@wandelbots/wandelbots-js-react-components 4.7.1 → 4.7.2

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

@@ -1,20 +1,24 @@
-import { useEffect, useMemo } from "react"
 import { type ThreeElements } from "@react-three/fiber"
+import { useEffect, useMemo } from "react"
 import * as THREE from "three"
 import { ConvexGeometry, RoundedBoxGeometry } from "three-stdlib"
 
+import type { Geometry, SafetySetupSafetyZone } from "@wandelbots/nova-js/v1"
 import type {
+  Capsule,
   Collider,
   ConvexHull,
   DHParameter,
   MotionGroupDescription,
-  Sphere,
-  Capsule,
   RectangularCapsule,
+  Sphere,
 } from "@wandelbots/nova-js/v2"
-import type { Geometry, SafetySetupSafetyZone } from "@wandelbots/nova-js/v1"
 
-import { dhParametersToPlaneSize, orientationToQuaternion, verticesToCoplanarity } from "../utils/converters"
+import {
+  dhParametersToPlaneSize,
+  orientationToQuaternion,
+  verticesToCoplanarity,
+} from "../utils/converters"
 
 export type SafetyZonesRendererProps = {
   safetyZones: SafetySetupSafetyZone[] | MotionGroupDescription["safety_zones"]
@@ -50,7 +54,9 @@ export function SafetyZonesRenderer({
    */
   useEffect(() => {
     Array.isArray(safetyZones) &&
-    console.warn("SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.")
+    console.warn(
+      "SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.",
+    )
   }, [safetyZones])
 
   /**
@@ -63,14 +69,23 @@ export function SafetyZonesRenderer({
       return null
     }
 
-    const position = new THREE.Vector3(zone.pose.position[0] / 1000, zone.pose.position[1] / 1000, zone.pose.position[2] / 1000)
-    const orientation = new THREE.Vector3(zone.pose.orientation[0], zone.pose.orientation[1], zone.pose.orientation[2])
+    const position = new THREE.Vector3(
+      zone.pose.position[0] / 1000,
+      zone.pose.position[1] / 1000,
+      zone.pose.position[2] / 1000,
+    )
+    const orientation = new THREE.Vector3(
+      zone.pose.orientation[0],
+      zone.pose.orientation[1],
+      zone.pose.orientation[2],
+    )
 
     let geometry: React.ReactElement | null
 
-    const materialProps = zone.shape.shape_type === "plane"
-      ? { ...safetyZoneMaterialProps, side: THREE.DoubleSide }
-      : { ...safetyZoneMaterialProps, side: THREE.FrontSide }
+    const materialProps =
+      zone.shape.shape_type === "plane"
+        ? { ...safetyZoneMaterialProps, side: THREE.DoubleSide }
+        : { ...safetyZoneMaterialProps, side: THREE.FrontSide }
 
     switch (zone.shape.shape_type) {
       /**
@@ -118,7 +133,12 @@ export function SafetyZonesRenderer({
           vertices.push(newVertex)
         }
         try {
-          geometry = <primitive object={new ConvexGeometry(vertices)} attach="geometry" />
+          geometry = (
+            <primitive
+              object={new ConvexGeometry(vertices)}
+              attach="geometry"
+            />
+          )
         } catch (error) {
           console.log("Error creating ConvexGeometry:", error)
           return null
@@ -134,18 +154,26 @@ export function SafetyZonesRenderer({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        const shape = (zone.shape as RectangularCapsule)
+        const shape = zone.shape as RectangularCapsule
         const rcRadius = shape.radius / 1000
         const width = shape.sphere_center_distance_x / 1000
         const height = shape.sphere_center_distance_y / 1000
         const depth = rcRadius * 2
 
-        geometry = <primitive object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)} attach="geometry" />
+        geometry = (
+          <primitive
+            object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)}
+            attach="geometry"
+          />
+        )
         break
       }
 
       default: {
-        console.warn("Unsupported safety zone shape type:", zone.shape.shape_type)
+        console.warn(
+          "Unsupported safety zone shape type:",
+          zone.shape.shape_type,
+        )
         geometry = null
       }
     }
@@ -158,10 +186,7 @@ export function SafetyZonesRenderer({
         quaternion={orientationToQuaternion(orientation)}
       >
         {geometry}
-        <meshStandardMaterial
-          {...materialProps}
-          polygonOffsetFactor={-id}
-        />
+        <meshStandardMaterial {...materialProps} polygonOffsetFactor={-id} />
       </mesh>
     )
   }
@@ -170,9 +195,11 @@ export function SafetyZonesRenderer({
    * Helper function to render V2 safety zones
    */
   const renderV2SafetyZones = () => {
-    return Object.values(safetyZones ?? {}).map((zone: Collider, index: number) => {
-      return renderMesh(index, zone)
-    })
+    return Object.values(safetyZones ?? {}).map(
+      (zone: Collider, index: number) => {
+        return renderMesh(index, zone)
+      },
+    )
   }
 
   /**
@@ -182,62 +209,83 @@ export function SafetyZonesRenderer({
    */
   const renderV1SafetyZones = () => {
     if (Array.isArray(safetyZones)) {
-      return (safetyZones as SafetySetupSafetyZone[]).map((zone: SafetySetupSafetyZone, index) => {
-        let geometries: Geometry[] = []
-        if (zone.geometry) {
-          if (zone.geometry.compound) {
-            geometries = zone.geometry.compound.child_geometries
-          } else if (zone.geometry.convex_hull) {
-            geometries = [zone.geometry]
+      return (safetyZones as SafetySetupSafetyZone[]).map(
+        (zone: SafetySetupSafetyZone, index) => {
+          let geometries: Geometry[] = []
+          if (zone.geometry) {
+            if (zone.geometry.compound) {
+              geometries = zone.geometry.compound.child_geometries
+            } else if (zone.geometry.convex_hull) {
+              geometries = [zone.geometry]
+            }
           }
-        }
 
-        return geometries.map((geometry, i) => {
-          if (!geometry.convex_hull) return null
+          return geometries.map((geometry, i) => {
+            if (!geometry.convex_hull) return null
 
-          const vertices = geometry.convex_hull.vertices.map(
-            (v) => new THREE.Vector3(v.x / 1000, v.y / 1000, v.z / 1000),
-          )
+            const vertices = geometry.convex_hull.vertices.map(
+              (v) => new THREE.Vector3(v.x / 1000, v.y / 1000, v.z / 1000),
+            )
 
-          // Check if the vertices are on the same plane and only define a plane
-          // Algorithm has troubles with vertices that are on the same plane so we
-          // add a new vertex slightly moved along the normal direction
-          const coplanarityResult = verticesToCoplanarity(vertices)
+            // Check if the vertices are on the same plane and only define a plane
+            // Algorithm has troubles with vertices that are on the same plane so we
+            // add a new vertex slightly moved along the normal direction
+            const coplanarityResult = verticesToCoplanarity(vertices)
 
-          if (coplanarityResult.isCoplanar && coplanarityResult.normal) {
-            // Add a new vertex slightly moved along the normal direction
-            const offset = 0.0001
-            const newVertex = new THREE.Vector3().addVectors(
-              vertices[0],
-              coplanarityResult.normal.multiplyScalar(offset),
-            )
-            vertices.push(newVertex)
-          }
+            if (coplanarityResult.isCoplanar && coplanarityResult.normal) {
+              // Add a new vertex slightly moved along the normal direction
+              const offset = 0.0001
+              const newVertex = new THREE.Vector3().addVectors(
+                vertices[0],
+                coplanarityResult.normal.multiplyScalar(offset),
+              )
+              vertices.push(newVertex)
+            }
 
