsx(
             "meshStandardMaterial",
             {
-              ...x,
+              ...y,
               polygonOffsetFactor: -p
             }
           )
@@ -275,37 +275,56 @@ function ct({
       },
       `safety-zone-${i.shape.shape_type}-${p}`
     );
-  }, u = () => Object.values(t ?? {}).map((p, i) => d(i, p)), h = () => Array.isArray(t) ? t.map((p, i) => {
+  }, u = () => Object.values(t ?? {}).map((p, i) => f(i, p)), h = () => Array.isArray(t) ? t.map((p, i) => {
     let o = [];
-    return p.geometry && (p.geometry.compound ? o = p.geometry.compound.child_geometries : p.geometry.convex_hull && (o = [p.geometry])), o.map((a, l) => {
+    return p.geometry && (p.geometry.compound ? o = p.geometry.compound.child_geometries : p.geometry.convex_hull && (o = [p.geometry])), o.map((a, c) => {
       if (!a.convex_hull) return null;
-      const x = i * 1e3 + l, m = {
-        pose: {
-          position: [0, 0, 0],
-          orientation: [0, 0, 0]
+      const y = a.convex_hull.vertices.map(
+        (x) => new g.Vector3(x.x / 1e3, x.y / 1e3, x.z / 1e3)
+      ), m = Z(y);
+      if (m.isCoplanar && m.normal) {
+        const w = new g.Vector3().addVectors(
+          y[0],
+          m.normal.multiplyScalar(1e-4)
+        );
+        y.push(w);
+      }
+      let j;
+      try {
+        j = new W(y);
+      } catch (x) {
+        return console.log("Error creating ConvexGeometry:", x), null;
+      }
+      return /* @__PURE__ */ e.jsx("mesh", { geometry: j, children: /* @__PURE__ */ e.jsx(
+        "meshStandardMaterial",
+        {
+          attach: "material",
+          color: "#009f4d",
+          opacity: 0.2,
+          depthTest: !1,
+          depthWrite: !1,
+          transparent: !0,
+          polygonOffset: !0,
+          polygonOffsetFactor: -c
         },
-        shape: {
-          shape_type: "convex_hull",
-          vertices: a.convex_hull.vertices.map((j) => [j.x, j.y, j.z])
-        }
-      };
-      return d(x, m);
+        i
+      ) }, `${i}-${c}`);
     });
-  }) : null, f = U(() => Array.isArray(t) ? h() : u(), [t, h, u]);
-  return /* @__PURE__ */ e.jsx("group", { ...r, children: f });
+  }) : null, d = C(() => Array.isArray(t) ? h() : u(), [t, h, u]);
+  return /* @__PURE__ */ e.jsx("group", { ...r, children: d });
 }
-function lt({
+function ct({
   trajectory: t,
   ...n
 }) {
-  var c;
-  const r = ((c = t.trajectory) == null ? void 0 : c.map((s) => s.tcp_pose ? new g.Vector3(
+  var l;
+  const r = ((l = t.trajectory) == null ? void 0 : l.map((s) => s.tcp_pose ? new g.Vector3(
     s.tcp_pose.position.x / 1e3,
     s.tcp_pose.position.z / 1e3,
     -s.tcp_pose.position.y / 1e3
   ) : null).filter((s) => s !== null)) || [];
   return /* @__PURE__ */ e.jsx("group", { ...n, children: r.length > 0 && /* @__PURE__ */ e.jsx(
-    W,
+    $,
     {
       points: r,
       lineWidth: 3,
@@ -321,10 +340,10 @@ async function E(t, n) {
     return J.get(t);
   const r = (async () => {
     var u;
-    const c = n || "", s = new De({ instanceUrl: c }), d = s.api.motionGroupModels;
-    (u = d.axios) != null && u.interceptors && d.axios.interceptors.request.use((h) => {
-      var f;
-      return (f = h.url) != null && f.includes("/glb") && (h.responseType = "blob"), h;
+    const l = n || "", s = new De({ instanceUrl: l }), f = s.api.motionGroupModels;
+    (u = f.axios) != null && u.interceptors && f.axios.interceptors.request.use((h) => {
+      var d;
+      return (d = h.url) != null && d.includes("/glb") && (h.responseType = "blob"), h;
     });
     try {
       const h = await s.api.motionGroupModels.getMotionGroupGlbModel(t);
@@ -335,48 +354,48 @@ async function E(t, n) {
   })();
   return J.set(t, r), r;
 }
-function de(t) {
+function fe(t) {
   function n(r) {
-    return r.children.length === 0 ? [r] : [r, ...r.children.flatMap((c) => n(c))];
+    return r.children.length === 0 ? [r] : [r, ...r.children.flatMap((l) => n(l))];
   }
-  return n(t).filter((r) => he(r));
+  return n(t).filter((r) => me(r));
 }
-function fe(t) {
+function he(t) {
   return t.name.endsWith("_FLG");
 }
-function he(t) {
+function me(t) {
   return /_J[0-9]+$/.test(t.name);
 }
 function Je(t, n) {
   let r;
-  function c(s) {
-    if (fe(s)) {
+  function l(s) {
+    if (he(s)) {
       if (r)
         throw Error(
           `Found multiple flange groups in robot model ${n}; first ${r.name} then ${s.name}. Only one _FLG group is allowed.`
         );
       r = s;
     }
-    he(s), s.children.map(c);
+    me(s), s.children.map(l);
   }
-  if (c(t.scene), !r)
+  if (l(t.scene), !r)
     throw Error(
       `No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`
     );
   return { gltf: t };
 }
-function me({
+function xe({
   rapidlyChangingMotionState: t,
