@wandelbots/wandelbots-js-react-components 4.7.1 → 4.7.2-pr.dev-RB-3348-v1-clean-up.560.cbf9c17

package/dist/3d-BTtdSlR9.js

@@ -0,0 +1,1206 @@
+import { _ as e, b as t, d as n, g as r, i, l as a, m as o, s, t as c, u as l, y as u } from "./interpolation-BmgrXVQ7.js";
+import * as d from "three";
+import { Matrix4 as f, Quaternion as p, Vector3 as m } from "three";
+import { ConvexGeometry as h, RoundedBoxGeometry as g } from "three-stdlib";
+import _, { Suspense as v, useCallback as y, useEffect as b, useMemo as x, useRef as S, useState as C } from "react";
+import { Bounds as w, Environment as T, Lightformer as E, Line as D, useGLTF as O } from "@react-three/drei";
+import { Canvas as ee, useFrame as k, useThree as A } from "@react-three/fiber";
+import { Box as j, Button as M, Card as te, Divider as N, Typography as ne, useTheme as re } from "@mui/material";
+import { observer as P } from "mobx-react-lite";
+import { useTranslation as ie } from "react-i18next";
+import { ErrorBoundary as F } from "react-error-boundary";
+//#region src/components/3d-viewport/collider/colliderShapeToBufferGeometry.ts
+function I(e) {
+	switch (e.shape_type) {
+		case "convex_hull": return new h(e.vertices.map((e) => new d.Vector3(e[0] / 1e3, e[1] / 1e3, e[2] / 1e3)));
+		case "box": return new d.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, e.size_z / 1e3);
+		case "sphere": return new d.SphereGeometry(e.radius / 1e3);
+		case "capsule": return new d.CapsuleGeometry(e.radius / 1e3, e.cylinder_height / 1e3);
+		case "cylinder": return new d.CylinderGeometry(e.radius / 1e3, e.radius / 1e3, e.height / 1e3);
+		case "rectangle": return new d.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
+		default: return console.warn(`${e.shape_type} is not supported`), new d.BufferGeometry();
+	}
+}
+//#endregion
+//#region src/components/3d-viewport/collider/ColliderElement.tsx
+var L = t();
+function R({ name: e, collider: t, children: n }) {
+	let r = t.pose?.position ?? [
+		0,
+		0,
+		0
+	], i = t.pose?.orientation ?? [
+		0,
+		0,
+		0
+	];
+	return t.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ (0, L.jsx)("mesh", {
+		name: e,
+		position: new d.Vector3(r[0], r[1], r[2]).divideScalar(1e3),
+		rotation: new d.Euler(i[0], i[1], i[2], "XYZ"),
+		geometry: I(t.shape),
+		children: n
+	});
+}
+//#endregion
+//#region src/components/3d-viewport/collider/ColliderCollection.tsx
+function ae({ name: e, colliders: t, meshChildrenProvider: n, ...r }) {
+	return /* @__PURE__ */ (0, L.jsx)("group", {
+		name: e,
+		...r,
+		children: Object.entries(t).map(([e, t]) => /* @__PURE__ */ (0, L.jsx)(R, {
+			name: e,
+			collider: t,
+			children: n(e, t)
+		}, e))
+	});
+}
+//#endregion
+//#region src/components/3d-viewport/collider/CollisionSceneRenderer.tsx
+function oe({ scene: e, meshChildrenProvider: t }) {
+	let n = e.colliders;
+	return /* @__PURE__ */ (0, L.jsx)("group", { children: n && /* @__PURE__ */ (0, L.jsx)(ae, {
+		meshChildrenProvider: t,
+		colliders: n
+	}) });
+}
+//#endregion
+//#region src/components/3d-viewport/PresetEnvironment.tsx
+function z() {
+	return /* @__PURE__ */ (0, L.jsx)(T, { children: /* @__PURE__ */ (0, L.jsx)(se, {}) });
+}
+function se({ positions: e = [
+	2,
+	0,
+	2,
+	0,
+	2,
+	0,
+	2,
+	0
+] }) {
+	return /* @__PURE__ */ (0, L.jsxs)(L.Fragment, { children: [
+		/* @__PURE__ */ (0, L.jsx)(E, {
+			intensity: 5,
+			"rotation-x": Math.PI / 2,
+			position: [
+				0,
+				5,
+				-9
+			],
+			scale: [
+				10,
+				10,
+				1
+			]
+		}),
+		/* @__PURE__ */ (0, L.jsx)("group", {
+			rotation: [
+				0,
+				.5,
+				0
+			],
+			children: /* @__PURE__ */ (0, L.jsx)("group", { children: e.map((e, t) => /* @__PURE__ */ (0, L.jsx)(E, {
+				form: "circle",
+				intensity: 5,
+				rotation: [
+					Math.PI / 2,
+					0,
+					0
+				],
+				position: [
+					e,
+					4,
+					t * 4
+				],
+				scale: [
+					3,
+					1,
+					1
+				]
+			}, t)) })
+		}),
+		/* @__PURE__ */ (0, L.jsx)(E, {
+			intensity: 40,