-          let convexGeometry
-          try {
-            convexGeometry = new ConvexGeometry(vertices)
-          } catch (error) {
-            console.log("Error creating ConvexGeometry:", error)
-            return null
-          }
-          return (
-            <mesh key={`${index}-${i}`} geometry={convexGeometry}>
-              <meshStandardMaterial
-                key={index}
-                attach="material"
-                color="#009f4d"
-                opacity={0.2}
-                depthTest={false}
-                depthWrite={false}
-                transparent
-                polygonOffset
-                polygonOffsetFactor={-i}
-              />
-            </mesh>
-          )
-        })
-      })
+            let convexGeometry
+            try {
+              convexGeometry = new ConvexGeometry(vertices)
+            } catch (error) {
+              console.log("Error creating ConvexGeometry:", error)
+              return null
+            }
+
+            return (
+              <mesh
+                key={`${index}-${i}`}
+                position={
+                  new THREE.Vector3(
+                    geometry.init_pose.position!.x!,
+                    geometry.init_pose.position!.y!,
+                    geometry.init_pose.position!.z!,
+                  )
+                }
+                quaternion={
+                  new THREE.Quaternion(
+                    geometry.init_pose.orientation!.x!,
+                    geometry.init_pose.orientation!.y!,
+                    geometry.init_pose.orientation!.z!,
+                    geometry.init_pose.orientation!.w!,
+                  )
+                }
+                geometry={convexGeometry}
+              >
+                <meshStandardMaterial
+                  key={index}
+                  attach="material"
+                  color="#009f4d"
+                  opacity={0.2}
+                  depthTest={false}
+                  depthWrite={false}
+                  transparent
+                  polygonOffset
+                  polygonOffsetFactor={-i}
+                />
+              </mesh>
+            )
+          })
+        },
+      )
     }
     return null
   }
@@ -251,9 +299,5 @@ export function SafetyZonesRenderer({
       : renderV2SafetyZones()
   }, [safetyZones, renderV1SafetyZones, renderV2SafetyZones])
 
-  return (
-    <group {...props}>
-      {renderedSafetyZones}
-    </group>
-  )
-}
+  return <group {...props}>{renderedSafetyZones}</group>
+}

