@wandelbots/wandelbots-js-react-components 4.7.1 → 4.7.2-pr.feat-RB-3348-remove-v1-usage.553.eede090

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

@@ -1,19 +1,18 @@
-import { j as e, d as Te, v as Z, o as Se, e as U } from "./externalizeComponent-BOqKMZMc.js";
+import { j as e, g as Me, v as _e, o as Te, N as ke, V as ne, c as se, h as U, b as X, M as v, J as O } from "./interpolation-DbcWWD5r.js";
 import * as g from "three";
-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 $, useGLTF as Le, Bounds as ee } from "@react-three/drei";
-import { useTheme as Fe, Card as Pe, Box as v, Typography as te, Divider as re, Button as ne } from "@mui/material";
-import { observer as Ve } from "mobx-react-lite";
-import { useTranslation as Ie } from "react-i18next";
-import { N as De, V as ue, c as pe, b as se, M as T, J as O } from "./interpolation-B8AcxfdD.js";
-import { ErrorBoundary as de } from "react-error-boundary";
+import { Matrix4 as w, Vector3 as k, Quaternion as J } from "three";
+import { ConvexGeometry as oe, RoundedBoxGeometry as Ge } from "three-stdlib";
+import Le, { useMemo as V, useRef as R, useEffect as M, useCallback as T, useState as G, Suspense as ie } from "react";
+import { useThree as ae, useFrame as le, Canvas as K } from "@react-three/fiber";
+import { Environment as Se, Lightformer as S, Line as B, useGLTF as Fe, Bounds as Z } from "@react-three/drei";
+import { useTheme as Pe, Card as Ae, Box as b, Typography as Q, Divider as z, Button as ee } from "@mui/material";
+import { observer as Ie } from "mobx-react-lite";
+import { useTranslation as De } from "react-i18next";
+import { ErrorBoundary as ce } from "react-error-boundary";
 function Oe(t) {
   switch (t.shape_type) {
     case "convex_hull":
-      return new W(
+      return new oe(
         t.vertices.map(
           (r) => new g.Vector3(
             r[0] / 1e3,
@@ -47,64 +46,64 @@ function Oe(t) {
       return console.warn(`${t.shape_type} is not supported`), new g.BufferGeometry();
   }
 }
-function Ce({
+function Ve({
   name: t,
-  collider: n,
+  collider: s,
   children: r
 }) {
-  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(`${t} margin is not supported`), /* @__PURE__ */ e.jsx(
+  var u, c;
+  const a = ((u = s.pose) == null ? void 0 : u.position) ?? [0, 0, 0], i = ((c = s.pose) == null ? void 0 : c.orientation) ?? [0, 0, 0];
+  return s.margin && console.warn(`${t} margin is not supported`), /* @__PURE__ */ e.jsx(
     "mesh",
     {
       name: t,
       position: new g.Vector3(
-        l[0],
-        l[1],
-        l[2]
+        a[0],
+        a[1],
+        a[2]
       ).divideScalar(1e3),
-      rotation: new g.Euler(s[0], s[1], s[2], "XYZ"),
-      geometry: Oe(n.shape),
+      rotation: new g.Euler(i[0], i[1], i[2], "XYZ"),
+      geometry: Oe(s.shape),
       children: r
     }
   );
 }
 function Ue({
   name: t,
-  colliders: n,
+  colliders: s,
   meshChildrenProvider: r,
-  ...l
+  ...a
 }) {
-  return /* @__PURE__ */ e.jsx("group", { name: t, ...l, children: Object.entries(n).map(([s, f]) => /* @__PURE__ */ e.jsx(
-    Ce,
+  return /* @__PURE__ */ e.jsx("group", { name: t, ...a, children: Object.entries(s).map(([i, u]) => /* @__PURE__ */ e.jsx(
+    Ve,
     {
-      name: s,
-      collider: f,
-      children: r(s, f)
+      name: i,
+      collider: u,
+      children: r(i, u)
     },
-    s
+    i
   )) });
 }
-function at({
+function it({
   scene: t,
-  meshChildrenProvider: n
+  meshChildrenProvider: s
 }) {
   const r = t.colliders;
   return /* @__PURE__ */ e.jsx("group", { children: r && /* @__PURE__ */ e.jsx(
     Ue,
     {
-      meshChildrenProvider: n,
+      meshChildrenProvider: s,
       colliders: r
     }
   ) });
 }
-function oe() {
-  return /* @__PURE__ */ e.jsx(Ae, { children: /* @__PURE__ */ e.jsx(Ee, {}) });
+function te() {
+  return /* @__PURE__ */ e.jsx(Se, { children: /* @__PURE__ */ e.jsx(Ce, {}) });
 }
-function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
+function Ce({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
   return /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
     /* @__PURE__ */ e.jsx(
-      L,
+      S,
       {
         intensity: 5,
         "rotation-x": Math.PI / 2,
@@ -112,19 +111,19 @@ function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
         scale: [10, 10, 1]
       }
     ),
-    /* @__PURE__ */ e.jsx("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ e.jsx("group", { children: t.map((n, r) => /* @__PURE__ */ e.jsx(
-      L,
+    /* @__PURE__ */ e.jsx("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ e.jsx("group", { children: t.map((s, r) => /* @__PURE__ */ e.jsx(
+      S,
       {
         form: "circle",
         intensity: 5,
         rotation: [Math.PI / 2, 0, 0],
-        position: [n, 4, r * 4],
+        position: [s, 4, r * 4],
         scale: [3, 1, 1]
       },
       r
     )) }) }),
     /* @__PURE__ */ e.jsx(
-      L,
+      S,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -133,7 +132,7 @@ function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ e.jsx(
-      L,
+      S,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -142,7 +141,7 @@ function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ e.jsx(
-      L,
+      S,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -151,7 +150,7 @@ function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ e.jsx(
-      L,
+      S,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -160,7 +159,7 @@ function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ e.jsx(
-      L,
+      S,
       {
         form: "ring",
         color: "white",
@@ -172,12 +171,12 @@ function Ee({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
     )
   ] });
 }
-function lt({
+function at({
   safetyZones: t,
-  dhParameters: n,
+  dhParameters: s,
   ...r
 }) {
-  const l = {
+  const a = {
     attach: "material",
     color: "#009f4d",
     opacity: 0.2,
@@ -185,38 +184,34 @@ function lt({
     depthWrite: !1,
     transparent: !0,
     polygonOffset: !0
-  }, 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 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))
+  }, i = Me(s ?? []), u = (h, n) => {
+    var d, x;
+    if (!((d = n == null ? void 0 : n.pose) != null && d.position) || !((x = n == null ? void 0 : n.pose) != null && x.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 c;
-    const y = i.shape.shape_type === "plane" ? { ...l, side: g.DoubleSide } : { ...l, side: g.FrontSide };
-    switch (i.shape.shape_type) {
+    const f = new g.Vector3(n.pose.position[0] / 1e3, n.pose.position[1] / 1e3, n.pose.position[2] / 1e3), m = new g.Vector3(n.pose.orientation[0], n.pose.orientation[1], n.pose.orientation[2]);
+    let o;
+    const l = n.shape.shape_type === "plane" ? { ...a, side: g.DoubleSide } : { ...a, side: g.FrontSide };
+    switch (n.shape.shape_type) {
       /**
        * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
        */
       case "plane":
-        c = /* @__PURE__ */ e.jsx("planeGeometry", { args: [s, s] });
+        o = /* @__PURE__ */ e.jsx("planeGeometry", { args: [i, i] });
         break;
       /**
        * Sphere shape
        */
       case "sphere": {
-        const x = (i == null ? void 0 : i.shape).radius / 1e3;
-        c = /* @__PURE__ */ e.jsx("sphereGeometry", { args: [x] });
+        const p = (n == null ? void 0 : n.shape).radius / 1e3;
+        o = /* @__PURE__ */ e.jsx("sphereGeometry", { args: [p] });
         break;
       }
       /**
        * Capsule shape
        */
       case "capsule": {
-        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] });
+        const p = (n == null ? void 0 : n.shape).radius / 1e3, j = (n == null ? void 0 : n.shape).cylinder_height / 1e3;
+        o = /* @__PURE__ */ e.jsx("capsuleGeometry", { args: [p, j] });
         break;
       }
       /**
@@ -224,20 +219,20 @@ function lt({
        * renderer to be able to visualize the convex hull.