+			"rotation-y": Math.PI / 2,
+			position: [
+				-5,
+				1,
+				-1
+			],
+			scale: [
+				20,
+				.1,
+				1
+			]
+		}),
+		/* @__PURE__ */ (0, L.jsx)(E, {
+			intensity: 20,
+			"rotation-y": -Math.PI,
+			position: [
+				-5,
+				-2,
+				-1
+			],
+			scale: [
+				20,
+				.1,
+				1
+			]
+		}),
+		/* @__PURE__ */ (0, L.jsx)(E, {
+			"rotation-y": Math.PI / 2,
+			position: [
+				-5,
+				-1,
+				-1
+			],
+			scale: [
+				20,
+				.5,
+				1
+			],
+			intensity: 5
+		}),
+		/* @__PURE__ */ (0, L.jsx)(E, {
+			"rotation-y": -Math.PI / 2,
+			position: [
+				10,
+				1,
+				0
+			],
+			scale: [
+				20,
+				1,
+				1
+			],
+			intensity: 10
+		}),
+		/* @__PURE__ */ (0, L.jsx)(E, {
+			form: "ring",
+			color: "white",
+			intensity: 5,
+			scale: 10,
+			position: [
+				-15,
+				4,
+				-18
+			],
+			target: [
+				0,
+				0,
+				0
+			]
+		})
+	] });
+}
+//#endregion
+//#region src/components/3d-viewport/SafetyZonesRenderer.tsx
+function ce({ safetyZones: t, dhParameters: n, ...i }) {
+	let a = {
+		attach: "material",
+		color: "#009f4d",
+		opacity: .2,
+		depthTest: !1,
+		depthWrite: !1,
+		transparent: !0,
+		polygonOffset: !0
+	}, o = r(n ?? []), s = (t, n) => {
+		if (!n?.pose?.position || !n?.pose?.orientation) return null;
+		let r = new d.Vector3(n.pose.position[0] / 1e3, n.pose.position[1] / 1e3, n.pose.position[2] / 1e3), i = new d.Vector3(n.pose.orientation[0], n.pose.orientation[1], n.pose.orientation[2]), s, c = n.shape.shape_type === "plane" ? {
+			...a,
+			side: d.DoubleSide
+		} : {
+			...a,
+			side: d.FrontSide
+		};
+		switch (n.shape.shape_type) {
+			case "plane":
+				s = /* @__PURE__ */ (0, L.jsx)("planeGeometry", { args: [o, o] });
+				break;
+			case "sphere":
+				s = /* @__PURE__ */ (0, L.jsx)("sphereGeometry", { args: [(n?.shape).radius / 1e3] });
+				break;
+			case "capsule":
+				s = /* @__PURE__ */ (0, L.jsx)("capsuleGeometry", { args: [(n?.shape).radius / 1e3, (n?.shape).cylinder_height / 1e3] });
+				break;
+			case "convex_hull": {
+				let e = (n?.shape).vertices.map((e) => new d.Vector3(e[0] / 1e3, e[1] / 1e3, e[2] / 1e3)), t = u(e);
+				if (t.isCoplanar && t.normal) {
+					let n = new d.Vector3().addVectors(e[0], t.normal.multiplyScalar(1e-4));
+					e.push(n);
+				}
+				try {
+					s = /* @__PURE__ */ (0, L.jsx)("primitive", {
+						object: new h(e),
+						attach: "geometry"
+					});
+				} catch (e) {
+					return console.log("Error creating ConvexGeometry:", e), null;
+				}
+				break;
+			}
+			case "rectangular_capsule": {
+				let e = n.shape, t = e.radius / 1e3;
+				s = /* @__PURE__ */ (0, L.jsx)("primitive", {
+					object: new g(e.sphere_center_distance_x / 1e3, e.sphere_center_distance_y / 1e3, t * 2, 2, t),
+					attach: "geometry"
+				});
+				break;
+			}
+			default: console.warn("Unsupported safety zone shape type:", n.shape.shape_type), s = null;
+		}
+		return /* @__PURE__ */ (0, L.jsxs)("mesh", {
+			renderOrder: t,
+			position: r,
+			quaternion: e(i),
+			children: [s, /* @__PURE__ */ (0, L.jsx)("meshStandardMaterial", {
+				...c,
+				polygonOffsetFactor: -t
+			})]
+		}, `safety-zone-${n.shape.shape_type}-${t}`);
+	}, c = x(() => Object.values(t ?? {}).map((e, t) => s(t, e)), [t, o]);
+	return /* @__PURE__ */ (0, L.jsx)("group", {
+		...i,
+		children: c
+	});
+}
+//#endregion
+//#region src/components/3d-viewport/TrajectoryRenderer.tsx
+function le({ trajectory: e, ...t }) {
+	let n = e?.map((e) => e.position?.length ? new d.Vector3(e.position[0] / 1e3, e.position[2] / 1e3, -e.position[1] / 1e3) : null).filter((e) => e !== null) || [];
+	return /* @__PURE__ */ (0, L.jsx)("group", {
+		...t,
+		children: n.length > 0 && /* @__PURE__ */ (0, L.jsx)(D, {
+			points: n,
+			lineWidth: 3,
+			polygonOffset: !0,
+			polygonOffsetFactor: 10,
+			polygonOffsetUnits: 10
+		})
+	});
+}
+//#endregion
+//#region src/components/robots/robotModelLogic.ts
+var B = /* @__PURE__ */ new Map();
+async function V(e, t) {
+	if (B.has(e)) return B.get(e);