package/dist/MotionGroupVisualizer-7Mw9PINy.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"MotionGroupVisualizer-7Mw9PINy.js","sources":["../src/components/3d-viewport/collider/colliderShapeToBufferGeometry.ts","../src/components/3d-viewport/collider/ColliderElement.tsx","../src/components/3d-viewport/collider/ColliderCollection.tsx","../src/components/3d-viewport/collider/CollisionSceneRenderer.tsx","../src/components/3d-viewport/PresetEnvironment.tsx","../src/components/3d-viewport/SafetyZonesRenderer.tsx","../src/components/3d-viewport/TrajectoryRenderer.tsx","../src/components/robots/robotModelLogic.ts","../src/components/robots/RobotAnimator.tsx","../src/components/robots/DHRobot.tsx","../src/components/ConsoleFilter.tsx","../src/components/robots/GenericRobot.tsx","../src/components/robots/ghostStyle.ts","../src/components/robots/SupportedRobot.tsx","../src/components/robots/Robot.tsx","../src/components/RobotCard.tsx","../src/components/robots/AxisConfig.ts","../src/components/robots/LinearAxisAnimator.tsx","../src/components/robots/DHLinearAxis.tsx","../src/components/robots/SupportedLinearAxis.tsx","../src/components/robots/LinearAxis.tsx","../src/components/robots/manufacturerHomePositions.ts","../src/components/robots/MotionGroupVisualizer.tsx"],"sourcesContent":["import type { ColliderShape } from \"@wandelbots/nova-js/v1\"\nimport * as THREE from \"three\"\nimport { ConvexGeometry } from \"three-stdlib\"\n\nexport function colliderShapeToBufferGeometry(\n  shape: ColliderShape,\n): THREE.BufferGeometry {\n  const shapeType = shape.shape_type\n  switch (shapeType) {\n    case \"convex_hull\":\n      return new ConvexGeometry(\n        shape.vertices.map(\n          (vertex) =>\n            new THREE.Vector3(\n              vertex[0] / 1000,\n              vertex[1] / 1000,\n              vertex[2] / 1000,\n            ),\n        ),\n      )\n    case \"box\":\n      return new THREE.BoxGeometry(\n        shape.size_x / 1000,\n        shape.size_y / 1000,\n        shape.size_z / 1000,\n      )\n    case \"sphere\":\n      return new THREE.SphereGeometry(shape.radius / 1000)\n    case \"capsule\":\n      return new THREE.CapsuleGeometry(\n        shape.radius / 1000,\n        shape.cylinder_height / 1000,\n      )\n    case \"cylinder\":\n      return new THREE.CylinderGeometry(\n        shape.radius / 1000,\n        shape.radius / 1000,\n        shape.height / 1000,\n      )\n    case \"rectangle\": {\n      return new THREE.BoxGeometry(shape.size_x / 1000, shape.size_y / 1000, 0)\n    }\n    default: {\n      console.warn(`${shape.shape_type} is not supported`)\n      return new THREE.BufferGeometry()\n    }\n  }\n}\n","import type { Collider } from \"@wandelbots/nova-js/v1\"\nimport type React from \"react\"\nimport * as THREE from \"three\"\nimport { colliderShapeToBufferGeometry } from \"./colliderShapeToBufferGeometry\"\n\ntype ColliderElementProps = {\n  name?: string\n  collider: Collider\n  children?: React.ReactNode\n}\n\nexport default function ColliderElement({\n  name,\n  collider,\n  children,\n}: ColliderElementProps) {\n  const position = collider.pose?.position ?? [0, 0, 0]\n  const rotation = collider.pose?.orientation ?? [0, 0, 0]\n  if (collider.margin) {\n    console.warn(`${name} margin is not supported`)\n  }\n  return (\n    <mesh\n      name={name}\n      position={new THREE.Vector3(\n        position[0],\n        position[1],\n        position[2],\n      ).divideScalar(1000)}\n      rotation={new THREE.Euler(rotation[0], rotation[1], rotation[2], \"XYZ\")}\n      geometry={colliderShapeToBufferGeometry(collider.shape)}\n    >\n      {children}\n    </mesh>\n  )\n}\n","import type { ThreeElements } from \"@react-three/fiber\"\nimport type { Collider } from \"@wandelbots/nova-js/v1\"\nimport ColliderElement from \"./ColliderElement\"\n\nexport type MeshChildrenProvider = (\n  key: string,\n  collider: Collider,\n) => React.ReactNode\n\ntype ColliderCollectionProps = {\n  name?: string\n  colliders: Record<string, Collider>\n  meshChildrenProvider: MeshChildrenProvider\n} & ThreeElements[\"group\"]\n\nexport default function ColliderCollection({\n  name,\n  colliders,\n  meshChildrenProvider,\n  ...props\n}: ColliderCollectionProps) {\n  return (\n    <group name={name} {...props}>\n      {Object.entries(colliders).map(([colliderKey, collider]) => (\n        <ColliderElement\n          key={colliderKey}\n          name={colliderKey}\n          collider={collider}\n          children={meshChildrenProvider(colliderKey, collider)}\n        />\n      ))}\n    </group>\n  )\n}\n","import type { CollisionScene } from \"@wandelbots/nova-js/v1\"\nimport ColliderCollection, {\n  type MeshChildrenProvider,\n} from \"./ColliderCollection\"\n\ntype CollisionSceneRendererProps = {\n  scene: CollisionScene\n  meshChildrenProvider: MeshChildrenProvider\n}\n\nexport default function CollisionSceneRenderer({\n  scene,\n  meshChildrenProvider,\n}: CollisionSceneRendererProps) {\n  const colliders = scene.colliders\n  return (\n    <group>\n      {colliders && (\n        <ColliderCollection\n          meshChildrenProvider={meshChildrenProvider}\n          colliders={colliders}\n        />\n      )}\n    </group>\n  )\n}\n","import { Environment, Lightformer } from \"@react-three/drei\"\n\n/**\n * Renders a preset environment for the 3D scene.\n * This component wraps the scene with an `Environment` component\n * and builds a lightmap build with `Lightformers`.\n */\nexport function PresetEnvironment() {\n  return (\n    <Environment>\n      <Lightformers />\n    </Environment>\n  )\n}\n\nfunction Lightformers({ positions = [2, 0, 2, 0, 2, 0, 2, 0] }) {\n  return (\n    <>\n      {/* Ceiling */}\n      <Lightformer\n        intensity={5}\n        rotation-x={Math.PI / 2}\n        position={[0, 5, -9]}\n        scale={[10, 10, 1]}\n      />\n      <group rotation={[0, 0.5, 0]}>\n        <group>\n          {positions.map((x, i) => (\n            <Lightformer\n              key={i}\n              form=\"circle\"\n              intensity={5}\n              rotation={[Math.PI / 2, 0, 0]}\n              position={[x, 4, i * 4]}\n              scale={[3, 1, 1]}\n            />\n          ))}\n        </group>\n      </group>\n      {/* Sides */}\n      <Lightformer\n        intensity={40}\n        rotation-y={Math.PI / 2}\n        position={[-5, 1, -1]}\n        scale={[20, 0.1, 1]}\n      />\n      <Lightformer\n        intensity={20}\n        rotation-y={-Math.PI}\n        position={[-5, -2, -1]}\n        scale={[20, 0.1, 1]}\n      />\n\n      <Lightformer\n        rotation-y={Math.PI / 2}\n        position={[-5, -1, -1]}\n        scale={[20, 0.5, 1]}\n        intensity={5}\n      />\n      <Lightformer\n        rotation-y={-Math.PI / 2}\n        position={[10, 1, 0]}\n        scale={[20, 1, 1]}\n        intensity={10}\n      />\n\n      {/* Key */}\n      <Lightformer\n        form=\"ring\"\n        color=\"white\"\n        intensity={5}\n        scale={10}\n        position={[-15, 4, -18]}\n        target={[0, 0, 0]}\n      />\n    </>\n  )\n}\n","import { useEffect, useMemo } from \"react\"\nimport { type ThreeElements } from \"@react-three/fiber\"\nimport * as THREE from \"three\"\nimport { ConvexGeometry, RoundedBoxGeometry } from \"three-stdlib\"\n\nimport type {\n  Collider,\n  ConvexHull,\n  DHParameter,\n  MotionGroupDescription,\n  Sphere,\n  Capsule,\n  RectangularCapsule,\n} from \"@wandelbots/nova-js/v2\"\nimport type { Geometry, SafetySetupSafetyZone } from \"@wandelbots/nova-js/v1\"\n\nimport { dhParametersToPlaneSize, orientationToQuaternion, verticesToCoplanarity } from \"../utils/converters\"\n\nexport type SafetyZonesRendererProps = {\n  safetyZones: SafetySetupSafetyZone[] | MotionGroupDescription[\"safety_zones\"]\n  dhParameters?: DHParameter[]\n} & ThreeElements[\"group\"]\n\nexport function SafetyZonesRenderer({\n                                      safetyZones,\n                                      dhParameters,\n                                      ...props\n                                    }: SafetyZonesRendererProps) {\n  /**\n   * Common material properties for safety zone meshes\n   */\n  const safetyZoneMaterialProps = {\n    attach: \"material\" as const,\n    color: \"#009f4d\",\n    opacity: 0.2,\n    depthTest: false,\n    depthWrite: false,\n    transparent: true,\n    polygonOffset: true,\n  }\n\n  /**\n   * Plane size for the plane safety zones, returns the reach distance\n   * of the robot\n   */\n  const planeSize = dhParametersToPlaneSize(dhParameters ?? [])\n\n  /**\n   * Warning during runtime stating the deprecation of the V1 safety zones\n   */\n  useEffect(() => {\n    Array.isArray(safetyZones) &&\n    console.warn(\"SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.