   dhParameters: n,
   onRotationChanged: r,
-  children: c
+  children: l
 }) {
-  const s = _([]), d = _([]), u = _(null), { invalidate: h } = ae();
+  const s = _([]), f = _([]), u = _(null), { invalidate: h } = le();
   M(() => {
     const o = t.joint_position.filter(
       (a) => a !== void 0
     );
-    return u.current = new le(o, {
+    return u.current = new ue(o, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
@@ -388,25 +407,25 @@ function me({
     };
   }, []), ce((o, a) => {
     if (u.current) {
-      const l = u.current.update(a);
-      p(), l || h();
+      const c = u.current.update(a);
+      p(), c || h();
     }
   });
-  function f(o) {
-    o && (d.current = de(o), p(), h());
+  function d(o) {
+    o && (f.current = fe(o), p(), h());
   }
   function p() {
     var a;
     const o = ((a = u.current) == null ? void 0 : a.getCurrentValues()) || [];
     if (r)
-      r(d.current, o);
+      r(f.current, o);
     else
-      for (const [l, x] of d.current.entries()) {
-        const m = n[l], j = m.theta || 0, y = m.reverse_rotation_direction ? -1 : 1;
-        x.rotation.y = y * (o[l] || 0) + j;
+      for (const [c, y] of f.current.entries()) {
+        const m = n[c], j = m.theta || 0, x = m.reverse_rotation_direction ? -1 : 1;
+        y.rotation.y = x * (o[c] || 0) + j;
       }
   }
-  const i = k(() => {
+  const i = G(() => {
     const o = t.joint_position.filter(
       (a) => a !== void 0
     );
@@ -417,9 +436,9 @@ function me({
   }, [t]);
   return M(() => {
     i();
-  }, [t, i]), ue(() => {
+  }, [t, i]), pe(() => {
     i();
-  }), /* @__PURE__ */ e.jsx("group", { ref: f, children: c });
+  }), /* @__PURE__ */ e.jsx("group", { ref: d, children: l });
 }
 const Be = "line", We = "mesh";
 function $e({
@@ -427,40 +446,40 @@ function $e({
   dhParameters: n,
   ...r
 }) {
-  const c = new b(), s = _([]), d = _([]);
-  Ge.useEffect(() => {
-    s.current = new Array(n.length).fill(null), d.current = new Array(n.length).fill(null);
+  const l = new R(), s = _([]), f = _([]);
+  ke.useEffect(() => {
+    s.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
   }, [n.length]);
   function u(p, i) {
-    const o = new G(), a = new B(), l = new G();
-    c.decompose(o, a, l);
-    const x = o.clone(), m = new b().makeRotationY(
+    const o = new k(), a = new B(), c = new k();
+    l.decompose(o, a, c);
+    const y = o.clone(), m = new R().makeRotationY(
       p.theta + i * (p.reverse_rotation_direction ? -1 : 1)
-    ).multiply(new b().makeTranslation(0, p.d / 1e3, 0)).multiply(new b().makeTranslation(p.a / 1e3, 0, 0)).multiply(new b().makeRotationX(p.alpha));
-    return c.multiply(m), c.decompose(o, a, l), { a: x, b: o };
+    ).multiply(new R().makeTranslation(0, p.d / 1e3, 0)).multiply(new R().makeTranslation(p.a / 1e3, 0, 0)).multiply(new R().makeRotationX(p.alpha));
+    return l.multiply(m), l.decompose(o, a, c), { a: y, b: o };
   }
   function h(p, i, o, a) {
     if (!n)
       return;
-    const l = n[p];
-    if (!l)
+    const c = n[p];
+    if (!c)
       return;
-    const { a: x, b: m } = u(l, a);
-    i.geometry.setPositions([x.toArray(), m.toArray()].flat()), o.position.set(m.x, m.y, m.z);
+    const { a: y, b: m } = u(c, a);
+    i.geometry.setPositions([y.toArray(), m.toArray()].flat()), o.position.set(m.x, m.y, m.z);
   }
-  function f(p, i) {
-    c.identity();
+  function d(p, i) {
+    l.identity();
     for (let o = 0; o < Math.min(p.length, i.length); o++) {
-      const a = s.current[o], l = d.current[o];
-      a && l && h(o, a, l, i[o]);
+      const a = s.current[o], c = f.current[o];
+      a && c && h(o, a, c, i[o]);
     }
   }
   return /* @__PURE__ */ e.jsx(e.Fragment, { children: /* @__PURE__ */ e.jsx(
-    me,
+    xe,
     {
       rapidlyChangingMotionState: t,
       dhParameters: n,
-      onRotationChanged: f,
+      onRotationChanged: d,
       children: /* @__PURE__ */ e.jsxs("group", { ...r, name: "Scene", children: [
         /* @__PURE__ */ e.jsxs("mesh", { children: [
           /* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
@@ -470,13 +489,13 @@ function $e({
           const { a: o, b: a } = u(
             p,
             t.joint_position[i] ?? 0
-          ), l = `dhrobot_J0${i}`;
-          return /* @__PURE__ */ e.jsxs("group", { name: l, children: [
+          ), c = `dhrobot_J0${i}`;
+          return /* @__PURE__ */ e.jsxs("group", { name: c, children: [
             /* @__PURE__ */ e.jsx(
-              W,
+              $,
               {
-                ref: (x) => {
-                  s.current[i] = x;
+                ref: (y) => {
+                  s.current[i] = y;
                 },
                 name: Be,
                 points: [o, a],