+	let n = (async () => {
+		let n = new s({ instanceUrl: t || "" }), r = n.api.motionGroupModels;
+		r.axios?.interceptors && r.axios.interceptors.request.use((e) => (e.url?.includes("/glb") && (e.responseType = "blob"), e));
+		try {
+			let t = await n.api.motionGroupModels.getMotionGroupGlbModel(e);
+			return URL.createObjectURL(t);
+		} catch (e) {
+			throw console.error("Failed to fetch model:", e), e;
+		}
+	})();
+	return B.set(e, n), n;
+}
+function H(e) {
+	function t(e) {
+		return e.children.length === 0 ? [e] : [e, ...e.children.flatMap((e) => t(e))];
+	}
+	return t(e).filter((e) => W(e));
+}
+function U(e) {
+	return e.name.endsWith("_FLG");
+}
+function W(e) {
+	return /_J[0-9]+$/.test(e.name);
+}
+function ue(e, t) {
+	let n, r = [];
+	function i(e) {
+		if (U(e)) {
+			if (n) throw Error(`Found multiple flange groups in robot model ${t}; first ${n.name} then ${e.name}. Only one _FLG group is allowed.`);
+			n = e;
+		}
+		W(e) && r.push(e), e.children.map(i);
+	}
+	if (i(e.scene), !n) throw Error(`No flange group found in robot model ${t}. Flange must be identified with a name ending in _FLG.`);
+	return { gltf: e };
+}
+//#endregion
+//#region src/components/robots/RobotAnimator.tsx
+function G({ rapidlyChangingMotionState: e, dhParameters: t, onRotationChanged: n, children: r }) {
+	let a = S([]), o = S([]), s = S(null), { invalidate: l } = A();
+	b(() => (s.current = new c(e.joint_position.filter((e) => e !== void 0), {
+		tension: 120,
+		friction: 20,
+		threshold: .001
+	}), () => {
+		s.current?.destroy();
+	}), []), k((e, t) => {
+		if (s.current) {
+			let e = s.current.update(t);
+			d(), e || l();
+		}
+	});
+	function u(e) {
+		e && (o.current = H(e), d(), l());
+	}
+	function d() {
+		let e = s.current?.getCurrentValues() || [];
+		if (n) n(o.current, e);
+		else for (let [n, r] of o.current.entries()) {
+			let i = t[n], a = i.theta || 0, o = i.reverse_rotation_direction ? -1 : 1;
+			r.rotation.y = o * (e[n] || 0) + a;
+		}
+	}
+	let f = y(() => {
+		let t = e.joint_position.filter((e) => e !== void 0);
+		requestAnimationFrame(() => {
+			a.current = t, s.current?.setTarget(t);
+		});
+	}, [e]);
+	return b(() => {
+		f();
+	}, [e, f]), i(() => {
+		f();
+	}), /* @__PURE__ */ (0, L.jsx)("group", {
+		ref: u,
+		children: r
+	});
+}
+//#endregion
+//#region src/components/robots/DHRobot.tsx
+var de = "line", fe = "mesh";
+function pe({ rapidlyChangingMotionState: e, dhParameters: t, ...n }) {
+	let r = new f(), i = S([]), a = S([]);
+	_.useEffect(() => {
+		i.current = Array(t.length).fill(null), a.current = Array(t.length).fill(null);
+	}, [t.length]);
+	function o(e, t) {
+		let n = new m(), i = new p(), a = new m();
+		r.decompose(n, i, a);
+		let o = n.clone(), s = new f().makeRotationY(e.theta + t * (e.reverse_rotation_direction ? -1 : 1)).multiply(new f().makeTranslation(0, e.d / 1e3, 0)).multiply(new f().makeTranslation(e.a / 1e3, 0, 0)).multiply(new f().makeRotationX(e.alpha));
+		return r.multiply(s), r.decompose(n, i, a), {
+			a: o,
+			b: n
+		};
+	}
+	function s(e, n, r, i) {
+		if (!t) return;
+		let a = t[e];
+		if (!a) return;
+		let { a: s, b: c } = o(a, i);
+		n.geometry.setPositions([s.toArray(), c.toArray()].flat()), r.position.set(c.x, c.y, c.z);
+	}
+	function c(e, t) {
+		r.identity();
+		for (let n = 0; n < Math.min(e.length, t.length); n++) {
+			let e = i.current[n], r = a.current[n];
+			e && r && s(n, e, r, t[n]);
+		}
+	}
+	return /* @__PURE__ */ (0, L.jsx)(L.Fragment, { children: /* @__PURE__ */ (0, L.jsx)(G, {
+		rapidlyChangingMotionState: e,
+		dhParameters: t,
+		onRotationChanged: c,
+		children: /* @__PURE__ */ (0, L.jsxs)("group", {
+			...n,
+			name: "Scene",
+			children: [/* @__PURE__ */ (0, L.jsxs)("mesh", { children: [/* @__PURE__ */ (0, L.jsx)("sphereGeometry", { args: [
+				.01,
+				32,
+				32
+			] }), /* @__PURE__ */ (0, L.jsx)("meshStandardMaterial", {
+				color: "black",
+				depthTest: !0
+			})] }), t.map((t, n) => {
+				let { a: r, b: s } = o(t, e.joint_position[n] ?? 0), c = `dhrobot_J0${n}`;