\")\n  }, [safetyZones])\n\n  /**\n   * Helper function to render plane, sphere, and capsule meshes\n   * @param id number\n   * @param zone Collider\n   */\n  const renderMesh = (id: number, zone: Collider) => {\n    if (!zone?.pose?.position || !zone?.pose?.orientation) {\n      return null\n    }\n\n    const position = new THREE.Vector3(zone.pose.position[0] / 1000, zone.pose.position[1] / 1000, zone.pose.position[2] / 1000)\n    const orientation = new THREE.Vector3(zone.pose.orientation[0], zone.pose.orientation[1], zone.pose.orientation[2])\n\n    let geometry: React.ReactElement | null\n\n    const materialProps = zone.shape.shape_type === \"plane\"\n      ? { ...safetyZoneMaterialProps, side: THREE.DoubleSide }\n      : { ...safetyZoneMaterialProps, side: THREE.FrontSide }\n\n    switch (zone.shape.shape_type) {\n      /**\n       * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)\n       */\n      case \"plane\":\n        geometry = <planeGeometry args={[planeSize, planeSize]} />\n        break\n\n      /**\n       * Sphere shape\n       */\n      case \"sphere\": {\n        const radius = (zone?.shape as Sphere).radius / 1000\n        geometry = <sphereGeometry args={[radius]} />\n        break\n      }\n\n      /**\n       * Capsule shape\n       */\n      case \"capsule\": {\n        const capsuleRadius = (zone?.shape as Capsule).radius / 1000\n        const height = (zone?.shape as Capsule).cylinder_height / 1000\n        geometry = <capsuleGeometry args={[capsuleRadius, height]} />\n        break\n      }\n\n      /**\n       * Convex hull, checks at first if the vertices are coplanar - if yes, adds a small offset for\n       * renderer to be able to visualize the convex hull.\n       */\n      case \"convex_hull\": {\n        const vertices = (zone?.shape as ConvexHull).vertices.map(\n          (v) => new THREE.Vector3(v[0] / 1000, v[1] / 1000, v[2] / 1000),\n        )\n        // Check if the vertices are on the same plane\n        const coplanarityResult = verticesToCoplanarity(vertices)\n        if (coplanarityResult.isCoplanar && coplanarityResult.normal) {\n          const offset = 0.0001\n          const newVertex = new THREE.Vector3().addVectors(\n            vertices[0],\n            coplanarityResult.normal.multiplyScalar(offset),\n          )\n          vertices.push(newVertex)\n        }\n        try {\n          geometry = <primitive object={new ConvexGeometry(vertices)} attach=\"geometry\" />\n        } catch (error) {\n          console.log(\"Error creating ConvexGeometry:\", error)\n          return null\n        }\n        break\n      }\n\n      /**\n       * Convex hull around four spheres. Sphere center points in x/y-plane,\n       * offset by either combination \"+/- sizeX\" or \"+/- sizeY\".\n       * Alternative description: Rectangle in x/y-plane with a 3D padding (source: nova-api docs)\n       *\n       * Basically a rounded box with a rectangular cross-section.\n       */\n      case \"rectangular_capsule\": {\n        const shape = (zone.shape as RectangularCapsule)\n        const rcRadius = shape.radius / 1000\n        const width = shape.sphere_center_distance_x / 1000\n        const height = shape.sphere_center_distance_y / 1000\n        const depth = rcRadius * 2\n\n        geometry = <primitive object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)} attach=\"geometry\" />\n        break\n      }\n\n      default: {\n        console.warn(\"Unsupported safety zone shape type:\", zone.shape.shape_type)\n        geometry = null\n      }\n    }\n\n    return (\n      <mesh\n        key={`safety-zone-${zone.shape.shape_type}-${id}`}\n        renderOrder={id}\n        position={position}\n        quaternion={orientationToQuaternion(orientation)}\n      >\n        {geometry}\n        <meshStandardMaterial\n          {...materialProps}\n          polygonOffsetFactor={-id}\n        />\n      </mesh>\n    )\n  }\n\n  /**\n   * Helper function to render V2 safety zones\n   */\n  const renderV2SafetyZones = () => {\n    return Object.values(safetyZones ?? {}).map((zone: Collider, index: number) => {\n      return renderMesh(index, zone)\n    })\n  }\n\n  /**\n   * Helper function to V1 safety zones\n   * @deprecated this render function is to be seen as a temporary measure, as the support\n   * for the V1 safety zones is to be removed in the future\n   */\n  const renderV1SafetyZones = () => {\n    if (Array.isArray(safetyZones)) {\n      return (safetyZones as SafetySetupSafetyZone[]).map((zone: SafetySetupSafetyZone, index) => {\n        let geometries: Geometry[] = []\n        if (zone.geometry) {\n          if (zone.geometry.compound) {\n            geometries = zone.geometry.compound.child_geometries\n          } else if (zone.geometry.convex_hull) {\n            geometries = [zone.geometry]\n          }\n        }\n\n        return geometries.map((geometry, i) => {\n          if (!geometry.convex_hull) return null\n\n          const vertices = geometry.convex_hull.vertices.map(\n            (v) => new THREE.Vector3(v.x / 1000, v.y / 1000, v.z / 1000),\n          )\n\n          // Check if the vertices are on the same plane and only define a plane\n          // Algorithm has troubles with vertices that are on the same plane so we\n          // add a new vertex slightly moved along the normal direction\n          const coplanarityResult = verticesToCoplanarity(vertices)\n\n          if (coplanarityResult.isCoplanar && coplanarityResult.normal) {\n            // Add a new vertex slightly moved along the normal direction\n            const offset = 0.0001\n            const newVertex = new THREE.Vector3().addVectors(\n              vertices[0],\n              coplanarityResult.normal.multiplyScalar(offset),\n            )\n            vertices.push(newVertex)\n          }\n\n          let convexGeometry\n          try {\n            convexGeometry = new ConvexGeometry(vertices)\n          } catch (error) {\n            console.log(\"Error creating ConvexGeometry:\", error)\n            return null\n          }\n          return (\n            <mesh key={`${index}-${i}`} geometry={convexGeometry}>\n              <meshStandardMaterial\n                key={index}\n                attach=\"material\"\n                color=\"#009f4d\"\n                opacity={0.2}\n                depthTest={false}\n                depthWrite={false}\n                transparent\n                polygonOffset\n                polygonOffsetFactor={-i}\n              />\n            </mesh>\n          )\n        })\n      })\n    }\n    return null\n  }\n\n  /**\n   * Helper variable to render both api versions of safety zones\n   */\n  const renderedSafetyZones = useMemo(() => {\n    return Array.isArray(safetyZones)\n      ? renderV1SafetyZones()\n      : renderV2SafetyZones()\n  }, [safetyZones, renderV1SafetyZones, renderV2SafetyZones])\n\n  return (\n    <group {...props}>\n      {renderedSafetyZones}\n    </group>\n  )\n}\n","import { Line } from \"@react-three/drei\"\nimport type { GetTrajectoryResponse } from \"@wandelbots/nova-js/v1\"\nimport * as THREE from \"three\"\n\nexport type TrajectoryRendererProps = {\n  trajectory: GetTrajectoryResponse\n} & React.JSX.IntrinsicElements[\"group\"]\n\nexport function TrajectoryRenderer({\n  trajectory,\n  ...props\n}: TrajectoryRendererProps) {\n  const points =\n    trajectory.trajectory\n      ?.map((point) => {\n        if (point.tcp_pose) {\n          return new THREE.Vector3(\n            point.tcp_pose.position.x / 1000,\n            point.tcp_pose.position.z / 1000,\n            -point.tcp_pose.position.y / 1000,\n          )\n        }\n        return null\n      })\n      .filter((point): point is THREE.Vector3 => point !