        */
       case "convex_hull": {
-        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)
+        const p = (n == null ? void 0 : n.shape).vertices.map(
+          (y) => new g.Vector3(y[0] / 1e3, y[1] / 1e3, y[2] / 1e3)
+        ), j = _e(p);
+        if (j.isCoplanar && j.normal) {
+          const L = new g.Vector3().addVectors(
+            p[0],
+            j.normal.multiplyScalar(1e-4)
           );
-          x.push(F);
+          p.push(L);
         }
         try {
-          c = /* @__PURE__ */ e.jsx("primitive", { object: new W(x), attach: "geometry" });
-        } catch (b) {
-          return console.log("Error creating ConvexGeometry:", b), null;
+          o = /* @__PURE__ */ e.jsx("primitive", { object: new oe(p), attach: "geometry" });
+        } catch (y) {
+          return console.log("Error creating ConvexGeometry:", y), null;
         }
         break;
       }
@@ -249,82 +244,49 @@ function lt({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        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" });
+        const p = n.shape, j = p.radius / 1e3, y = p.sphere_center_distance_x / 1e3, L = p.sphere_center_distance_y / 1e3, F = j * 2;
+        o = /* @__PURE__ */ e.jsx(
+          "primitive",
+          {
+            object: new Ge(y, L, F, 2, j),
+            attach: "geometry"
+          }
+        );
         break;
       }
       default:
-        console.warn("Unsupported safety zone shape type:", i.shape.shape_type), c = null;
+        console.warn("Unsupported safety zone shape type:", n.shape.shape_type), o = null;
     }
     return /* @__PURE__ */ e.jsxs(
       "mesh",
       {
-        renderOrder: p,
-        position: o,
-        quaternion: Se(a),
+        renderOrder: h,
+        position: f,
+        quaternion: Te(m),
         children: [
-          c,
-          /* @__PURE__ */ e.jsx(
-            "meshStandardMaterial",
-            {
-              ...y,
-              polygonOffsetFactor: -p
-            }
-          )
+          o,
+          /* @__PURE__ */ e.jsx("meshStandardMaterial", { ...l, polygonOffsetFactor: -h })
         ]
       },
-      `safety-zone-${i.shape.shape_type}-${p}`
+      `safety-zone-${n.shape.shape_type}-${h}`
     );
-  }, 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, c) => {
-      if (!a.convex_hull) return null;
-      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
-        },
-        i
-      ) }, `${i}-${c}`);
-    });
-  }) : null, d = C(() => Array.isArray(t) ? h() : u(), [t, h, u]);
-  return /* @__PURE__ */ e.jsx("group", { ...r, children: d });
+  }, c = V(() => Object.values(t ?? {}).map((h, n) => u(n, h)), [t]);
+  return /* @__PURE__ */ e.jsx("group", { ...r, children: c });
 }
-function ct({
+function lt({
   trajectory: t,
-  ...n
+  ...s
 }) {
-  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(
-    $,
+  const r = (t == null ? void 0 : t.map((a) => {
+    var i;
+    return (i = a.position) != null && i.length ? new g.Vector3(
+      a.position[0] / 1e3,
+      a.position[2] / 1e3,
+      -a.position[1] / 1e3
+    ) : null;
+  }).filter((a) => a !== null)) || [];
+  return /* @__PURE__ */ e.jsx("group", { ...s, children: r.length > 0 && /* @__PURE__ */ e.jsx(
+    B,
     {
       points: r,
       lineWidth: 3,
@@ -334,171 +296,171 @@ function ct({
     }
   ) });
 }
-const J = /* @__PURE__ */ new Map();
-async function E(t, n) {
-  if (J.has(t))
-    return J.get(t);
+const E = /* @__PURE__ */ new Map();
+async function C(t, s) {
+  if (E.has(t))
+    return E.get(t);
   const r = (async () => {
-    var u;
-    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;
+    var c;
+    const a = s || "", i = new ke({ instanceUrl: a }), u = i.api.motionGroupModels;
+    (c = u.axios) != null && c.interceptors && u.axios.interceptors.request.use((h) => {
+      var n;
+      return (n = h.url) != null && n.includes("/glb") && (h.responseType = "blob"), h;
     });
     try {
-      const h = await s.api.motionGroupModels.getMotionGroupGlbModel(t);
+      const h = await i.api.motionGroupModels.getMotionGroupGlbModel(t);
       return URL.createObjectURL(h);
     } catch (h) {
       throw console.error("Failed to fetch model:", h), h;
     }
   })();
-  return J.set(t, r), r;
+  return E.set(t, r), r;
 }
-function fe(t) {
-  function n(r) {
-    return r.children.length === 0 ? [r] : [r, ...r.children.flatMap((l) => n(l))];
+function ue(t) {
+  function s(r) {
+    return r.children.length === 0 ? [r] : [r, ...r.children.flatMap((a) => s(a))];
   }
-  return n(t).filter((r) => me(r));
+  return s(t).filter((r) => pe(r));
 }
-function he(t) {
+function de(t) {
   return t.name.endsWith("_FLG");
 }
-function me(t) {
+function pe(t) {
   return /_J[0-9]+$/.test(t.name);
 }
-function Je(t, n) {
+function Ee(t, s) {
   let r;
-  function l(s) {
-    if (he(s)) {
+  function a(i) {
+    if (de(i)) {
       if (r)
         throw Error(
-          `Found multiple flange groups in robot model ${n}; first ${r.name} then ${s.name}. Only one _FLG group is allowed.`
+          `Found multiple flange groups in robot model ${s}; first ${r.name} then ${i.name}. Only one _FLG group is allowed.`
         );
-      r = s;
+      r = i;
     }
-    me(s), s.children.map(l);
+    pe(i), i.children.map(a);
   }
-  if (l(t.scene), !r)
+  if (a(t.scene), !r)
     throw Error(
-      `No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`
+      `No flange group found in robot model ${s}. Flange must be identified with a name ending in _FLG.`
     );
   return { gltf: t };
 }
-function xe({
+function he({
   rapidlyChangingMotionState: t,
-  dhParameters: n,
+  dhParameters: s,
   onRotationChanged: r,
-  children: l
+  children: a
 }) {
-  const s = _([]), f = _([]), u = _(null), { invalidate: h } = le();
+  const i = R([]), u = R([]), c = R(null), { invalidate: h } = ae();
   M(() => {
     const o = t.joint_position.filter(
-      (a) => a !== void 0
+      (l) => l !== void 0
     );
-    return u.current = new ue(o, {
+    return c.current = new ne(o, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
       // Controls damping - higher values reduce oscillation and create smoother settling
       threshold: 1e-3
     }), () => {
-      var a;
-      (a = u.current) == null || a.destroy();
+      var l;
+      (l = c.current) == null || l.destroy();
     };
-  }, []), ce((o, a) => {
-    if (u.current) {
-      const c = u.current.update(a);
-      p(), c || h();