+				return /* @__PURE__ */ (0, L.jsxs)("group", {
+					name: c,
+					children: [/* @__PURE__ */ (0, L.jsx)(D, {
+						ref: (e) => {
+							i.current[n] = e;
+						},
+						name: de,
+						points: [r, s],
+						color: "white",
+						lineWidth: 5
+					}), /* @__PURE__ */ (0, L.jsxs)("mesh", {
+						ref: (e) => {
+							a.current[n] = e;
+						},
+						name: fe,
+						position: s,
+						children: [/* @__PURE__ */ (0, L.jsx)("sphereGeometry", { args: [
+							.01,
+							32,
+							32
+						] }), /* @__PURE__ */ (0, L.jsx)("meshStandardMaterial", {
+							color: "black",
+							depthTest: !0
+						})]
+					}, "mesh_" + n)]
+				}, c);
+			})]
+		})
+	}) });
+}
+//#endregion
+//#region src/components/ConsoleFilter.tsx
+var me = console.warn;
+function K() {
+	return b(() => {
+		console.warn = (e) => {
+			e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && me(e);
+		};
+	}, []), /* @__PURE__ */ (0, L.jsx)(L.Fragment, {});
+}
+//#endregion
+//#region src/components/robots/GenericRobot.tsx
+function he(e) {
+	return e.type === "Mesh";
+}
+function ge({ url: e, flangeRef: t, postModelRender: n, ...r }) {
+	let i = O(e), a;
+	try {
+		a = ue(i, "robot.glb").gltf;
+	} catch (e) {
+		throw e;
+	}
+	let o = y((e) => {
+		e && n && n();
+	}, [n]);
+	function s(e) {
+		try {
+			return he(e) ? e.geometry ? /* @__PURE__ */ (0, L.jsx)("mesh", {
+				name: e.name,
+				geometry: e.geometry,
+				material: e.material,
+				position: e.position,
+				rotation: e.rotation
+			}, e.uuid) : /* @__PURE__ */ (0, L.jsx)("group", {
+				name: e.name,
+				position: e.position,
+				rotation: e.rotation
+			}, e.uuid) : /* @__PURE__ */ (0, L.jsx)("group", {
+				name: e.name,
+				position: e.position,
+				rotation: e.rotation,
+				ref: U(e) ? t : void 0,
+				children: e.children.map(s)
+			}, e.uuid);
+		} catch (t) {
+			return console.warn("Error rendering node", e.name, t), null;
+		}
+	}
+	return /* @__PURE__ */ (0, L.jsx)("group", {
+		...r,
+		dispose: null,
+		ref: o,
+		children: s(a.scene)
+	});
+}
+function q({ modelURL: e, flangeRef: t, postModelRender: n, ...r }) {
+	let [i, a] = C(null);
+	return b(() => {
+		(async () => {
+			try {
+				a(typeof e == "string" ? e : await e);
+			} catch (e) {
+				console.error("Failed to resolve model URL:", e);
+			}
+		})();
+	}, [e]), i ? /* @__PURE__ */ (0, L.jsx)(ge, {
+		url: i,
+		flangeRef: t,
+		postModelRender: n,
+		...r
+	}) : null;
+}
+//#endregion
+//#region src/components/robots/ghostStyle.ts
+var J = (e, t) => {
+	e.userData.isGhost || (e.traverse((e) => {
+		if (e instanceof d.Mesh) {
+			e.material instanceof d.Material && (e.material.colorWrite = !1);
+			let n = e.clone(), r = e.clone();
+			n.material = new d.MeshStandardMaterial({
+				depthTest: !0,
+				depthWrite: !0,
+				colorWrite: !1,
+				polygonOffset: !0,
+				polygonOffsetFactor: -1,
+				side: d.DoubleSide
+			}), n.userData.isGhost = !0, r.material = new d.MeshStandardMaterial({
+				color: t,
+				opacity: .3,
+				depthTest: !0,
+				depthWrite: !1,
+				transparent: !0,
+				polygonOffset: !0,
+				polygonOffsetFactor: -2,
+				side: d.DoubleSide
+			}), r.userData.isGhost = !0, e.parent && (e.parent.add(n), e.parent.add(r));
+		}
+	}), e.userData.isGhost = !0);
+}, Y = (e) => {
+	if (!e.userData.isGhost) return;
+	let t = [];
+	e.traverse((e) => {
+		e instanceof d.Mesh && (e.userData?.isGhost ? t.push(e) : e.material instanceof d.Material && (e.material.colorWrite = !0));
+	}), t.forEach((e) => {
+		e.parent && e.parent.remove(e);
+	}), e.userData.isGhost = !1;
+}, X = o(({ rapidlyChangingMotionState: e, modelFromController: t, dhParameters: n, getModel: r = V, flangeRef: i, postModelRender: a, transparentColor: o, instanceUrl: s, ...c }) => {
+	let [l, u] = C(null), d = y((e) => {
+		u(e);
+	}, []);
+	b(() => {
+		l && (o ? J(l, o) : Y(l));
+	}, [l, o]);
+	let f = /* @__PURE__ */ (0, L.jsx)(pe, {
+		rapidlyChangingMotionState: e,
+		dhParameters: n,
+		...c
+	});