== null) || []\n\n  return (\n    <group {...props}>\n      {points.length > 0 && (\n        <Line\n          points={points}\n          lineWidth={3}\n          polygonOffset={true}\n          polygonOffsetFactor={10}\n          polygonOffsetUnits={10}\n        />\n      )}\n    </group>\n  )\n}\n","import { NovaClient } from \"@wandelbots/nova-js/v2\"\nimport type { Object3D } from \"three\"\nimport type { GLTF } from \"three-stdlib\"\n\nconst modelCache = new Map<string, Promise<string>>()\n\n/**\n * Revoke a cached model's object URL to prevent memory leaks.\n * Call this when a component unmounts or no longer needs the model.\n */\nexport async function revokeModelUrl(modelFromController: string): Promise<void> {\n  const urlPromise = modelCache.get(modelFromController)\n  if (!urlPromise) return\n\n  try {\n    const url = await urlPromise\n    URL.revokeObjectURL(url)\n  } catch (e) {\n    // Ignore errors - URL may already be revoked\n  }\n  modelCache.delete(modelFromController)\n}\n\n/**\n * Revoke all cached model object URLs and clear the cache.\n * Useful for cleanup on app teardown.\n */\nexport async function revokeAllModelUrls(): Promise<void> {\n  const entries = Array.from(modelCache.entries())\n  await Promise.allSettled(\n    entries.map(async ([key, urlPromise]) => {\n      try {\n        const url = await urlPromise\n        URL.revokeObjectURL(url)\n      } catch (e) {\n        // Ignore errors\n      }\n    })\n  )\n  modelCache.clear()\n}\n\nexport async function defaultGetModel(modelFromController: string, instanceUrlProp?: string): Promise<string> {\n  // Check cache first\n  if (modelCache.has(modelFromController)) {\n    return modelCache.get(modelFromController)!\n  }\n  \n  // Create the promise and cache it immediately to prevent duplicate calls\n  const modelPromise = (async () => {\n    const instanceUrl = instanceUrlProp || import.meta.env.WANDELAPI_BASE_URL\n    const nova = new NovaClient({ instanceUrl })\n    \n    // Configure axios to handle binary responses for GLB files\n    const apiInstance = nova.api.motionGroupModels as any\n    if (apiInstance.axios?.interceptors) {\n      apiInstance.axios.interceptors.request.use((config: any) => {\n        if (config.url?.includes('/glb')) {\n          config.responseType = 'blob'\n        }\n        return config\n      })\n    }\n    \n    try {\n      const file = await nova.api.motionGroupModels.getMotionGroupGlbModel(modelFromController)\n      \n      // Create object URL from the file and return it\n      const url = URL.createObjectURL(file)\n      return url\n    } catch (error) {\n      console.error(\"Failed to fetch model:\", error)\n      throw error\n    }\n  })()\n  \n  // Cache the promise\n  modelCache.set(modelFromController, modelPromise)\n  return modelPromise\n}\n\n/**\n * Finds all the joint groups in a GLTF tree, as identified\n * by the _Jxx name ending convention.\n */\nexport function collectJoints(rootObject: Object3D): Object3D[] {\n  function getAllObjects(root: Object3D): Object3D[] {\n    if (root.children.length === 0) {\n      return [root]\n    }\n    return [root, ...root.children.flatMap((child) => getAllObjects(child))]\n  }\n\n  return getAllObjects(rootObject).filter((o) => isJoint(o))\n}\n\n/**\n * Checks if a specified threejs object represents the flange of a\n * robot, based on the _FLG name ending convention.\n */\nexport function isFlange(node: Object3D) {\n  return node.name.endsWith(\"_FLG\")\n}\n\n/**\n * Checks if a specified threejs object represents a joint of a\n * robot, based on the _Jxx name ending convention.\n */\nexport function isJoint(node: Object3D) {\n  return /_J[0-9]+$/.test(node.name)\n}\n\n/**\n * Validates that the loaded GLTF file has six joints and a flange group.\n */\nexport function parseRobotModel(gltf: GLTF, filename: string): { gltf: GLTF } {\n  let flange: Object3D | undefined\n  const joints: Object3D[] = []\n\n  function parseNode(node: Object3D) {\n    if (isFlange(node)) {\n      if (flange) {\n        throw Error(\n          `Found multiple flange groups in robot model ${filename}; first ${flange.name} then ${node.name}. Only one _FLG group is allowed.`,\n        )\n      }\n\n      flange = node\n    }\n\n    if (isJoint(node)) {\n      joints.push(node)\n    }\n\n    node.children.map(parseNode)\n  }\n\n  parseNode(gltf.scene)\n\n  if (!flange) {\n    throw Error(\n      `No flange group found in robot model ${filename}. Flange must be identified with a name ending in _FLG.`,\n    )\n  }\n\n  return { gltf }\n}\n","import { useFrame, useThree } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport React, { useEffect, useRef, useCallback } from \"react\"\nimport type { Group, Object3D } from \"three\"\nimport { useAutorun } from \"../utils/hooks\"\nimport { ValueInterpolator } from \"../utils/interpolation\"\nimport { collectJoints } from \"./robotModelLogic\"\n\ntype RobotAnimatorProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: DHParameter[]\n  onRotationChanged?: (joints: Object3D[], jointValues: number[]) => void\n  children: React.ReactNode\n}\n\nexport default function RobotAnimator({\n  rapidlyChangingMotionState,\n  dhParameters,\n  onRotationChanged,\n  children,\n}: RobotAnimatorProps) {\n  const jointValues = useRef<number[]>([])\n  const jointObjects = useRef<Object3D[]>([])\n  const interpolatorRef = useRef<ValueInterpolator | null>(null)\n  const { invalidate } = useThree()\n\n  // Initialize interpolator\n  useEffect(() => {\n    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    interpolatorRef.current = new ValueInterpolator(initialJointValues, {\n      tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion\n      friction: 20, // Controls damping - higher values reduce oscillation and create smoother settling\n      threshold: 0.001,\n    })\n\n    return () => {\n      interpolatorRef.current?.destroy()\n    }\n  }, [])\n\n  // Animation loop that runs at the display's refresh rate\n  useFrame((state, delta) => {\n    if (interpolatorRef.current) {\n      const isComplete = interpolatorRef.current.update(delta)\n      setRotation()\n\n      // Trigger a re-render only if the animation is still running\n      if (!isComplete) {\n        invalidate()\n      }\n    }\n  })\n\n  function setGroupRef(group: Group | null) {\n    if (!group) return\n\n    jointObjects.current = collectJoints(group)\n\n    // Set initial position\n    setRotation()\n    invalidate()\n  }\n\n  function setRotation() {\n    const updatedJointValues = interpolatorRef.current?.getCurrentValues() || []\n\n    if (onRotationChanged) {\n      onRotationChanged(jointObjects.current, updatedJointValues)\n    } else {\n      for (const [index, object] of jointObjects.current.entries()) {\n        const dhParam = dhParameters[index]\n        const rotationOffset = dhParam.theta || 0\n        const rotationSign = dhParam.reverse_rotation_direction ? -1 : 1\n\n        object.rotation.y =\n          rotationSign * (updatedJointValues[index] || 0) + rotationOffset\n      }\n    }\n  }\n\n  const updateJoints = useCallback(() => {\n    const newJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    requestAnimationFrame(() => {\n      jointValues.current = newJointValues\n      interpolatorRef.current?.setTarget(newJointValues)\n    })\n  }, [rapidlyChangingMotionState])\n\n  /**\n   * Fire an update joints call on every motion state change.