@@ -487,8 +506,8 @@ function $e({
             /* @__PURE__ */ e.jsxs(
               "mesh",
               {
-                ref: (x) => {
-                  d.current[i] = x;
+                ref: (y) => {
+                  f.current[i] = y;
                 },
                 name: We,
                 position: a,
@@ -499,14 +518,14 @@ function $e({
               },
               "mesh_" + i
             )
-          ] }, l);
+          ] }, c);
         })
       ] })
     }
   ) });
 }
 const He = console.warn;
-function xe() {
+function ye() {
   return M(() => {
     console.warn = (t) => {
       t !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && He(t);
@@ -520,65 +539,65 @@ function qe({
   url: t,
   flangeRef: n,
   postModelRender: r,
-  ...c
+  ...l
 }) {
   const s = Le(t);
-  let d;
+  let f;
   try {
-    d = Je(s, "robot.glb").gltf;
-  } catch (f) {
-    throw f;
+    f = Je(s, "robot.glb").gltf;
+  } catch (d) {
+    throw d;
   }
-  const u = k(
-    (f) => {
-      f && r && r();
+  const u = G(
+    (d) => {
+      d && r && r();
     },
     [r]
   );
-  function h(f) {
+  function h(d) {
     try {
-      return Ne(f) ? f.geometry ? /* @__PURE__ */ e.jsx(
+      return Ne(d) ? d.geometry ? /* @__PURE__ */ e.jsx(
         "mesh",
         {
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-          geometry: f.geometry,
-          material: f.material,
-          position: f.position,
-          rotation: f.rotation
+          name: d.name,
+          geometry: d.geometry,
+          material: d.material,
+          position: d.position,
+          rotation: d.rotation
         },
-        f.uuid
-      ) : /* @__PURE__ */ e.jsx("group", { name: f.name, position: f.position, rotation: f.rotation }, f.uuid) : /* @__PURE__ */ e.jsx(
+        d.uuid
+      ) : /* @__PURE__ */ e.jsx("group", { name: d.name, position: d.position, rotation: d.rotation }, d.uuid) : /* @__PURE__ */ e.jsx(
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-          name: f.name,
-          position: f.position,
-          rotation: f.rotation,
-          ref: fe(f) ? n : void 0,
-          children: f.children.map(h)
+          name: d.name,
+          position: d.position,
+          rotation: d.rotation,
+          ref: he(d) ? n : void 0,
+          children: d.children.map(h)
         },
-        f.uuid
+        d.uuid
       );
     } catch (p) {
-      return console.warn("Error rendering node", f.name, p), null;
+      return console.warn("Error rendering node", d.name, p), null;
     }
   }
-  return /* @__PURE__ */ e.jsx("group", { ...c, dispose: null, ref: u, children: h(d.scene) });
+  return /* @__PURE__ */ e.jsx("group", { ...l, dispose: null, ref: u, children: h(f.scene) });
 }
-function ye({
+function ge({
   modelURL: t,
   flangeRef: n,
   postModelRender: r,
-  ...c
+  ...l
 }) {
-  const [s, d] = A(null);
+  const [s, f] = A(null);
   return M(() => {
     (async () => {
       try {
         if (typeof t == "string")
-          d(t);
+          f(t);
         else {
           const h = await t;
-          d(h);
+          f(h);
         }
       } catch (h) {
         console.error("Failed to resolve model URL:", h);
@@ -590,23 +609,23 @@ function ye({
       url: s,
       flangeRef: n,
       postModelRender: r,
-      ...c
+      ...l
     }
   ) : null;
 }
-const ge = (t, n) => {
+const je = (t, n) => {
   t.userData.isGhost || (t.traverse((r) => {
     if (r instanceof g.Mesh) {
       r.material instanceof g.Material && (r.material.colorWrite = !1);
-      const c = r.clone(), s = r.clone();
-      c.material = new g.MeshStandardMaterial({
+      const l = r.clone(), s = r.clone();
+      l.material = new g.MeshStandardMaterial({
         depthTest: !0,
         depthWrite: !0,
         colorWrite: !1,
         polygonOffset: !0,
         polygonOffsetFactor: -1,
         side: g.DoubleSide
-      }), c.userData.isGhost = !0, s.material = new g.MeshStandardMaterial({
+      }), l.userData.isGhost = !0, s.material = new g.MeshStandardMaterial({
         color: n,
         opacity: 0.3,
         depthTest: !0,
@@ -615,76 +634,76 @@ const ge = (t, n) => {
         polygonOffset: !0,
         polygonOffsetFactor: -2,
         side: g.DoubleSide
-      }), s.userData.isGhost = !0, r.parent && (r.parent.add(c), r.parent.add(s));
+      }), s.userData.isGhost = !0, r.parent && (r.parent.add(l), r.parent.add(s));
     }
   }), t.userData.isGhost = !0);
-}, je = (t) => {
+}, we = (t) => {
   if (!t.userData.isGhost) return;
   const n = [];
   t.traverse((r) => {
-    var c;
-    r instanceof g.Mesh && ((c = r.userData) != null && c.isGhost ? n.push(r) : r.material instanceof g.Material && (r.material.colorWrite = !0));
+    var l;