+	return /* @__PURE__ */ (0, L.jsxs)(F, {
+		fallback: f,
+		onError: (e) => {
+			console.warn(e);
+		},
+		children: [/* @__PURE__ */ (0, L.jsx)(v, {
+			fallback: f,
+			children: /* @__PURE__ */ (0, L.jsx)("group", {
+				ref: d,
+				children: /* @__PURE__ */ (0, L.jsx)(G, {
+					rapidlyChangingMotionState: e,
+					dhParameters: n,
+					children: /* @__PURE__ */ (0, L.jsx)(q, {
+						modelURL: (() => {
+							let e = r(t, s);
+							if (!e) {
+								let e = new Blob([], { type: "model/gltf-binary" }), n = new File([e], `${t}.glb`, { type: "model/gltf-binary" });
+								return Promise.resolve(URL.createObjectURL(n));
+							}
+							return e;
+						})(),
+						postModelRender: a,
+						flangeRef: i,
+						...c
+					})
+				})
+			})
+		}), /* @__PURE__ */ (0, L.jsx)(K, {})]
+	});
+});
+//#endregion
+//#region src/components/robots/Robot.tsx
+function _e({ connectedMotionGroup: e, getModel: t = V, flangeRef: n, transparentColor: r, postModelRender: i, ...a }) {
+	return e.dhParameters ? /* @__PURE__ */ (0, L.jsx)(X, {
+		rapidlyChangingMotionState: e.rapidlyChangingMotionState,
+		modelFromController: e.modelFromController || "",
+		dhParameters: e.dhParameters,
+		getModel: t,
+		flangeRef: n,
+		transparentColor: r,
+		postModelRender: i,
+		...a
+	}) : null;
+}
+//#endregion
+//#region src/components/RobotCard.tsx
+var ve = o(P(({ robotName: e, programState: t, safetyState: r, operationMode: i, driveToHomeEnabled: a = !1, onDriveToHomePress: o, onDriveToHomeRelease: s, connectedMotionGroup: c, robotComponent: l = _e, customContentComponent: u, className: d }) => {
+	let f = re(), { t: p } = ie(), [m, h] = C(!1), g = S(null), _ = S(null), [v, x] = C(!1), [T, E] = C({
+		width: 400,
+		height: 600
+	}), [D, O] = C(0);
+	b(() => {
+		let e = () => {
+			if (_.current) {
+				let { offsetWidth: e, offsetHeight: t } = _.current;
+				x(e > t), E({
+					width: e,
+					height: t
+				});
+			}
+		};
+		e();
+		let t = new ResizeObserver(e);
+		return _.current && t.observe(_.current), () => {
+			t.disconnect();
+		};
+	}, []);
+	let k = y(() => {
+		O((e) => e + 1);
+	}, []), A = y(() => {
+		!a || !o || (h(!0), o());
+	}, [a, o]), P = y(() => {
+		!a || !s || (h(!1), s());
+	}, [a, s]), F = y(() => {
+		m && s && (h(!1), s());
+	}, [m, s]), I = v ? T.width < 350 : T.height < 200, R = v ? T.height < 310 : T.height < 450;
+	return /* @__PURE__ */ (0, L.jsx)(te, {
+		ref: _,
+		className: d,
+		sx: {
+			width: "100%",
+			height: "100%",
+			display: "flex",
+			flexDirection: v ? "row" : "column",
+			position: "relative",
+			overflow: "hidden",
+			minWidth: {
+				xs: 180,
+				sm: 220,
+				md: 250
+			},
+			minHeight: v ? {
+				xs: 200,
+				sm: 240,
+				md: 260
+			} : {
+				xs: 150,
+				sm: 180,
+				md: 220
+			},
+			border: `1px solid ${f.palette.divider}`,
+			borderRadius: "18px",
+			boxShadow: "none",
+			backgroundColor: f.palette.backgroundPaperElevation?.[8] || "#2A2A3F",
+			backgroundImage: "none"
+		},
+		children: v ? /* @__PURE__ */ (0, L.jsxs)(L.Fragment, { children: [/* @__PURE__ */ (0, L.jsx)(j, {
+			sx: {
+				flex: "0 0 50%",
+				position: "relative",
+				height: "100%",
+				minHeight: "100%",
+				maxHeight: "100%",
+				borderRadius: 1,
+				m: {
+					xs: 1.5,
+					sm: 2,
+					md: 3
+				},
+				mr: {
+					xs: .75,
+					sm: 1,
+					md: 1.5
+				},
+				overflow: "hidden",
+				display: I ? "none" : "block"
+			},
+			children: !I && /* @__PURE__ */ (0, L.jsxs)(ee, {
+				orthographic: !0,
+				camera: {
+					position: [
+						3,
+						2,
+						3
+					],
+					zoom: 1
+				},
+				shadows: !0,
+				frameloop: "demand",
+				style: {
+					borderRadius: f.shape.borderRadius,
+					width: "100%",
+					height: "100%",
+					background: "transparent",
+					position: "absolute",
+					top: 0,
+					left: 0
+				},
+				dpr: [1, 2],
+				gl: {
+					alpha: !0,
+					antialias: !0
+				},
+				children: [/* @__PURE__ */ (0, L.jsx)(z, {}), /* @__PURE__ */ (0, L.jsx)(w, {
+					fit: !0,