\n   * requestAnimationFrame used to avoid blocking main thread\n   */\n  useEffect(() => {\n    updateJoints()\n  }, [rapidlyChangingMotionState, updateJoints])\n\n  /**\n   * As some consumer applications (eg. storybook) deliver\n   * mobx observable for rapidlyChangingMotionState, we need to\n   * register the watcher to get the newest value updates\n   */\n  useAutorun(() => {\n    updateJoints()\n  })\n\n  return <group ref={setGroupRef}>{children}</group>\n}\n","import { Line } from \"@react-three/drei\"\nimport type { DHParameter } from \"@wandelbots/nova-js/v2\"\nimport React, { useRef } from \"react\"\nimport type * as THREE from \"three\"\nimport { Matrix4, Quaternion, Vector3 } from \"three\"\nimport type { LineGeometry } from \"three/examples/jsm/lines/LineGeometry.js\"\nimport RobotAnimator from \"./RobotAnimator\"\nimport type { DHRobotProps } from \"./SupportedRobot\"\n\nconst CHILD_LINE = \"line\"\nconst CHILD_MESH = \"mesh\"\n\nexport function DHRobot({\n  rapidlyChangingMotionState,\n  dhParameters,\n  ...props\n}: DHRobotProps) {\n  // reused in every update\n  const accumulatedMatrix = new Matrix4()\n\n  // Store direct references to avoid searching by name\n  const lineRefs = useRef<any[]>([])\n  const meshRefs = useRef<(THREE.Mesh | null)[]>([])\n\n  // Initialize refs array when dhParameters change\n  React.useEffect(() => {\n    lineRefs.current = new Array(dhParameters.length).fill(null)\n    meshRefs.current = new Array(dhParameters.length).fill(null)\n  }, [dhParameters.length])\n\n  // Updates accumulatedMatrix with every execution\n  // Reset the matrix to identity if you start a new position update\n  function getLinePoints(\n    dhParameter: DHParameter,\n    jointRotation: number,\n  ): {\n    a: THREE.Vector3\n    b: THREE.Vector3\n  } {\n    const position = new Vector3()\n    const quaternion = new Quaternion()\n    const scale = new Vector3()\n    accumulatedMatrix.decompose(position, quaternion, scale)\n    const prevPosition = position.clone() // Update the previous position\n\n    const matrix = new Matrix4()\n      .makeRotationY(\n        dhParameter.theta! +\n          jointRotation * (dhParameter.reverse_rotation_direction ? -1 : 1),\n      ) // Rotate around Z\n      .multiply(new Matrix4().makeTranslation(0, dhParameter.d! / 1000, 0)) // Translate along Z\n      .multiply(new Matrix4().makeTranslation(dhParameter.a! / 1000, 0, 0)) // Translate along X\n      .multiply(new Matrix4().makeRotationX(dhParameter.alpha!)) // Rotate around X\n\n    // Accumulate transformations\n    accumulatedMatrix.multiply(matrix)\n    accumulatedMatrix.decompose(position, quaternion, scale)\n    return { a: prevPosition, b: position }\n  }\n\n  function setJointLineRotation(\n    jointIndex: number,\n    line: any, // Use any for drei Line component\n    mesh: THREE.Mesh,\n    jointValue: number,\n  ) {\n    if (!dhParameters) {\n      return\n    }\n\n    const dh_parameter = dhParameters[jointIndex]\n    if (!dh_parameter) {\n      return\n    }\n\n    const { a, b } = getLinePoints(dh_parameter, jointValue)\n    const lineGeometry = line.geometry as LineGeometry\n    lineGeometry.setPositions([a.toArray(), b.toArray()].flat())\n\n    mesh.position.set(b.x, b.y, b.z)\n  }\n\n  function setRotation(joints: THREE.Object3D[], jointValues: number[]) {\n    accumulatedMatrix.identity()\n\n    // Use direct refs instead of searching by name\n    for (\n      let jointIndex = 0;\n      jointIndex < Math.min(joints.length, jointValues.length);\n      jointIndex++\n    ) {\n      const line = lineRefs.current[jointIndex]\n      const mesh = meshRefs.current[jointIndex]\n\n      if (line && mesh) {\n        setJointLineRotation(jointIndex, line, mesh, jointValues[jointIndex]!)\n      }\n    }\n  }\n\n  return (\n    <>\n      <RobotAnimator\n        rapidlyChangingMotionState={rapidlyChangingMotionState}\n        dhParameters={dhParameters}\n        onRotationChanged={setRotation}\n      >\n        <group {...props} name=\"Scene\">\n          <mesh>\n            <sphereGeometry args={[0.01, 32, 32]} />\n            <meshStandardMaterial color={\"black\"} depthTest={true} />\n          </mesh>\n          {dhParameters!.map((param, index) => {\n            const { a, b } = getLinePoints(\n              param,\n              rapidlyChangingMotionState.joint_position[index] ?? 0,\n            )\n            const jointName = `dhrobot_J0${index}`\n            return (\n              <group name={jointName} key={jointName}>\n                <Line\n                  ref={(ref) => {\n                    lineRefs.current[index] = ref\n                  }}\n                  name={CHILD_LINE}\n                  points={[a, b]}\n                  color={\"white\"}\n                  lineWidth={5}\n                />\n                <mesh\n                  ref={(ref) => {\n                    meshRefs.current[index] = ref\n                  }}\n                  name={CHILD_MESH}\n                  key={\"mesh_\" + index}\n                  position={b}\n                >\n                  <sphereGeometry args={[0.01, 32, 32]} />\n                  <meshStandardMaterial color={\"black\"} depthTest={true} />\n                </mesh>\n              </group>\n            )\n          })}\n        </group>\n      </RobotAnimator>\n    </>\n  )\n}\n","\"use client\"\nimport { useEffect } from \"react\"\n\nconst defaultWarn = console.warn\n\nexport default function ConsoleFilter() {\n  useEffect(() => {\n    console.warn = (data) => {\n      // This message is caused by a bug from useSpring in combination with Canvas \"demand\" frameloop.\n      // For now we can only suppress this warning there are no sideeffects yet\n      // See https://github.com/pmndrs/react-spring/issues/1586#issuecomment-915051856\n      if (\n        data ===\n        \"Cannot call the manual advancement of rafz whilst frameLoop is not set as demand\"\n      ) {\n        return\n      }\n\n      defaultWarn(data)\n    }\n  }, [])\n\n  return <></>\n}\n","import { useGLTF } from \"@react-three/drei\"\nimport type { ThreeElements } from \"@react-three/fiber\"\nimport React, { useCallback, useEffect, useState } from \"react\"\nimport type { Group, Mesh } from \"three\"\nimport { type Object3D } from \"three\"\nimport { isFlange, parseRobotModel } from \"./robotModelLogic\"\n\nexport type RobotModelProps = {\n  modelURL: string | Promise<string>\n  /**\n   * Called after a robot model has been loaded and\n   * rendered into the threejs scene\n   */\n  postModelRender?: () => void\n  flangeRef?: React.Ref<Group>\n} & ThreeElements[\"group\"]\n\nfunction isMesh(node: Object3D): node is Mesh {\n  return node.type === \"Mesh\"\n}\n\n// Separate component that only renders when we have a valid URL\nfunction LoadedRobotModel({ \n  url, \n  flangeRef, \n  postModelRender, \n  ...props \n}: { \n  url: string\n  flangeRef?: React.Ref<Group>\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]) {\n  const gltfResult = useGLTF(url)\n  let gltf\n  try {\n    const parsed = parseRobotModel(gltfResult, 'robot.glb')\n    gltf = parsed.gltf\n  } catch (err) {\n    throw err;\n  }\n\n  const groupRef: React.RefCallback<Group> = useCallback(\n    (group) => {\n      if (group && postModelRender) {\n        postModelRender()\n      }\n    },\n    [postModelRender],\n  )\n\n  function renderNode(node: Object3D): React.ReactNode {\n    try {\n      if (isMesh(node)) {\n        // Defensive: only render mesh if geometry exists\n        if ((node as Mesh).geometry) {\n          return (\n            <mesh\n              name={node.name}\n              key={node.uuid}\n              geometry={(node as Mesh).geometry}\n              material={(node as Mesh).material}\n              position={node.position}\n              rotation={node.rotation}\n            />\n          )\n        }\n        // Fallback to empty group if geometry is missing\n        return (\n          <group name={node.name} key={node.uuid} position={node.position} rotation={node.rotation} />\n        )\n      } else {\n        return (\n          <group\n            name={node.name}\n            key={node.uuid}\n            position={node.position}\n            rotation={node.rotation}\n            ref={isFlange(node) ? flangeRef : undefined}\n          >\n            {node.children.map(renderNode)}\n          </group>\n        )\n      }\n    } catch (e) {\n      console.warn('Error rendering node', node.name, e)\n      return null\n    }\n  }\n\n  return (\n    <group {...props} dispose={null} ref={groupRef}>\n      {renderNode(gltf.scene)}\n    </group>\n  )\n}\n\nexport function GenericRobot({\n  modelURL,\n  flangeRef,\n  postModelRender,\n  ...props\n}: RobotModelProps) {\n  const [resolvedURL, setResolvedURL] = useState<string | null>(null)\n  \n  useEffect(() => {\n    const resolveURL = async () => {\n      try {\n        if (typeof modelURL === 'string') {\n          setResolvedURL(modelURL)\n        } else {\n          const url = await modelURL\n          setResolvedURL(url)\n        }\n      } catch (error) {\n        console.error('Failed to resolve model URL:', error)\n      }\n    }\n    \n    resolveURL()\n  }, [modelURL])\n\n  // Don't render until we have a resolved URL\n  if (!resolvedURL) {\n    return null // Loading state\n  }\n  \n  return (\n    <LoadedRobotModel \n      url={resolvedURL}\n      flangeRef={flangeRef}\n      postModelRender={postModelRender}\n      {...props}\n    />\n  )\n}\n","import * as THREE from \"three\"\n\nexport const applyGhostStyle = (robot: THREE.Group, color: string) => {\n  if (robot.userData.isGhost) return\n\n  robot.traverse((obj) => {\n    if (obj instanceof THREE.Mesh) {\n      if (obj.material instanceof THREE.Material) {\n        obj.material.colorWrite = false\n      }\n\n      // Create a clone of the mesh\n      const depth = obj.clone()\n      const ghost = obj.clone()\n\n      depth.material = new THREE.MeshStandardMaterial({\n        depthTest: true,\n        depthWrite: true,\n        colorWrite: false,\n        polygonOffset: true,\n        polygonOffsetFactor: -1,\n        side: THREE.DoubleSide,\n      })\n      depth.userData.isGhost = true\n\n      // Set the material for the ghost mesh\n      ghost.material = new THREE.MeshStandardMaterial({\n        color: color,\n        opacity: 0.3,\n        depthTest: true,\n        depthWrite: false,\n        transparent: true,\n        polygonOffset: true,\n        polygonOffsetFactor: -2,\n        side: THREE.DoubleSide,\n      })\n      ghost.userData.isGhost = true\n\n      if (obj.parent) {\n        obj.parent.add(depth)\n        obj.parent.add(ghost)\n      }\n    }\n  })\n\n  robot.userData.isGhost = true\n}\n\nexport const removeGhostStyle = (robot: THREE.Group) => {\n  if (!robot.userData.isGhost) return\n\n  const objectsToRemove: THREE.Object3D[] = []\n\n  robot.traverse((obj) => {\n    if (obj instanceof THREE.Mesh) {\n      if (obj.userData?.isGhost) {\n        objectsToRemove.push(obj)\n      } else if (obj.material instanceof THREE.Material) {\n        obj.material.colorWrite = true\n      }\n    }\n  })\n\n  objectsToRemove.forEach((obj) => {\n    if (obj.parent) {\n      obj.parent.remove(obj)\n    }\n  })\n\n  robot.userData.isGhost = false\n}\n","import type { ThreeElements } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport { Suspense, useCallback, useEffect, useState } from \"react\"\nimport { DHRobot } from \"./DHRobot\"\n\nimport { ErrorBoundary } from \"react-error-boundary\"\nimport type * as THREE from \"three\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport ConsoleFilter from \"../ConsoleFilter\"\nimport { GenericRobot } from \"./GenericRobot\"\nimport RobotAnimator from \"./RobotAnimator\"\nimport { applyGhostStyle, removeGhostStyle } from \"./ghostStyle\"\nimport { defaultGetModel } from \"./robotModelLogic\"\n\nexport type DHRobotProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: Array<DHParameter>\n} & ThreeElements[\"group\"]\n\nexport type SupportedRobotProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  modelFromController: string\n  dhParameters: DHParameter[]\n  flangeRef?: React.Ref<THREE.Group>\n  instanceUrl?: string\n  getModel?: (modelFromController: string, instanceUrl?: string) => Promise<string> | undefined\n  postModelRender?: () => void\n  transparentColor?: string\n} & ThreeElements[\"group\"]\n\nexport const SupportedRobot = externalizeComponent(\n  ({\n    rapidlyChangingMotionState,\n    modelFromController,\n    dhParameters,\n    getModel = defaultGetModel,\n    flangeRef,\n    postModelRender,\n    transparentColor,\n    instanceUrl,\n    ...props\n  }: SupportedRobotProps) => {\n    const [robotGroup, setRobotGroup] = useState<THREE.Group | null>(null)\n\n    const setRobotRef = useCallback((instance: THREE.Group | null) => {\n      setRobotGroup(instance)\n    }, [])\n\n    useEffect(() => {\n      if (!robotGroup) return\n\n      if (transparentColor) {\n        applyGhostStyle(robotGroup, transparentColor)\n      } else {\n        removeGhostStyle(robotGroup)\n      }\n    }, [robotGroup, transparentColor])\n\n    const dhrobot = (\n      <DHRobot\n        rapidlyChangingMotionState={rapidlyChangingMotionState}\n        dhParameters={dhParameters}\n        {...props}\n      />\n    )\n\n    return (\n      <ErrorBoundary\n        fallback={dhrobot}\n        onError={(err) => {\n          // Missing model; show the fallback for now\n          console.warn(err)\n        }}\n      >\n        <Suspense fallback={dhrobot}>\n          <group ref={setRobotRef}>\n            <RobotAnimator\n              rapidlyChangingMotionState={rapidlyChangingMotionState}\n              dhParameters={dhParameters}\n            >\n              <GenericRobot\n                modelURL={(() => {\n                  const result = getModel(modelFromController, instanceUrl)\n                  if (!result) {\n                    const mockBlob = new Blob([], { type: 'model/gltf-binary' })\n                    const mockFile = new File([mockBlob], `${modelFromController}.glb`, { type: 'model/gltf-binary' })\n                    return Promise.resolve(URL.createObjectURL(mockFile))\n                  }\n                  return result\n                })()}\n                postModelRender={postModelRender}\n                flangeRef={flangeRef}\n                {...props}\n              />\n            </RobotAnimator>\n          </group>\n        </Suspense>\n        <ConsoleFilter />\n      </ErrorBoundary>\n    )\n  },\n)\n","import type { ThreeElements } from \"@react-three/fiber\"\n\nimport type { Group } from \"three\"\nimport type { ConnectedMotionGroup } from \"../../lib/ConnectedMotionGroup\"\nimport { defaultGetModel } from \"./robotModelLogic\"\nimport { SupportedRobot } from \"./SupportedRobot\"\n\nexport type RobotProps = {\n  connectedMotionGroup: ConnectedMotionGroup\n  getModel?: (modelFromController: string) => Promise<string>\n  flangeRef?: React.Ref<Group>\n  transparentColor?: string\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]\n\n/**\n * The Robot component is a wrapper around the SupportedRobot component\n * for usage with @wandelbots/nova-js ConnectedMotionGroup object.\n *\n * @param {RobotProps} props - The properties for the Robot component.\n * @param {ConnectedMotionGroup} props.connectedMotionGroup - The connected motion group containing motion state and parameters.\n * @param {Function} [props.getModel=defaultGetModel] - Optional function to get the model URL. Defaults to defaultGetModel.\n * @param {Object} props - Additional properties passed to the SupportedRobot component.\n *\n * @returns {JSX.Element} The rendered SupportedRobot component.