+  }, []), le((o, l) => {
+    if (c.current) {
+      const d = c.current.update(l);
+      f(), d || h();
     }
   });
-  function d(o) {
-    o && (f.current = fe(o), p(), h());
+  function n(o) {
+    o && (u.current = ue(o), f(), h());
   }
-  function p() {
-    var a;
-    const o = ((a = u.current) == null ? void 0 : a.getCurrentValues()) || [];
+  function f() {
+    var l;
+    const o = ((l = c.current) == null ? void 0 : l.getCurrentValues()) || [];
     if (r)
-      r(f.current, o);
+      r(u.current, o);
     else
-      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;
+      for (const [d, x] of u.current.entries()) {
+        const p = s[d], j = p.theta || 0, y = p.reverse_rotation_direction ? -1 : 1;
+        x.rotation.y = y * (o[d] || 0) + j;
       }
   }
-  const i = G(() => {
+  const m = T(() => {
     const o = t.joint_position.filter(
-      (a) => a !== void 0
+      (l) => l !== void 0
     );
     requestAnimationFrame(() => {
-      var a;
-      s.current = o, (a = u.current) == null || a.setTarget(o);
+      var l;
+      i.current = o, (l = c.current) == null || l.setTarget(o);
     });
   }, [t]);
   return M(() => {
-    i();
-  }, [t, i]), pe(() => {
-    i();
-  }), /* @__PURE__ */ e.jsx("group", { ref: d, children: l });
+    m();
+  }, [t, m]), se(() => {
+    m();
+  }), /* @__PURE__ */ e.jsx("group", { ref: n, children: a });
 }
-const Be = "line", We = "mesh";
-function $e({
+const Je = "line", Be = "mesh";
+function We({
   rapidlyChangingMotionState: t,
-  dhParameters: n,
+  dhParameters: s,
   ...r
 }) {
-  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 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 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 };
+  const a = new w(), i = R([]), u = R([]);
+  Le.useEffect(() => {
+    i.current = new Array(s.length).fill(null), u.current = new Array(s.length).fill(null);
+  }, [s.length]);
+  function c(f, m) {
+    const o = new k(), l = new J(), d = new k();
+    a.decompose(o, l, d);
+    const x = o.clone(), p = new w().makeRotationY(
+      f.theta + m * (f.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new w().makeTranslation(0, f.d / 1e3, 0)).multiply(new w().makeTranslation(f.a / 1e3, 0, 0)).multiply(new w().makeRotationX(f.alpha));
+    return a.multiply(p), a.decompose(o, l, d), { a: x, b: o };
   }
-  function h(p, i, o, a) {
-    if (!n)
+  function h(f, m, o, l) {
+    if (!s)
       return;
-    const c = n[p];
-    if (!c)
+    const d = s[f];
+    if (!d)
       return;
-    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);
+    const { a: x, b: p } = c(d, l);
+    m.geometry.setPositions([x.toArray(), p.toArray()].flat()), o.position.set(p.x, p.y, p.z);
   }
-  function d(p, i) {
-    l.identity();
-    for (let o = 0; o < Math.min(p.length, i.length); o++) {
-      const a = s.current[o], c = f.current[o];
-      a && c && h(o, a, c, i[o]);
+  function n(f, m) {
+    a.identity();
+    for (let o = 0; o < Math.min(f.length, m.length); o++) {
+      const l = i.current[o], d = u.current[o];
+      l && d && h(o, l, d, m[o]);
     }
   }
   return /* @__PURE__ */ e.jsx(e.Fragment, { children: /* @__PURE__ */ e.jsx(
-    xe,
+    he,
     {
       rapidlyChangingMotionState: t,
-      dhParameters: n,
-      onRotationChanged: d,
+      dhParameters: s,
+      onRotationChanged: n,
       children: /* @__PURE__ */ e.jsxs("group", { ...r, name: "Scene", children: [
         /* @__PURE__ */ e.jsxs("mesh", { children: [
           /* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
           /* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
         ] }),
-        n.map((p, i) => {
-          const { a: o, b: a } = u(
-            p,
-            t.joint_position[i] ?? 0
-          ), c = `dhrobot_J0${i}`;
-          return /* @__PURE__ */ e.jsxs("group", { name: c, children: [
+        s.map((f, m) => {
+          const { a: o, b: l } = c(
+            f,
+            t.joint_position[m] ?? 0
+          ), d = `dhrobot_J0${m}`;
+          return /* @__PURE__ */ e.jsxs("group", { name: d, children: [
             /* @__PURE__ */ e.jsx(
-              $,
+              B,
               {
-                ref: (y) => {
-                  s.current[i] = y;
+                ref: (x) => {
+                  i.current[m] = x;
                 },
-                name: Be,
-                points: [o, a],
+                name: Je,
+                points: [o, l],
                 color: "white",
                 lineWidth: 5
               }
@@ -506,127 +468,127 @@ function $e({
             /* @__PURE__ */ e.jsxs(
               "mesh",
               {
-                ref: (y) => {
-                  f.current[i] = y;
+                ref: (x) => {
+                  u.current[m] = x;
                 },
-                name: We,
-                position: a,
+                name: Be,
+                position: l,
                 children: [
                   /* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
                   /* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
                 ]
               },
-              "mesh_" + i
+              "mesh_" + m
             )
-          ] }, c);
+          ] }, d);
         })
       ] })
     }
   ) });
 }
-const He = console.warn;
-function ye() {
+const $e = console.warn;
+function fe() {
   return M(() => {
     console.warn = (t) => {
-      t !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && He(t);
+      t !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && $e(t);
     };
   }, []), /* @__PURE__ */ e.jsx(e.Fragment, {});
 }
-function Ne(t) {
+function He(t) {
   return t.type === "Mesh";
 }
-function qe({
+function Ne({
   url: t,
-  flangeRef: n,
+  flangeRef: s,
   postModelRender: r,
-  ...l
+  ...a
 }) {
-  const s = Le(t);
-  let f;
+  const i = Fe(t);
+  let u;
   try {
-    f = Je(s, "robot.glb").gltf;
-  } catch (d) {
-    throw d;
+    u = Ee(i, "robot.glb").gltf;
+  } catch (n) {
+    throw n;
   }
-  const u = G(
-    (d) => {
-      d && r && r();
+  const c = T(
+    (n) => {
+      n && r && r();
     },
     [r]
   );
-  function h(d) {
+  function h(n) {
     try {
-      return Ne(d) ? d.geometry ? /* @__PURE__ */ e.jsx(
+      return He(n) ? n.geometry ? /* @__PURE__ */ e.jsx(
         "mesh",
         {
-          name: d.name,
-          geometry: d.geometry,
-          material: d.material,
-          position: d.position,