+					observe: !0,
+					margin: 1,
+					maxDuration: 1,
+					children: /* @__PURE__ */ (0, L.jsx)(l, {
+						connectedMotionGroup: c,
+						postModelRender: k
+					})
+				})]
+			})
+		}), /* @__PURE__ */ (0, L.jsxs)(j, {
+			sx: {
+				flex: "1",
+				display: "flex",
+				flexDirection: "column",
+				justifyContent: "flex-start",
+				width: I ? "100%" : "50%"
+			},
+			children: [/* @__PURE__ */ (0, L.jsxs)(j, {
+				sx: {
+					p: {
+						xs: 1.5,
+						sm: 2,
+						md: 3
+					},
+					pb: {
+						xs: 1,
+						sm: 1.5,
+						md: 2
+					},
+					textAlign: "left"
+				},
+				children: [/* @__PURE__ */ (0, L.jsx)(ne, {
+					variant: "h6",
+					component: "h2",
+					sx: { mb: 1 },
+					children: e
+				}), /* @__PURE__ */ (0, L.jsx)(n, {
+					programState: t,
+					safetyState: r,
+					operationMode: i
+				})]
+			}), /* @__PURE__ */ (0, L.jsxs)(j, {
+				sx: {
+					p: {
+						xs: 1.5,
+						sm: 2,
+						md: 3
+					},
+					pt: 0,
+					flex: "1",
+					display: "flex",
+					flexDirection: "column",
+					justifyContent: "space-between"
+				},
+				children: [!R && u && /* @__PURE__ */ (0, L.jsxs)(j, { children: [/* @__PURE__ */ (0, L.jsx)(u, {}), /* @__PURE__ */ (0, L.jsx)(N, { sx: {
+					mt: 1,
+					mb: 0,
+					borderColor: f.palette.divider,
+					opacity: .5
+				} })] }), /* @__PURE__ */ (0, L.jsx)(j, {
+					sx: { mt: !R && u ? "auto" : 0 },
+					children: /* @__PURE__ */ (0, L.jsx)(j, {
+						sx: {
+							display: "flex",
+							justifyContent: "flex-start",
+							mt: {
+								xs: 1,
+								sm: 1.5,
+								md: 2
+							},
+							mb: {
+								xs: .5,
+								sm: .75,
+								md: 1
+							}
+						},
+						children: /* @__PURE__ */ (0, L.jsx)(M, {
+							ref: g,
+							variant: "contained",
+							color: "secondary",
+							size: "small",
+							disabled: !a,
+							onMouseDown: A,
+							onMouseUp: P,
+							onMouseLeave: F,
+							onTouchStart: A,
+							onTouchEnd: P,
+							sx: {
+								textTransform: "none",
+								px: 1.5,
+								py: .5
+							},
+							children: p("RobotCard.DriveToHome.bt")
+						})
+					})
+				})]
+			})]
+		})] }) : /* @__PURE__ */ (0, L.jsx)(L.Fragment, { children: /* @__PURE__ */ (0, L.jsxs)(j, {
+			sx: {
+				p: 3,
+				height: "100%",
+				display: "flex",
+				flexDirection: "column"
+			},
+			children: [
+				/* @__PURE__ */ (0, L.jsxs)(j, { children: [/* @__PURE__ */ (0, L.jsx)(ne, {
+					variant: "h6",
+					component: "h2",
+					sx: { mb: 1 },
+					children: e
+				}), /* @__PURE__ */ (0, L.jsx)(n, {
+					programState: t,
+					safetyState: r,
+					operationMode: i
+				})] }),
+				/* @__PURE__ */ (0, L.jsx)(j, {
+					sx: {
+						flex: +!I,
+						position: "relative",
+						minHeight: I ? 0 : {
+							xs: 120,
+							sm: 150,
+							md: 200
+						},
+						height: I ? 0 : "auto",
+						borderRadius: 1,
+						overflow: "hidden",
+						display: I ? "none" : "block"
+					},
+					children: !I && /* @__PURE__ */ (0, L.jsxs)(ee, {
+						orthographic: !0,
+						camera: {
+							position: [
+								3,
+								2,
+								3
+							],
+							zoom: 1
+						},
+						shadows: !0,
+						frameloop: "demand",
+						style: {
+							borderRadius: f.shape.borderRadius,
+							width: "100%",
+							height: "100%",
+							background: "transparent",
+							position: "absolute"
+						},
+						dpr: [1, 2],
+						gl: {
+							alpha: !0,
+							antialias: !0
+						},
+						children: [/* @__PURE__ */ (0, L.jsx)(z, {}), /* @__PURE__ */ (0, L.jsx)(w, {
+							fit: !0,
+							clip: !0,
+							observe: !0,
+							margin: 1,
+							maxDuration: 1,
+							children: /* @__PURE__ */ (0, L.jsx)(l, {
+								connectedMotionGroup: c,
+								postModelRender: k
+							})
+						})]
+					})
+				}),
+				/* @__PURE__ */ (0, L.jsxs)(j, { children: [!R && u && /* @__PURE__ */ (0, L.jsxs)(L.Fragment, { children: [/* @__PURE__ */ (0, L.jsx)(u, {}), /* @__PURE__ */ (0, L.jsx)(N, { sx: {
+					mt: 1,
+					mb: 0,