+    r instanceof g.Mesh && ((l = r.userData) != null && l.isGhost ? n.push(r) : r.material instanceof g.Material && (r.material.colorWrite = !0));
   }), n.forEach((r) => {
     r.parent && r.parent.remove(r);
   }), t.userData.isGhost = !1;
-}, we = C(
+}, be = U(
   ({
     rapidlyChangingMotionState: t,
     modelFromController: n,
     dhParameters: r,
-    getModel: c = E,
+    getModel: l = E,
     flangeRef: s,
-    postModelRender: d,
+    postModelRender: f,
     transparentColor: u,
     instanceUrl: h,
-    ...f
+    ...d
   }) => {
-    const [p, i] = A(null), o = k((l) => {
-      i(l);
+    const [p, i] = A(null), o = G((c) => {
+      i(c);
     }, []);
     M(() => {
-      p && (u ? ge(p, u) : je(p));
+      p && (u ? je(p, u) : we(p));
     }, [p, u]);
     const a = /* @__PURE__ */ e.jsx(
       $e,
       {
         rapidlyChangingMotionState: t,
         dhParameters: r,
-        ...f
+        ...d
       }
     );
     return /* @__PURE__ */ e.jsxs(
-      pe,
+      de,
       {
         fallback: a,
-        onError: (l) => {
-          console.warn(l);
+        onError: (c) => {
+          console.warn(c);
         },
         children: [
-          /* @__PURE__ */ e.jsx(ie, { fallback: a, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
-            me,
+          /* @__PURE__ */ e.jsx(ae, { fallback: a, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
+            xe,
             {
               rapidlyChangingMotionState: t,
               dhParameters: r,
               children: /* @__PURE__ */ e.jsx(
-                ye,
+                ge,
                 {
                   modelURL: (() => {
-                    const l = c(n, h);
-                    if (!l) {
-                      const x = new Blob([], { type: "model/gltf-binary" }), m = new File([x], `${n}.glb`, { type: "model/gltf-binary" });
+                    const c = l(n, h);
+                    if (!c) {
+                      const y = new Blob([], { type: "model/gltf-binary" }), m = new File([y], `${n}.glb`, { type: "model/gltf-binary" });
                       return Promise.resolve(URL.createObjectURL(m));
                     }
-                    return l;
+                    return c;
                   })(),
-                  postModelRender: d,
+                  postModelRender: f,
                   flangeRef: s,
-                  ...f
+                  ...d
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ e.jsx(xe, {})
+          /* @__PURE__ */ e.jsx(ye, {})
         ]
       }
     );
@@ -694,65 +713,65 @@ function Ye({
   connectedMotionGroup: t,
   getModel: n = E,
   flangeRef: r,
-  transparentColor: c,
+  transparentColor: l,
   postModelRender: s,
-  ...d
+  ...f
 }) {
   return t.dhParameters ? /* @__PURE__ */ e.jsx(
-    we,
+    be,
     {
       rapidlyChangingMotionState: t.rapidlyChangingMotionState,
       modelFromController: t.modelFromController || "",
       dhParameters: t.dhParameters,
       getModel: n,
       flangeRef: r,
-      transparentColor: c,
+      transparentColor: l,
       postModelRender: s,
-      ...d
+      ...f
     }
   ) : null;
 }
-const ut = C(
-  Ie(
+const ut = U(
+  Ve(
     ({
       robotName: t,
       programState: n,
       safetyState: r,
-      operationMode: c,
+      operationMode: l,
       driveToHomeEnabled: s = !1,
-      onDriveToHomePress: d,
+      onDriveToHomePress: f,
       onDriveToHomeRelease: u,
       connectedMotionGroup: h,
-      robotComponent: f = Ye,
+      robotComponent: d = Ye,
       customContentComponent: p,
       className: i
     }) => {
-      var q;
-      const o = Pe(), { t: a } = Ve(), [l, x] = A(!1), m = _(null), j = _(null), [y, R] = A(!1), [w, P] = A({ width: 400, height: 600 }), [$, _e] = A(0);
+      var Y;
+      const o = Fe(), { t: a } = Ie(), [c, y] = A(!1), m = _(null), j = _(null), [x, w] = A(!1), [b, F] = A({ width: 400, height: 600 }), [H, Me] = A(0);
       M(() => {
         const D = () => {
           if (j.current) {
-            const { offsetWidth: X, offsetHeight: K } = j.current;
-            R(X > K), P({ width: X, height: K });
+            const { offsetWidth: K, offsetHeight: Q } = j.current;
+            w(K > Q), F({ width: K, height: Q });
           }
         };
         D();
-        const Y = new ResizeObserver(D);
-        return j.current && Y.observe(j.current), () => {
-          Y.disconnect();
+        const X = new ResizeObserver(D);
+        return j.current && X.observe(j.current), () => {
+          X.disconnect();
         };
       }, []);
-      const H = k(() => {
-        _e((D) => D + 1);
-      }, []), F = k(() => {
-        !s || !d || (x(!0), d());
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-        l && u && (x(!1), u());