-          rotation: d.rotation
+          name: n.name,
+          geometry: n.geometry,
+          material: n.material,
+          position: n.position,
+          rotation: n.rotation
         },
-        d.uuid
-      ) : /* @__PURE__ */ e.jsx("group", { name: d.name, position: d.position, rotation: d.rotation }, d.uuid) : /* @__PURE__ */ e.jsx(
+        n.uuid
+      ) : /* @__PURE__ */ e.jsx("group", { name: n.name, position: n.position, rotation: n.rotation }, n.uuid) : /* @__PURE__ */ e.jsx(
         "group",
         {
-          name: d.name,
-          position: d.position,
-          rotation: d.rotation,
-          ref: he(d) ? n : void 0,
-          children: d.children.map(h)
+          name: n.name,
+          position: n.position,
+          rotation: n.rotation,
+          ref: de(n) ? s : void 0,
+          children: n.children.map(h)
         },
-        d.uuid
+        n.uuid
       );
-    } catch (p) {
-      return console.warn("Error rendering node", d.name, p), null;
+    } catch (f) {
+      return console.warn("Error rendering node", n.name, f), null;
     }
   }
-  return /* @__PURE__ */ e.jsx("group", { ...l, dispose: null, ref: u, children: h(f.scene) });
+  return /* @__PURE__ */ e.jsx("group", { ...a, dispose: null, ref: c, children: h(u.scene) });
 }
-function ge({
+function me({
   modelURL: t,
-  flangeRef: n,
+  flangeRef: s,
   postModelRender: r,
-  ...l
+  ...a
 }) {
-  const [s, f] = A(null);
+  const [i, u] = G(null);
   return M(() => {
     (async () => {
       try {
         if (typeof t == "string")
-          f(t);
+          u(t);
         else {
           const h = await t;
-          f(h);
+          u(h);
         }
       } catch (h) {
         console.error("Failed to resolve model URL:", h);
       }
     })();
-  }, [t]), s ? /* @__PURE__ */ e.jsx(
-    qe,
+  }, [t]), i ? /* @__PURE__ */ e.jsx(
+    Ne,
     {
-      url: s,
-      flangeRef: n,
+      url: i,
+      flangeRef: s,
       postModelRender: r,
-      ...l
+      ...a
     }
   ) : null;
 }
-const je = (t, n) => {
+const xe = (t, s) => {
   t.userData.isGhost || (t.traverse((r) => {
     if (r instanceof g.Mesh) {
       r.material instanceof g.Material && (r.material.colorWrite = !1);
-      const l = r.clone(), s = r.clone();
-      l.material = new g.MeshStandardMaterial({
+      const a = r.clone(), i = r.clone();
+      a.material = new g.MeshStandardMaterial({
         depthTest: !0,
         depthWrite: !0,
         colorWrite: !1,
         polygonOffset: !0,
         polygonOffsetFactor: -1,
         side: g.DoubleSide
-      }), l.userData.isGhost = !0, s.material = new g.MeshStandardMaterial({
-        color: n,
+      }), a.userData.isGhost = !0, i.material = new g.MeshStandardMaterial({
+        color: s,
         opacity: 0.3,
         depthTest: !0,
         depthWrite: !1,
@@ -634,167 +596,167 @@ const je = (t, n) => {
         polygonOffset: !0,
         polygonOffsetFactor: -2,
         side: g.DoubleSide
-      }), s.userData.isGhost = !0, r.parent && (r.parent.add(l), r.parent.add(s));
+      }), i.userData.isGhost = !0, r.parent && (r.parent.add(a), r.parent.add(i));
     }
   }), t.userData.isGhost = !0);
-}, we = (t) => {
+}, ye = (t) => {
   if (!t.userData.isGhost) return;
-  const n = [];
+  const s = [];
   t.traverse((r) => {
-    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) => {
+    var a;
+    r instanceof g.Mesh && ((a = r.userData) != null && a.isGhost ? s.push(r) : r.material instanceof g.Material && (r.material.colorWrite = !0));
+  }), s.forEach((r) => {
     r.parent && r.parent.remove(r);
   }), t.userData.isGhost = !1;
-}, be = U(
+}, ge = U(
   ({
     rapidlyChangingMotionState: t,
-    modelFromController: n,
+    modelFromController: s,
     dhParameters: r,
-    getModel: l = E,
-    flangeRef: s,
-    postModelRender: f,
-    transparentColor: u,
+    getModel: a = C,
+    flangeRef: i,
+    postModelRender: u,
+    transparentColor: c,
     instanceUrl: h,
-    ...d
+    ...n
   }) => {
-    const [p, i] = A(null), o = G((c) => {
-      i(c);
+    const [f, m] = G(null), o = T((d) => {
+      m(d);
     }, []);
     M(() => {
-      p && (u ? je(p, u) : we(p));
-    }, [p, u]);
-    const a = /* @__PURE__ */ e.jsx(
-      $e,
+      f && (c ? xe(f, c) : ye(f));
+    }, [f, c]);
+    const l = /* @__PURE__ */ e.jsx(
+      We,
       {
         rapidlyChangingMotionState: t,
         dhParameters: r,
-        ...d
+        ...n
       }
     );
     return /* @__PURE__ */ e.jsxs(
-      de,
+      ce,
       {
-        fallback: a,
-        onError: (c) => {
-          console.warn(c);
+        fallback: l,
+        onError: (d) => {
+          console.warn(d);
         },
         children: [
-          /* @__PURE__ */ e.jsx(ae, { fallback: a, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
-            xe,
+          /* @__PURE__ */ e.jsx(ie, { fallback: l, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
+            he,
             {
               rapidlyChangingMotionState: t,
               dhParameters: r,
               children: /* @__PURE__ */ e.jsx(
-                ge,
+                me,
                 {
                   modelURL: (() => {
-                    const c = l(n, h);
-                    if (!c) {
-                      const y = new Blob([], { type: "model/gltf-binary" }), m = new File([y], `${n}.glb`, { type: "model/gltf-binary" });
-                      return Promise.resolve(URL.createObjectURL(m));
+                    const d = a(s, h);
+                    if (!d) {
+                      const x = new Blob([], { type: "model/gltf-binary" }), p = new File([x], `${s}.glb`, { type: "model/gltf-binary" });
+                      return Promise.resolve(URL.createObjectURL(p));
                     }
-                    return c;
+                    return d;
                   })(),
-                  postModelRender: f,
-                  flangeRef: s,
-                  ...d
+                  postModelRender: u,
+                  flangeRef: i,
+                  ...n
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ e.jsx(ye, {})
+          /* @__PURE__ */ e.jsx(fe, {})
         ]
       }
     );
   }
 );
-function Ye({
+function qe({
   connectedMotionGroup: t,
-  getModel: n = E,
+  getModel: s = C,
   flangeRef: r,
-  transparentColor: l,
-  postModelRender: s,
-  ...f
+  transparentColor: a,
+  postModelRender: i,
+  ...u
 }) {
   return t.dhParameters ? /* @__PURE__ */ e.jsx(