+					borderColor: f.palette.divider,
+					opacity: .5
+				} })] }), /* @__PURE__ */ (0, L.jsx)(j, {
+					sx: {
+						display: "flex",
+						justifyContent: "flex-start",
+						mt: !R && u ? {
+							xs: 1,
+							sm: 2,
+							md: 5
+						} : {
+							xs: .5,
+							sm: 1,
+							md: 2
+						},
+						mb: {
+							xs: .5,
+							sm: .75,
+							md: 1
+						}
+					},
+					children: /* @__PURE__ */ (0, L.jsx)(M, {
+						ref: g,
+						variant: "contained",
+						color: "secondary",
+						size: "small",
+						disabled: !a,
+						onMouseDown: A,
+						onMouseUp: P,
+						onMouseLeave: F,
+						onTouchStart: A,
+						onTouchEnd: P,
+						sx: {
+							textTransform: "none",
+							px: 1.5,
+							py: .5
+						},
+						children: p("RobotCard.DriveToHome.bt")
+					})
+				})] })
+			]
+		}) })
+	});
+})), ye = [
+	,
+	,
+	,
+	,
+	,
+	,
+].fill(2 * Math.PI);
+//#endregion
+//#region src/components/robots/LinearAxisAnimator.tsx
+function be({ rapidlyChangingMotionState: e, dhParameters: t, onTranslationChanged: n, children: r }) {
+	let a = S([]), o = S([]), s = S(null), { invalidate: l } = A();
+	b(() => (s.current = new c(e.joint_position.filter((e) => e !== void 0), {
+		tension: 120,
+		friction: 20,
+		threshold: .001
+	}), () => {
+		s.current?.destroy();
+	}), []), k((e, t) => {
+		if (s.current) {
+			let e = s.current.update(t);
+			d(), e || l();
+		}
+	});
+	function u(e) {
+		e && (o.current = H(e), d(), l());
+	}
+	function d() {
+		let e = s.current?.getCurrentValues() || [];
+		if (n) n(o.current, e);
+		else for (let [n, r] of o.current.entries()) {
+			let i = t[n].reverse_rotation_direction ? -1 : 1;
+			r.position.y = i * (e[n] || 0) / 1e3;
+		}
+	}
+	let f = y(() => {
+		let t = e.joint_position.filter((e) => e !== void 0);
+		requestAnimationFrame(() => {
+			a.current = t, s.current?.setTarget(t);
+		});
+	}, [e]);
+	return b(() => {
+		f();
+	}, [e, f]), i(() => {
+		f();
+	}), /* @__PURE__ */ (0, L.jsx)("group", {
+		ref: u,
+		children: r
+	});
+}
+//#endregion
+//#region src/components/robots/DHLinearAxis.tsx
+function xe({ rapidlyChangingMotionState: e, dhParameters: t, ...n }) {
+	let r = new f(), i = S(null), a = S(null);
+	function o(e) {
+		let n = new f();
+		for (let r = 0; r < t.length; r++) {
+			let i = t[r], a = e[r] ?? 0, o = new f().makeRotationY(i.theta).multiply(new f().makeTranslation(i.a / 1e3, (i.d + a * (i.reverse_rotation_direction ? -1 : 1)) / 1e3, 0)).multiply(new f().makeRotationX(i.alpha));
+			n.multiply(o);
+		}
+		let r = new m(), i = new p(), a = new m();
+		return n.decompose(r, i, a), r;
+	}
+	let s = o(e.joint_position);
+	function c(e, n) {
+		r.identity();
+		let o = new m();
+		for (let e = 0; e < t.length; e++) {
+			let i = n[e] ?? 0, a = t[e], o = new f().makeRotationY(a.theta).multiply(new f().makeTranslation(a.a / 1e3, (a.d + i * (a.reverse_rotation_direction ? -1 : 1)) / 1e3, 0)).multiply(new f().makeRotationX(a.alpha));
+			r.multiply(o);
+		}
+		let s = new m(), c = new p(), l = new m();
+		if (r.decompose(s, c, l), o = s, i.current && i.current.position.set(o.x, o.y, o.z), a.current) {
+			let e = a.current.geometry;
+			e && e.setPositions && e.setPositions([
+				0,
+				0,
+				0,
+				o.x,
+				o.y,
+				o.z
+			]);
+		}
+	}
+	return /* @__PURE__ */ (0, L.jsx)(L.Fragment, { children: /* @__PURE__ */ (0, L.jsx)(be, {
+		rapidlyChangingMotionState: e,
+		dhParameters: t,
+		onTranslationChanged: c,
+		children: /* @__PURE__ */ (0, L.jsxs)("group", {
+			...n,
+			name: "Scene",
+			children: [
+				/* @__PURE__ */ (0, L.jsxs)("mesh", {
+					name: "Base",
+					position: [
+						0,
+						0,
+						0
+					],
+					children: [/* @__PURE__ */ (0, L.jsx)("sphereGeometry", { args: [
+						.02,
+						32,
+						32
+					] }), /* @__PURE__ */ (0, L.jsx)("meshStandardMaterial", {
+						color: "green",
+						depthTest: !0
+					})]
+				}),
+				/* @__PURE__ */ (0, L.jsx)(D, {
+					ref: a,
+					points: [new m(0, 0, 0), s],
+					color: "White",