-      }, [l, u]), S = y ? w.width < 350 : w.height < 200, V = y ? w.height < 310 : w.height < 450;
+      const N = G(() => {
+        Me((D) => D + 1);
+      }, []), P = G(() => {
+        !s || !f || (y(!0), f());
+      }, [s, f]), V = G(() => {
+        !s || !u || (y(!1), u());
+      }, [s, u]), q = G(() => {
+        c && u && (y(!1), u());
+      }, [c, u]), S = x ? b.width < 350 : b.height < 200, I = x ? b.height < 310 : b.height < 450;
       return /* @__PURE__ */ e.jsx(
-        Fe,
+        Pe,
         {
           ref: j,
           className: i,
@@ -760,20 +779,20 @@ const ut = C(
             width: "100%",
             height: "100%",
             display: "flex",
-            flexDirection: y ? "row" : "column",
+            flexDirection: x ? "row" : "column",
             position: "relative",
             overflow: "hidden",
             minWidth: { xs: 180, sm: 220, md: 250 },
-            minHeight: y ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
+            minHeight: x ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
             // Allow progressive hiding in portrait mode
             border: `1px solid ${o.palette.divider}`,
             borderRadius: "18px",
             boxShadow: "none",
-            backgroundColor: ((q = o.palette.backgroundPaperElevation) == null ? void 0 : q[8]) || "#2A2A3F",
+            backgroundColor: ((Y = o.palette.backgroundPaperElevation) == null ? void 0 : Y[8]) || "#2A2A3F",
             backgroundImage: "none"
             // Override any gradient from elevation
           },
-          children: y ? /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
+          children: x ? /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
             /* @__PURE__ */ e.jsx(
               v,
               {
@@ -791,7 +810,7 @@ const ut = C(
                   display: S ? "none" : "block"
                 },
                 children: !S && /* @__PURE__ */ e.jsxs(
-                  Q,
+                  z,
                   {
                     orthographic: !0,
                     camera: {
@@ -812,12 +831,12 @@ const ut = C(
                     dpr: [1, 2],
                     gl: { alpha: !0, antialias: !0 },
                     children: [
-                      /* @__PURE__ */ e.jsx(ne, {}),
-                      /* @__PURE__ */ e.jsx(Z, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
-                        f,
+                      /* @__PURE__ */ e.jsx(oe, {}),
+                      /* @__PURE__ */ e.jsx(ee, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
+                        d,
                         {
                           connectedMotionGroup: h,
-                          postModelRender: H
+                          postModelRender: N
                         }
                       ) })
                     ]
@@ -845,13 +864,13 @@ const ut = C(
                         textAlign: "left"
                       },
                       children: [
-                        /* @__PURE__ */ e.jsx(z, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
+                        /* @__PURE__ */ e.jsx(te, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
                         /* @__PURE__ */ e.jsx(
-                          re,
+                          se,
                           {
                             programState: n,
                             safetyState: r,
-                            operationMode: c
+                            operationMode: l
                           }
                         )
                       ]
@@ -869,10 +888,10 @@ const ut = C(
                         justifyContent: "space-between"
                       },
                       children: [
-                        !V && p && /* @__PURE__ */ e.jsxs(v, { children: [
+                        !I && p && /* @__PURE__ */ e.jsxs(v, { children: [
                           /* @__PURE__ */ e.jsx(p, {}),
                           /* @__PURE__ */ e.jsx(
-                            ee,
+                            re,
                             {
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@@ -887,7 +906,7 @@ const ut = C(
                           v,
                           {
                             sx: {
-                              mt: !V && p ? "auto" : 0
+                              mt: !I && p ? "auto" : 0
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                             children: /* @__PURE__ */ e.jsx(
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                                   mb: { xs: 0.5, sm: 0.75, md: 1 }
                                 },