-    be,
+    ge,
     {
       rapidlyChangingMotionState: t.rapidlyChangingMotionState,
       modelFromController: t.modelFromController || "",
       dhParameters: t.dhParameters,
-      getModel: n,
+      getModel: s,
       flangeRef: r,
-      transparentColor: l,
-      postModelRender: s,
-      ...f
+      transparentColor: a,
+      postModelRender: i,
+      ...u
     }
   ) : null;
 }
-const ut = U(
-  Ve(
+const ct = U(
+  Ie(
     ({
       robotName: t,
-      programState: n,
+      programState: s,
       safetyState: r,
-      operationMode: l,
-      driveToHomeEnabled: s = !1,
-      onDriveToHomePress: f,
-      onDriveToHomeRelease: u,
+      operationMode: a,
+      driveToHomeEnabled: i = !1,
+      onDriveToHomePress: u,
+      onDriveToHomeRelease: c,
       connectedMotionGroup: h,
-      robotComponent: d = Ye,
-      customContentComponent: p,
-      className: i
+      robotComponent: n = qe,
+      customContentComponent: f,
+      className: m
     }) => {
-      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);
+      var H;
+      const o = Pe(), { t: l } = De(), [d, x] = G(!1), p = R(null), j = R(null), [y, L] = G(!1), [F, Re] = G({ width: 400, height: 600 }), [Xe, ve] = G(0);
       M(() => {
         const D = () => {
           if (j.current) {
-            const { offsetWidth: K, offsetHeight: Q } = j.current;
-            w(K > Q), F({ width: K, height: Q });
+            const { offsetWidth: q, offsetHeight: Y } = j.current;
+            L(q > Y), Re({ width: q, height: Y });
           }
         };
         D();
-        const X = new ResizeObserver(D);
-        return j.current && X.observe(j.current), () => {
-          X.disconnect();
+        const N = new ResizeObserver(D);
+        return j.current && N.observe(j.current), () => {
+          N.disconnect();
         };
       }, []);
-      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;
+      const W = T(() => {
+        ve((D) => D + 1);
+      }, []), P = T(() => {
+        !i || !u || (x(!0), u());
+      }, [i, u]), A = T(() => {
+        !i || !c || (x(!1), c());
+      }, [i, c]), $ = T(() => {
+        d && c && (x(!1), c());
+      }, [d, c]), _ = y ? F.width < 350 : F.height < 200, I = y ? F.height < 310 : F.height < 450;
       return /* @__PURE__ */ e.jsx(
-        Pe,
+        Ae,
         {
           ref: j,
-          className: i,
+          className: m,
           sx: {
             width: "100%",
             height: "100%",
             display: "flex",
-            flexDirection: x ? "row" : "column",
+            flexDirection: y ? "row" : "column",
             position: "relative",
             overflow: "hidden",
             minWidth: { xs: 180, sm: 220, md: 250 },
-            minHeight: x ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
+            minHeight: y ? { 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: ((Y = o.palette.backgroundPaperElevation) == null ? void 0 : Y[8]) || "#2A2A3F",
+            backgroundColor: ((H = o.palette.backgroundPaperElevation) == null ? void 0 : H[8]) || "#2A2A3F",
             backgroundImage: "none"
             // Override any gradient from elevation
           },
-          children: x ? /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
+          children: y ? /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
             /* @__PURE__ */ e.jsx(
-              v,
+              b,
               {
                 sx: {
                   flex: "0 0 50%",
@@ -807,10 +769,10 @@ const ut = U(
                   mr: { xs: 0.75, sm: 1, md: 1.5 },
                   overflow: "hidden",
                   // Prevent content from affecting container size
-                  display: S ? "none" : "block"
+                  display: _ ? "none" : "block"
                 },
-                children: !S && /* @__PURE__ */ e.jsxs(
-                  z,
+                children: !_ && /* @__PURE__ */ e.jsxs(
+                  K,
                   {
                     orthographic: !0,
                     camera: {
@@ -831,12 +793,12 @@ const ut = U(
                     dpr: [1, 2],
                     gl: { alpha: !0, antialias: !0 },
                     children: [
-                      /* @__PURE__ */ e.jsx(oe, {}),
-                      /* @__PURE__ */ e.jsx(ee, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
-                        d,
+                      /* @__PURE__ */ e.jsx(te, {}),
+                      /* @__PURE__ */ e.jsx(Z, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
+                        n,
                         {
                           connectedMotionGroup: h,
-                          postModelRender: N
+                          postModelRender: W
                         }
                       ) })
                     ]
@@ -845,18 +807,18 @@ const ut = U(
               }
             ),
             /* @__PURE__ */ e.jsxs(
-              v,
+              b,
               {
                 sx: {
                   flex: "1",
                   display: "flex",
                   flexDirection: "column",
                   justifyContent: "flex-start",
-                  width: S ? "100%" : "50%"
+                  width: _ ? "100%" : "50%"
                 },
                 children: [
                   /* @__PURE__ */ e.jsxs(
-                    v,
+                    b,
                     {
                       sx: {
                         p: { xs: 1.5, sm: 2, md: 3 },
@@ -864,20 +826,20 @@ const ut = U(
                         textAlign: "left"
                       },
                       children: [
-                        /* @__PURE__ */ e.jsx(te, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
+                        /* @__PURE__ */ e.jsx(Q, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
                         /* @__PURE__ */ e.jsx(
-                          se,
+                          X,
                           {
-                            programState: n,
+                            programState: s,
                             safetyState: r,
-                            operationMode: l
+                            operationMode: a
                           }
                         )
                       ]
                     }
                   ),
                   /* @__PURE__ */ e.jsxs(
-                    v,
+                    b,
                     {