+					lineWidth: 5
+				}),
+				/* @__PURE__ */ (0, L.jsxs)("mesh", {
+					ref: i,
+					name: "TCP",
+					position: s,
+					children: [/* @__PURE__ */ (0, L.jsx)("sphereGeometry", { args: [
+						.025,
+						32,
+						32
+					] }), /* @__PURE__ */ (0, L.jsx)("meshStandardMaterial", {
+						color: "red",
+						depthTest: !0
+					})]
+				})
+			]
+		})
+	}) });
+}
+//#endregion
+//#region src/components/robots/SupportedLinearAxis.tsx
+var Z = o(({ rapidlyChangingMotionState: e, modelFromController: t, dhParameters: n, getModel: r = V, flangeRef: i, postModelRender: a, transparentColor: o, instanceUrl: s, ...c }) => {
+	let [l, u] = C(null), d = y((e) => {
+		u(e);
+	}, []);
+	b(() => {
+		l && (o ? J(l, o) : Y(l));
+	}, [l, o]);
+	let f = /* @__PURE__ */ (0, L.jsx)(xe, {
+		rapidlyChangingMotionState: e,
+		dhParameters: n,
+		...c
+	});
+	return /* @__PURE__ */ (0, L.jsxs)(F, {
+		fallback: f,
+		onError: (e) => {
+			console.warn(e);
+		},
+		children: [/* @__PURE__ */ (0, L.jsx)(v, {
+			fallback: f,
+			children: /* @__PURE__ */ (0, L.jsx)("group", {
+				ref: d,
+				children: /* @__PURE__ */ (0, L.jsx)(be, {
+					rapidlyChangingMotionState: e,
+					dhParameters: n,
+					children: /* @__PURE__ */ (0, L.jsx)(q, {
+						modelURL: (() => {
+							let e = r(t, s);
+							if (!e) {
+								let e = new Blob([], { type: "model/gltf-binary" }), n = new File([e], `${t}.glb`, { type: "model/gltf-binary" });
+								return Promise.resolve(URL.createObjectURL(n));
+							}
+							return e;
+						})(),
+						postModelRender: a,
+						flangeRef: i,
+						...c
+					})
+				})
+			})
+		}), /* @__PURE__ */ (0, L.jsx)(K, {})]
+	});
+});
+//#endregion
+//#region src/components/robots/LinearAxis.tsx
+function Se({ connectedMotionGroup: e, getModel: t = V, flangeRef: n, transparentColor: r, postModelRender: i, ...a }) {
+	if (!e.dhParameters) return null;
+	let o = e.modelFromController || "";
+	return o && t(o) ? /* @__PURE__ */ (0, L.jsx)(Z, {
+		rapidlyChangingMotionState: e.rapidlyChangingMotionState,
+		modelFromController: o,
+		dhParameters: e.dhParameters,
+		getModel: t,
+		flangeRef: n,
+		transparentColor: r,
+		postModelRender: i,
+		...a
+	}) : /* @__PURE__ */ (0, L.jsx)(xe, {
+		rapidlyChangingMotionState: e.rapidlyChangingMotionState,
+		dhParameters: e.dhParameters,
+		...a
+	});
+}
+//#endregion
+//#region src/components/robots/manufacturerHomePositions.ts
+var Q = {
+	[l.Abb]: [
+		0,
+		0,
+		0,
+		0,
+		Math.PI / 2,
+		0,
+		0
+	],
+	[l.Fanuc]: [
+		0,
+		0,
+		0,
+		0,
+		-Math.PI / 2,
+		0,
+		0
+	],
+	[l.Yaskawa]: [
+		0,
+		0,
+		0,
+		0,
+		-Math.PI / 2,
+		0,
+		0
+	],
+	[l.Kuka]: [
+		0,
+		-Math.PI / 2,
+		Math.PI / 2,
+		0,
+		Math.PI / 2,
+		0,
+		0
+	],
+	[l.Universalrobots]: [
+		0,
+		-Math.PI / 2,
+		-Math.PI / 2,
+		-Math.PI / 2,
+		Math.PI / 2,
+		-Math.PI / 2,
+		0
+	]
+};
+function $(e) {
+	let [t] = e.split("_");
+	switch (t) {
+		case "ABB": return l.Abb;
+		case "FANUC": return l.Fanuc;
+		case "YASKAWA": return l.Yaskawa;
+		case "KUKA": return l.Kuka;
+		case "UniversalRobots": return l.Universalrobots;
+		default: return null;
+	}
+}
+function Ce(e, t) {
+	let n = $(e);
+	return n && n in Q ? Q[n] : t || null;
+}
+//#endregion
+//#region src/components/robots/MotionGroupVisualizer.tsx
+var we = o((e) => {
+	let { inverseSolver: t, dhParameters: n, ...r } = e, [i, o] = C(a.RevoluteJoint);
+	b(() => {
+		n.length && o(n[0].type ?? a.RevoluteJoint);
+	}, [n]);
+	let s = x(() => t === null && i === a.RevoluteJoint, [t, i]), c = x(() => t === null && i === a.PrismaticJoint, [t, i]);
+	return x(() => !!t, [t]) || s ? /* @__PURE__ */ (0, L.jsx)(X, {
+		dhParameters: n,
+		...r
+	}) : c ? /* @__PURE__ */ (0, L.jsx)(Z, {
+		dhParameters: n,
+		...r
+	}) : /* @__PURE__ */ (0, L.jsx)(L.Fragment, {});
+});
+//#endregion
+export { Se as a, ve as c, V as d, le as f, oe as h, Ce as i, _e as l, z as m, Q as n, Z as o, ce as p, $ as r, ye as s, we as t, X as u };
+
+//# sourceMappingURL=3d-BTtdSlR9.js.map