                                 children: /* @__PURE__ */ e.jsx(
-                                  te,
+                                  ne,
                                   {
                                     ref: m,
                                     variant: "contained",
                                     color: "secondary",
                                     size: "small",
                                     disabled: !s,
-                                    onMouseDown: F,
-                                    onMouseUp: I,
-                                    onMouseLeave: N,
-                                    onTouchStart: F,
-                                    onTouchEnd: I,
+                                    onMouseDown: P,
+                                    onMouseUp: V,
+                                    onMouseLeave: q,
+                                    onTouchStart: P,
+                                    onTouchEnd: V,
                                     sx: {
                                       textTransform: "none",
                                       px: 1.5,
@@ -940,13 +959,13 @@ const ut = C(
               },
               children: [
                 /* @__PURE__ */ e.jsxs(v, { children: [
-                  /* @__PURE__ */ e.jsx(z, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
+                  /* @__PURE__ */ e.jsx(te, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
                   /* @__PURE__ */ e.jsx(
-                    re,
+                    se,
                     {
                       programState: n,
                       safetyState: r,
-                      operationMode: c
+                      operationMode: l
                     }
                   )
                 ] }),
@@ -963,7 +982,7 @@ const ut = C(
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                     },
                     children: !S && /* @__PURE__ */ e.jsxs(
-                      Q,
+                      z,
                       {
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                         camera: {
@@ -982,12 +1001,12 @@ const ut = C(
                         dpr: [1, 2],
                         gl: { alpha: !0, antialias: !0 },
                         children: [
-                          /* @__PURE__ */ e.jsx(ne, {}),
-                          /* @__PURE__ */ e.jsx(Z, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
-                            f,
+                          /* @__PURE__ */ e.jsx(oe, {}),
+                          /* @__PURE__ */ e.jsx(ee, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
+                            d,
                             {
                               connectedMotionGroup: h,
-                              postModelRender: H
+                              postModelRender: N
                             }
                           ) })
                         ]
@@ -996,10 +1015,10 @@ const ut = C(
                   }
                 ),
                 /* @__PURE__ */ e.jsxs(v, { children: [
-                  !V && p && /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
+                  !I && p && /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
                     /* @__PURE__ */ e.jsx(p, {}),
                     /* @__PURE__ */ e.jsx(
-                      ee,
+                      re,
                       {
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@@ -1016,22 +1035,22 @@ const ut = C(
                       sx: {
                         display: "flex",
                         justifyContent: "flex-start",
-                        mt: !V && p ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
+                        mt: !I && p ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
                         mb: { xs: 0.5, sm: 0.75, md: 1 }
                       },
                       children: /* @__PURE__ */ e.jsx(
-                        te,
+                        ne,
                         {
                           ref: m,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
                           disabled: !s,
-                          onMouseDown: F,
-                          onMouseUp: I,
-                          onMouseLeave: N,
-                          onTouchStart: F,
-                          onTouchEnd: I,
+                          onMouseDown: P,
+                          onMouseUp: V,
+                          onMouseLeave: q,
+                          onTouchStart: P,
+                          onTouchEnd: V,
                           sx: {
                             textTransform: "none",
                             px: 1.5,
@@ -1051,18 +1070,18 @@ const ut = C(