                       sx: {
                         p: { xs: 1.5, sm: 2, md: 3 },
@@ -888,10 +850,10 @@ const ut = U(
                         justifyContent: "space-between"
                       },
                       children: [
-                        !I && p && /* @__PURE__ */ e.jsxs(v, { children: [
-                          /* @__PURE__ */ e.jsx(p, {}),
+                        !I && f && /* @__PURE__ */ e.jsxs(b, { children: [
+                          /* @__PURE__ */ e.jsx(f, {}),
                           /* @__PURE__ */ e.jsx(
-                            re,
+                            z,
                             {
                               sx: {
                                 mt: 1,
@@ -903,13 +865,13 @@ const ut = U(
                           )
                         ] }),
                         /* @__PURE__ */ e.jsx(
-                          v,
+                          b,
                           {
                             sx: {
-                              mt: !I && p ? "auto" : 0
+                              mt: !I && f ? "auto" : 0
                             },
                             children: /* @__PURE__ */ e.jsx(
-                              v,
+                              b,
                               {
                                 sx: {
                                   display: "flex",
@@ -918,24 +880,24 @@ const ut = U(
                                   mb: { xs: 0.5, sm: 0.75, md: 1 }
                                 },
                                 children: /* @__PURE__ */ e.jsx(
-                                  ne,
+                                  ee,
                                   {
-                                    ref: m,
+                                    ref: p,
                                     variant: "contained",
                                     color: "secondary",
                                     size: "small",
-                                    disabled: !s,
+                                    disabled: !i,
                                     onMouseDown: P,
-                                    onMouseUp: V,
-                                    onMouseLeave: q,
+                                    onMouseUp: A,
+                                    onMouseLeave: $,
                                     onTouchStart: P,
-                                    onTouchEnd: V,
+                                    onTouchEnd: A,
                                     sx: {
                                       textTransform: "none",
                                       px: 1.5,
                                       py: 0.5
                                     },
-                                    children: a("RobotCard.DriveToHome.bt")
+                                    children: l("RobotCard.DriveToHome.bt")
                                   }
                                 )
                               }
@@ -949,7 +911,7 @@ const ut = U(
               }
             )
           ] }) : /* @__PURE__ */ e.jsx(e.Fragment, { children: /* @__PURE__ */ e.jsxs(
-            v,
+            b,
             {
               sx: {
                 p: 3,
@@ -958,31 +920,31 @@ const ut = U(
                 flexDirection: "column"
               },
               children: [
-                /* @__PURE__ */ e.jsxs(v, { children: [
-                  /* @__PURE__ */ e.jsx(te, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
+                /* @__PURE__ */ e.jsxs(b, { children: [
+                  /* @__PURE__ */ e.jsx(Q, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
                   /* @__PURE__ */ e.jsx(
-                    se,
+                    X,
                     {
-                      programState: n,
+                      programState: s,
                       safetyState: r,
-                      operationMode: l
+                      operationMode: a
                     }
                   )
                 ] }),
                 /* @__PURE__ */ e.jsx(
-                  v,
+                  b,
                   {
                     sx: {
-                      flex: S ? 0 : 1,
+                      flex: _ ? 0 : 1,
                       position: "relative",
-                      minHeight: S ? 0 : { xs: 120, sm: 150, md: 200 },
-                      height: S ? 0 : "auto",
+                      minHeight: _ ? 0 : { xs: 120, sm: 150, md: 200 },
+                      height: _ ? 0 : "auto",
                       borderRadius: 1,
                       overflow: "hidden",
-                      display: S ? "none" : "block"
+                      display: _ ? "none" : "block"
                     },
-                    children: !S && /* @__PURE__ */ e.jsxs(
-                      z,
+                    children: !_ && /* @__PURE__ */ e.jsxs(
+                      K,
                       {
                         orthographic: !0,
                         camera: {
@@ -1001,12 +963,12 @@ const ut = U(
                         dpr: [1, 2],
                         gl: { alpha: !0, antialias: !0 },
                         children: [
-                          /* @__PURE__ */ e.jsx(oe, {}),
-                          /* @__PURE__ */ e.jsx(ee, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
-                            d,
+                          /* @__PURE__ */ e.jsx(te, {}),
+                          /* @__PURE__ */ e.jsx(Z, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
+                            n,
                             {
                               connectedMotionGroup: h,
-                              postModelRender: N
+                              postModelRender: W
                             }
                           ) })
                         ]
@@ -1014,11 +976,11 @@ const ut = U(
                     )
                   }
                 ),
-                /* @__PURE__ */ e.jsxs(v, { children: [
-                  !I && p && /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
-                    /* @__PURE__ */ e.jsx(p, {}),
+                /* @__PURE__ */ e.jsxs(b, { children: [
+                  !I && f && /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
+                    /* @__PURE__ */ e.jsx(f, {}),
                     /* @__PURE__ */ e.jsx(
-                      re,
+                      z,
                       {
                         sx: {
                           mt: 1,
@@ -1030,33 +992,33 @@ const ut = U(
                     )
                   ] }),
                   /* @__PURE__ */ e.jsx(
-                    v,
+                    b,
                     {
                       sx: {
                         display: "flex",
                         justifyContent: "flex-start",
-                        mt: !I && p ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
+                        mt: !I && f ? { 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(
-                        ne,
+                        ee,
                         {
-                          ref: m,
+                          ref: p,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
-                          disabled: !s,
+                          disabled: !i,
                           onMouseDown: P,
-                          onMouseUp: V,
-                          onMouseLeave: q,
+                          onMouseUp: A,
+                          onMouseLeave: $,
                           onTouchStart: P,
-                          onTouchEnd: V,
+                          onTouchEnd: A,
                           sx: {
                             textTransform: "none",
                             px: 1.5,
                             py: 0.5
                           },
-                          children: a("RobotCard.DriveToHome.bt")
+                          children: l("RobotCard.DriveToHome.bt")
                         }
                       )
                     }
@@ -1069,125 +1031,125 @@ const ut = U(
       );
     }
   )
-), pt = Array(6).fill(2 * Math.PI);
-function Re({
+), ut = Array(6).fill(2 * Math.PI);
+function je({
   rapidlyChangingMotionState: t,
-  dhParameters: n,
+  dhParameters: s,
   onTranslationChanged: r,
-  children: l
+  children: a
 }) {
-  const s = _([]), f = _([]), u = _(null), { invalidate: h } = le();
+  const i = R([]), u = R([]), c = R(null), { invalidate: h } = ae();
   M(() => {
     const o = t.joint_position.filter(
-      (a) => a !== void 0
+      (l) => l !== void 0
     );
-    return u.current = new ue(o, {
+    return c.current = new ne(o, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
       // Controls damping - higher values reduce oscillation and create smoother settling
       threshold: 1e-3
     }), () => {
-      var a;
-      (a = u.current) == null || a.destroy();
+      var l;
+      (l = c.current) == null || l.destroy();
     };
-  }, []), ce((o, a) => {
-    if (u.current) {
-      const c = u.current.update(a);
-      p(), c || h();
+  }, []), le((o, l) => {
+    if (c.current) {
+      const d = c.current.update(l);
+      f(), d || h();
     }
   });
-  function d(o) {
-    o && (f.current = fe(o), p(), h());
+  function n(o) {
+    o && (u.current = ue(o), f(), h());
   }
-  function p() {
-    var a;
-    const o = ((a = u.current) == null ? void 0 : a.getCurrentValues()) || [];
+  function f() {
+    var l;
+    const o = ((l = c.current) == null ? void 0 : l.getCurrentValues()) || [];
     if (r)
-      r(f.current, o);
+      r(u.current, o);
     else
-      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;
+      for (const [d, x] of u.current.entries()) {
+        const j = s[d].reverse_rotation_direction ? -1 : 1;
+        x.position.y = j * (o[d] || 0) / 1e3;
       }
   }
-  const i = G(() => {
+  const m = T(() => {
     const o = t.joint_position.filter(
-      (a) => a !== void 0
+      (l) => l !== void 0
     );
     requestAnimationFrame(() => {
-      var a;
-      s.current = o, (a = u.current) == null || a.setTarget(o);
+      var l;
+      i.current = o, (l = c.current) == null || l.setTarget(o);
     });
   }, [t]);
   return M(() => {
-    i();
-  }, [t, i]), pe(() => {
-    i();
-  }), /* @__PURE__ */ e.jsx("group", { ref: d, children: l });
+    m();
+  }, [t, m]), se(() => {
+    m();
+  }), /* @__PURE__ */ e.jsx("group", { ref: n, children: a });
 }
-function ve({
+function we({
   rapidlyChangingMotionState: t,
-  dhParameters: n,
+  dhParameters: s,
   ...r
 }) {
-  const l = new R(), s = _(null), f = _(null);
-  function u(p) {
-    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,
+  const a = new w(), i = R(null), u = R(null);
+  function c(f) {
+    const m = new w();
+    for (let x = 0; x < s.length; x++) {
+      const p = s[x], j = f[x] ?? 0, y = new w().makeRotationY(p.theta).multiply(
+        new w().makeTranslation(
+          p.a / 1e3,
+          (p.d + j * (p.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(m.alpha));
-      i.multiply(x);
+      ).multiply(new w().makeRotationX(p.alpha));
+      m.multiply(y);
     }
-    const o = new k(), a = new B(), c = new k();
-    return i.decompose(o, a, c), o;
+    const o = new k(), l = new J(), d = new k();
+    return m.decompose(o, l, d), o;
   }
-  const h = u(t.joint_position);
-  function d(p, i) {
-    l.identity();
+  const h = c(t.joint_position);
+  function n(f, m) {
+    a.identity();
     let o = new k();
-    for (let m = 0; m < n.length; m++) {
-      const j = i[m] ?? 0, x = n[m], w = new R().makeRotationY(x.theta).multiply(
-        new R().makeTranslation(
-          x.a / 1e3,
-          (x.d + j * (x.reverse_rotation_direction ? -1 : 1)) / 1e3,
+    for (let p = 0; p < s.length; p++) {
+      const j = m[p] ?? 0, y = s[p], L = new w().makeRotationY(y.theta).multiply(
+        new w().makeTranslation(
+          y.a / 1e3,
+          (y.d + j * (y.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(x.alpha));
-      l.multiply(w);
+      ).multiply(new w().makeRotationX(y.alpha));
+      a.multiply(L);
     }
-    const a = new k(), c = new B(), y = new k();
-    if (l.decompose(a, c, y), o = a, s.current && s.current.position.set(o.x, o.y, o.z), f.current) {
-      const m = f.current.geometry;
-      m && m.setPositions && m.setPositions([0, 0, 0, o.x, o.y, o.z]);
+    const l = new k(), d = new J(), x = new k();
+    if (a.decompose(l, d, x), o = l, i.current && i.current.position.set(o.x, o.y, o.z), u.current) {
+      const p = u.current.geometry;
+      p && p.setPositions && p.setPositions([0, 0, 0, o.x, o.y, o.z]);
     }
   }
   return /* @__PURE__ */ e.jsx(e.Fragment, { children: /* @__PURE__ */ e.jsx(
-    Re,
+    je,
     {
       rapidlyChangingMotionState: t,
-      dhParameters: n,
-      onTranslationChanged: d,
+      dhParameters: s,
+      onTranslationChanged: n,