     }
   )
 ), pt = Array(6).fill(2 * Math.PI);
-function be({
+function Re({
   rapidlyChangingMotionState: t,
   dhParameters: n,
   onTranslationChanged: r,
-  children: c
+  children: l
 }) {
-  const s = _([]), d = _([]), u = _(null), { invalidate: h } = ae();
+  const s = _([]), f = _([]), u = _(null), { invalidate: h } = le();
   M(() => {
     const o = t.joint_position.filter(
       (a) => a !== void 0
     );
-    return u.current = new le(o, {
+    return u.current = new ue(o, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
@@ -1074,25 +1093,25 @@ function be({
     };
   }, []), ce((o, a) => {
     if (u.current) {
-      const l = u.current.update(a);
-      p(), l || h();
+      const c = u.current.update(a);
+      p(), c || h();
     }
   });
-  function f(o) {
-    o && (d.current = de(o), p(), h());
+  function d(o) {
+    o && (f.current = fe(o), p(), h());
   }
   function p() {
     var a;
     const o = ((a = u.current) == null ? void 0 : a.getCurrentValues()) || [];
     if (r)
-      r(d.current, o);
+      r(f.current, o);
     else
-      for (const [l, x] of d.current.entries()) {
-        const j = n[l].reverse_rotation_direction ? -1 : 1;
-        x.position.y = j * (o[l] || 0) / 1e3;
+      for (const [c, y] of f.current.entries()) {
+        const j = n[c].reverse_rotation_direction ? -1 : 1;
+        y.position.y = j * (o[c] || 0) / 1e3;
       }
   }
-  const i = k(() => {
+  const i = G(() => {
     const o = t.joint_position.filter(
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     );
@@ -1103,67 +1122,67 @@ function be({
   }, [t]);
   return M(() => {
     i();
-  }, [t, i]), ue(() => {
+  }, [t, i]), pe(() => {
     i();
-  }), /* @__PURE__ */ e.jsx("group", { ref: f, children: c });
+  }), /* @__PURE__ */ e.jsx("group", { ref: d, children: l });
 }
-function Re({
+function ve({
   rapidlyChangingMotionState: t,
   dhParameters: n,
   ...r
 }) {
-  const c = new b(), s = _(null), d = _(null);
+  const l = new R(), s = _(null), f = _(null);
   function u(p) {
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-        new b().makeTranslation(
+    const i = new R();
+    for (let y = 0; y < n.length; y++) {
+      const m = n[y], j = p[y] ?? 0, x = new R().makeRotationY(m.theta).multiply(
+        new R().makeTranslation(
           m.a / 1e3,
           (m.d + j * (m.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new b().makeRotationX(m.alpha));
-      i.multiply(y);
+      ).multiply(new R().makeRotationX(m.alpha));
+      i.multiply(x);
     }
-    const o = new G(), a = new B(), l = new G();
-    return i.decompose(o, a, l), o;
+    const o = new k(), a = new B(), c = new k();
+    return i.decompose(o, a, c), o;
   }
   const h = u(t.joint_position);
-  function f(p, i) {
-    c.identity();
-    let o = new G();
+  function d(p, i) {
+    l.identity();
+    let o = new k();
     for (let m = 0; m < n.length; m++) {
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-        new b().makeTranslation(
-          y.a / 1e3,
-          (y.d + j * (y.reverse_rotation_direction ? -1 : 1)) / 1e3,
+      const j = i[m] ?? 0, x = n[m], w = new R().makeRotationY(x.theta).multiply(
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           0
         )
-      ).multiply(new b().makeRotationX(y.alpha));
-      c.multiply(R);
+      ).multiply(new R().makeRotationX(x.alpha));
+      l.multiply(w);
     }
-    const a = new G(), l = new B(), x = new G();
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+    if (l.decompose(a, c, y), o = a, s.current && s.current.position.set(o.x, o.y, o.z), f.current) {
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       m && m.setPositions && m.setPositions([0, 0, 0, o.x, o.y, o.z]);
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   return /* @__PURE__ */ e.jsx(e.Fragment, { children: /* @__PURE__ */ e.jsx(
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       children: /* @__PURE__ */ e.jsxs("group", { ...r, name: "Scene", children: [
         /* @__PURE__ */ e.jsxs("mesh", { name: "Base", position: [0, 0, 0], children: [
           /* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.02, 32, 32] }),
           /* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "green", depthTest: !0 })
         ] }),
         /* @__PURE__ */ e.jsx(
-          W,
+          $,
           {
-            ref: d,
-            points: [new G(0, 0, 0), h],
+            ref: f,
+            points: [new k(0, 0, 0), h],
             color: "White",
             lineWidth: 5
           }
@@ -1176,64 +1195,64 @@ function Re({
     }
   ) });
 }
-const ve = C(
+const _e = U(
   ({
     rapidlyChangingMotionState: t,
     modelFromController: n,
     dhParameters: r,
-    getModel: c = E,