       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(
-          $,
+          B,
           {
-            ref: f,
+            ref: u,
             points: [new k(0, 0, 0), h],
             color: "White",
             lineWidth: 5
           }
         ),
-        /* @__PURE__ */ e.jsxs("mesh", { ref: s, name: "TCP", position: h, children: [
+        /* @__PURE__ */ e.jsxs("mesh", { ref: i, name: "TCP", position: h, children: [
           /* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.025, 32, 32] }),
           /* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "red", depthTest: !0 })
         ] })
@@ -1195,64 +1157,64 @@ function ve({
     }
   ) });
 }
-const _e = U(
+const be = U(
   ({
     rapidlyChangingMotionState: t,
-    modelFromController: n,
+    modelFromController: s,
     dhParameters: r,
-    getModel: l = E,
-    flangeRef: s,
-    postModelRender: f,
-    transparentColor: u,
+    getModel: a = C,
+    flangeRef: i,
+    postModelRender: u,
+    transparentColor: c,
     instanceUrl: h,
-    ...d
+    ...n
   }) => {
-    const [p, i] = A(null), o = G((c) => {
-      i(c);
+    const [f, m] = G(null), o = T((d) => {
+      m(d);
     }, []);
     M(() => {
-      p && (u ? je(p, u) : we(p));
-    }, [p, u]);
-    const a = /* @__PURE__ */ e.jsx(
-      ve,
+      f && (c ? xe(f, c) : ye(f));
+    }, [f, c]);
+    const l = /* @__PURE__ */ e.jsx(
+      we,
       {
         rapidlyChangingMotionState: t,
         dhParameters: r,
-        ...d
+        ...n
       }
     );
     return /* @__PURE__ */ e.jsxs(
-      de,
+      ce,
       {
-        fallback: a,
-        onError: (c) => {
-          console.warn(c);
+        fallback: l,
+        onError: (d) => {
+          console.warn(d);
         },
         children: [
-          /* @__PURE__ */ e.jsx(ae, { fallback: a, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
-            Re,
+          /* @__PURE__ */ e.jsx(ie, { fallback: l, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
+            je,
             {
               rapidlyChangingMotionState: t,
               dhParameters: r,
               children: /* @__PURE__ */ e.jsx(
-                ge,
+                me,
                 {
                   modelURL: (() => {
-                    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));
+                    const d = a(s, h);
+                    if (!d) {
+                      const x = new Blob([], { type: "model/gltf-binary" }), p = new File([x], `${s}.glb`, { type: "model/gltf-binary" });
+                      return Promise.resolve(URL.createObjectURL(p));
                     }
-                    return c;
+                    return d;
                   })(),
-                  postModelRender: f,
-                  flangeRef: s,
-                  ...d
+                  postModelRender: u,
+                  flangeRef: i,
+                  ...n
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ e.jsx(ye, {})
+          /* @__PURE__ */ e.jsx(fe, {})
         ]
       }
     );
@@ -1260,41 +1222,41 @@ const _e = U(
 );
 function dt({
   connectedMotionGroup: t,
-  getModel: n = E,
+  getModel: s = C,
   flangeRef: r,
-  transparentColor: l,
-  postModelRender: s,
-  ...f
+  transparentColor: a,
+  postModelRender: i,
+  ...u
 }) {
   if (!t.dhParameters)
     return null;
-  const u = t.modelFromController || "";
-  return u && n(u) ? /* @__PURE__ */ e.jsx(
-    _e,
+  const c = t.modelFromController || "";
+  return c && s(c) ? /* @__PURE__ */ e.jsx(
+    be,
     {
       rapidlyChangingMotionState: t.rapidlyChangingMotionState,
-      modelFromController: u,
+      modelFromController: c,
       dhParameters: t.dhParameters,
-      getModel: n,
+      getModel: s,
       flangeRef: r,
-      transparentColor: l,
-      postModelRender: s,
-      ...f
+      transparentColor: a,
+      postModelRender: i,
+      ...u
     }
   ) : /* @__PURE__ */ e.jsx(
-    ve,
+    we,
     {
       rapidlyChangingMotionState: t.rapidlyChangingMotionState,
       dhParameters: t.dhParameters,
-      ...f
+      ...u
     }
   );
 }
-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],
-  [T.Kuka]: [
+const re = {
+  [v.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
+  [v.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [v.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [v.Kuka]: [
     0,
     -Math.PI / 2,
     Math.PI / 2,
@@ -1303,7 +1265,7 @@ const ie = {
     0,
     0
   ],
-  [T.Universalrobots]: [
+  [v.Universalrobots]: [
     0,
     -Math.PI / 2,
     -Math.PI / 2,
@@ -1313,54 +1275,54 @@ const ie = {
     0
   ]
 };
-function Xe(t) {
-  const [n] = t.split("_");
-  switch (n) {
+function Ye(t) {
+  const [s] = t.split("_");
+  switch (s) {
     case "ABB":
-      return T.Abb;
+      return v.Abb;
     case "FANUC":
-      return T.Fanuc;
+      return v.Fanuc;
     case "YASKAWA":
-      return T.Yaskawa;
+      return v.Yaskawa;
     case "KUKA":
-      return T.Kuka;
+      return v.Kuka;
     case "UniversalRobots":
-      return T.Universalrobots;
+      return v.Universalrobots;
     default:
       return null;
   }
 }
-function ft(t, n) {
-  const r = Xe(t);
-  return r && r in ie ? ie[r] : n || null;
+function pt(t, s) {
+  const r = Ye(t);
+  return r && r in re ? re[r] : s || null;
 }
 const ht = U((t) => {
   const {
-    inverseSolver: n,
+    inverseSolver: s,
     dhParameters: r,
-    ...l
-  } = t, [s, f] = A(O.RevoluteJoint);
+    ...a
+  } = t, [i, u] = G(O.RevoluteJoint);
   M(() => {
-    r.length && f(r[0].type ?? O.RevoluteJoint);
+    r.length && u(r[0].type ?? O.RevoluteJoint);
   }, [r]);
-  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, {});
+  const c = V(() => s === null && i === O.RevoluteJoint, [s, i]), h = V(() => s === null && i === O.PrismaticJoint, [s, i]);
+  return V(() => !!s, [s]) || c ? /* @__PURE__ */ e.jsx(ge, { dhParameters: r, ...a }) : h ? /* @__PURE__ */ e.jsx(be, { dhParameters: r, ...a }) : /* @__PURE__ */ e.jsx(e.Fragment, {});
 });
 export {
-  at as C,
+  it as C,
   dt as L,
-  ie as M,
-  oe as P,
-  Ye as R,
-  lt as S,
-  ct as T,
+  re as M,
+  te as P,
+  qe as R,
+  at as S,
+  lt as T,
   ht as a,
-  ut as b,
-  _e as c,
-  be as d,
-  pt as e,
-  E as f,
-  Xe as g,
-  ft as h
+  ct as b,
+  be as c,
+  ge as d,
+  ut as e,
+  C as f,
+  Ye as g,
+  pt as h
 };
-//# sourceMappingURL=MotionGroupVisualizer-7Mw9PINy.js.map
+//# sourceMappingURL=MotionGroupVisualizer--j-KhrNT.js.map