+    getModel: l = E,
     flangeRef: s,
-    postModelRender: d,
+    postModelRender: f,
     transparentColor: u,
     instanceUrl: h,
-    ...f
+    ...d
   }) => {
-    const [p, i] = A(null), o = k((l) => {
-      i(l);
+    const [p, i] = A(null), o = G((c) => {
+      i(c);
     }, []);
     M(() => {
-      p && (u ? ge(p, u) : je(p));
+      p && (u ? je(p, u) : we(p));
     }, [p, u]);
     const a = /* @__PURE__ */ e.jsx(
-      Re,
+      ve,
       {
         rapidlyChangingMotionState: t,
         dhParameters: r,
-        ...f
+        ...d
       }
     );
     return /* @__PURE__ */ e.jsxs(
-      pe,
+      de,
       {
         fallback: a,
-        onError: (l) => {
-          console.warn(l);
+        onError: (c) => {
+          console.warn(c);
         },
         children: [
-          /* @__PURE__ */ e.jsx(ie, { fallback: a, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
-            be,
+          /* @__PURE__ */ e.jsx(ae, { fallback: a, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
+            Re,
             {
               rapidlyChangingMotionState: t,
               dhParameters: r,
               children: /* @__PURE__ */ e.jsx(
-                ye,
+                ge,
                 {
                   modelURL: (() => {
-                    const l = c(n, h);
-                    if (!l) {
-                      const x = new Blob([], { type: "model/gltf-binary" }), m = new File([x], `${n}.glb`, { type: "model/gltf-binary" });
+                    const c = l(n, h);
+                    if (!c) {
+                      const y = new Blob([], { type: "model/gltf-binary" }), m = new File([y], `${n}.glb`, { type: "model/gltf-binary" });
                       return Promise.resolve(URL.createObjectURL(m));
                     }
-                    return l;
+                    return c;
                   })(),
-                  postModelRender: d,
+                  postModelRender: f,
                   flangeRef: s,
-                  ...f
+                  ...d
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ e.jsx(xe, {})
+          /* @__PURE__ */ e.jsx(ye, {})
         ]
       }
     );
@@ -1243,35 +1262,35 @@ function dt({
   connectedMotionGroup: t,
   getModel: n = E,
   flangeRef: r,
-  transparentColor: c,
+  transparentColor: l,
   postModelRender: s,
-  ...d
+  ...f
 }) {
   if (!t.dhParameters)
     return null;
   const u = t.modelFromController || "";
   return u && n(u) ? /* @__PURE__ */ e.jsx(
-    ve,
+    _e,
     {
       rapidlyChangingMotionState: t.rapidlyChangingMotionState,
       modelFromController: u,
       dhParameters: t.dhParameters,
       getModel: n,
       flangeRef: r,
-      transparentColor: c,
+      transparentColor: l,
       postModelRender: s,
-      ...d
+      ...f
     }
   ) : /* @__PURE__ */ e.jsx(
-    Re,
+    ve,
     {
       rapidlyChangingMotionState: t.rapidlyChangingMotionState,
       dhParameters: t.dhParameters,
-      ...d
+      ...f
     }
   );
 }
-const se = {
+const ie = {
   [T.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
   [T.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
   [T.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
@@ -1313,35 +1332,35 @@ function Xe(t) {
 }
 function ft(t, n) {
   const r = Xe(t);
-  return r && r in se ? se[r] : n || null;
+  return r && r in ie ? ie[r] : n || null;
 }
-const ht = C((t) => {
+const ht = U((t) => {
   const {
     inverseSolver: n,
     dhParameters: r,
-    ...c
-  } = t, [s, d] = A(O.RevoluteJoint);
+    ...l
+  } = t, [s, f] = A(O.RevoluteJoint);
   M(() => {
-    r.length && d(r[0].type ?? O.RevoluteJoint);
+    r.length && f(r[0].type ?? O.RevoluteJoint);
   }, [r]);
-  const u = U(() => n === null && s === O.RevoluteJoint, [n, s]), h = U(() => n === null && s === O.PrismaticJoint, [n, s]);
-  return U(() => !!n, [n]) || u ? /* @__PURE__ */ e.jsx(we, { dhParameters: r, ...c }) : h ? /* @__PURE__ */ e.jsx(ve, { dhParameters: r, ...c }) : /* @__PURE__ */ e.jsx(e.Fragment, {});
+  const u = C(() => n === null && s === O.RevoluteJoint, [n, s]), h = C(() => n === null && s === O.PrismaticJoint, [n, s]);
+  return C(() => !!n, [n]) || u ? /* @__PURE__ */ e.jsx(be, { dhParameters: r, ...l }) : h ? /* @__PURE__ */ e.jsx(_e, { dhParameters: r, ...l }) : /* @__PURE__ */ e.jsx(e.Fragment, {});
 });
 export {
   at as C,
   dt as L,
-  se as M,
-  ne as P,
+  ie as M,
+  oe as P,
   Ye as R,
-  ct as S,
-  lt as T,
+  lt as S,
+  ct as T,
   ht as a,
   ut as b,
-  ve as c,
-  we as d,
+  _e as c,
+  be as d,
   pt as e,
   E as f,
   Xe as g,
   ft as h
 };
-//# sourceMappingURL=MotionGroupVisualizer-D8_sA8PA.js.map
+//# sourceMappingURL=MotionGroupVisualizer-7Mw9PINy.js.map