\n */\nexport function Robot({\n  connectedMotionGroup,\n  getModel = defaultGetModel,\n  flangeRef,\n  transparentColor,\n  postModelRender,\n  ...props\n}: RobotProps) {\n  if (!connectedMotionGroup.dhParameters) {\n    return null\n  }\n\n  return (\n    <SupportedRobot\n      rapidlyChangingMotionState={\n        connectedMotionGroup.rapidlyChangingMotionState\n      }\n      modelFromController={connectedMotionGroup.modelFromController || \"\"}\n      dhParameters={connectedMotionGroup.dhParameters}\n      getModel={getModel}\n      flangeRef={flangeRef}\n      transparentColor={transparentColor}\n      postModelRender={postModelRender}\n      {...props}\n    />\n  )\n}\n\nexport { defaultGetModel }\n","import { Box, Button, Card, Divider, Typography, useTheme } from \"@mui/material\"\nimport { Bounds } from \"@react-three/drei\"\nimport { Canvas } from \"@react-three/fiber\"\nimport type { OperationMode, SafetyStateType } from \"@wandelbots/nova-js/v2\"\nimport { observer } from \"mobx-react-lite\"\nimport { useCallback, useEffect, useRef, useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport type { Group } from \"three\"\nimport { externalizeComponent } from \"../externalizeComponent\"\nimport type { ConnectedMotionGroup } from \"../lib/ConnectedMotionGroup\"\nimport { PresetEnvironment } from \"./3d-viewport/PresetEnvironment\"\nimport type { ProgramState } from \"./ProgramControl\"\nimport { ProgramStateIndicator } from \"./ProgramStateIndicator\"\nimport { Robot } from \"./robots/Robot\"\n\nexport interface RobotCardProps {\n  /** Name of the robot displayed at the top */\n  robotName: string\n  /** Current program state */\n  programState: ProgramState\n  /** Current safety state of the robot controller */\n  safetyState: SafetyStateType\n  /** Current operation mode of the robot controller */\n  operationMode: OperationMode\n  /** Whether the \"Drive to Home\" button should be enabled */\n  driveToHomeEnabled?: boolean\n  /** Callback fired when \"Drive to Home\" button is pressed */\n  onDriveToHomePress?: () => void\n  /** Callback fired when \"Drive to Home\" button is released */\n  onDriveToHomeRelease?: () => void\n  /**\n   * Callback fired when \"Drive to Home\" button is pressed, with the default home position.\n   * If provided, this will be called instead of onDriveToHomePress, providing the recommended\n   * home position joint configuration based on the robot manufacturer.\n   */\n  onDriveToHomePressWithConfig?: (homePosition: number[]) => void\n  /**\n   * Callback fired when \"Drive to Home\" button is released after using onDriveToHomePressWithConfig.\n   * If provided, this will be called instead of onDriveToHomeRelease.\n   */\n  onDriveToHomeReleaseWithConfig?: () => void\n  /**\n   * Custom default joint configuration to use if manufacturer-based defaults are not available.\n   * Joint values should be in radians.\n   */\n  defaultJointConfig?: number[]\n  /** Connected motion group for the robot */\n  connectedMotionGroup: ConnectedMotionGroup\n  /** Custom robot component to render (optional, defaults to Robot) */\n  robotComponent?: React.ComponentType<{\n    connectedMotionGroup: ConnectedMotionGroup\n    flangeRef?: React.Ref<Group>\n    postModelRender?: () => void\n    transparentColor?: string\n    getModel?: (modelFromController: string) => Promise<string>\n  }>\n  /** Custom component to render in the content area (optional) */\n  customContentComponent?: React.ComponentType<Record<string, unknown>>\n  /** Additional CSS class name */\n  className?: string\n}\n\n/**\n * A responsive card component that displays a 3D robot with states and controls.\n * The card automatically adapts to its container's size and aspect ratio.\n *\n * Features:\n * - Fully responsive Material-UI Card that adapts to container dimensions\n * - Automatic layout switching based on aspect ratio:\n *   - Portrait mode: Vertical layout with robot in center\n *   - Landscape mode: Horizontal layout with robot on left, content on right (left-aligned)\n * - Responsive 3D robot rendering:\n *   - Scales dynamically with container size\n *   - Hides at very small sizes to preserve usability\n *   - Adaptive margin based on available space\n * - Smart spacing and padding that reduces at smaller sizes\n * - Minimum size constraints for usability while maximizing content density\n * - Robot name displayed in Typography h6 at top-left\n * - Program state indicator below the name\n * - Auto-fitting 3D robot model that scales with container size\n * - Customizable content area for displaying custom React components\n * - Transparent gray divider line\n * - \"Drive to Home\" button with press-and-hold functionality\n * - Localization support via react-i18next\n * - Material-UI theming integration\n *\n * Usage with custom content:\n * ```tsx\n * // Example custom timer component\n * const CustomTimer = () => (\n *   <Box>\n *     <Typography variant=\"body1\" sx={{ color: \"text.secondary\" }}>\n *       Runtime\n *     </Typography>\n *     <Typography variant=\"h6\">05:23</Typography>\n *   </Box>\n * )\n *\n * <RobotCard\n *   robotName=\"UR5e Robot\"\n *   programState={ProgramState.RUNNING}\n *   customContentComponent={CustomTimer}\n *   // ... other props\n * />\n * ```\n */\nexport const RobotCard = externalizeComponent(\n  observer(\n    ({\n      robotName,\n      programState,\n      safetyState,\n      operationMode,\n      driveToHomeEnabled = false,\n      onDriveToHomePress,\n      onDriveToHomeRelease,\n      connectedMotionGroup,\n      robotComponent: RobotComponent = Robot,\n      customContentComponent: CustomContentComponent,\n      className,\n    }: RobotCardProps) => {\n      const theme = useTheme()\n      const { t } = useTranslation()\n      const [isDriveToHomePressed, setIsDriveToHomePressed] = useState(false)\n      const driveButtonRef = useRef<HTMLButtonElement>(null)\n      const cardRef = useRef<HTMLDivElement>(null)\n      const [isLandscape, setIsLandscape] = useState(false)\n      const [cardSize, setCardSize] = useState<{\n        width: number\n        height: number\n      }>({ width: 400, height: 600 })\n      const [modelRenderTrigger, setModelRenderTrigger] = useState(0)\n\n      // Hook to detect aspect ratio and size changes\n      useEffect(() => {\n        const checkDimensions = () => {\n          if (cardRef.current) {\n            const { offsetWidth, offsetHeight } = cardRef.current\n            setIsLandscape(offsetWidth > offsetHeight)\n            setCardSize({ width: offsetWidth, height: offsetHeight })\n          }\n        }\n\n        // Initial check\n        checkDimensions()\n\n        // Set up ResizeObserver to watch for size changes\n        const resizeObserver = new ResizeObserver(checkDimensions)\n        if (cardRef.current) {\n          resizeObserver.observe(cardRef.current)\n        }\n\n        return () => {\n          resizeObserver.disconnect()\n        }\n      }, [])\n\n      const handleModelRender = useCallback(() => {\n        // Trigger bounds refresh when model renders\n        setModelRenderTrigger((prev) => prev + 1)\n      }, [])\n\n      const handleDriveToHomeMouseDown = useCallback(() => {\n        if (!driveToHomeEnabled || !onDriveToHomePress) return\n        setIsDriveToHomePressed(true)\n        onDriveToHomePress()\n      }, [driveToHomeEnabled, onDriveToHomePress])\n\n      const handleDriveToHomeMouseUp = useCallback(() => {\n        if (!driveToHomeEnabled || !onDriveToHomeRelease) return\n        setIsDriveToHomePressed(false)\n        onDriveToHomeRelease()\n      }, [driveToHomeEnabled, onDriveToHomeRelease])\n\n      const handleDriveToHomeMouseLeave = useCallback(() => {\n        if (isDriveToHomePressed && onDriveToHomeRelease) {\n          setIsDriveToHomePressed(false)\n          onDriveToHomeRelease()\n        }\n      }, [isDriveToHomePressed, onDriveToHomeRelease])\n\n      // Determine if robot should be hidden at small sizes to save space\n      const shouldHideRobot = isLandscape\n        ? cardSize.width < 350\n        : cardSize.height < 200 // Hide robot at height < 200px in portrait\n\n      // Determine if custom content should be hidden when height is too low\n      // Custom content should be hidden BEFORE the robot (at higher threshold)\n      const shouldHideCustomContent = isLandscape\n        ? cardSize.height < 310 // Landscape: hide custom content at height < 310px\n        : cardSize.height < 450 // Portrait: hide custom content at height < 450px\n\n      return (\n        <Card\n          ref={cardRef}\n          className={className}\n          sx={{\n            width: \"100%\",\n            height: \"100%\",\n            display: \"flex\",\n            flexDirection: isLandscape ? \"row\" : \"column\",\n            position: \"relative\",\n            overflow: \"hidden\",\n            minWidth: { xs: 180, sm: 220, md: 250 },\n            minHeight: isLandscape\n              ? { xs: 200, sm: 240, md: 260 } // Allow runtime hiding at < 283px\n              : { xs: 150, sm: 180, md: 220 }, // Allow progressive hiding in portrait mode\n            border: `1px solid ${theme.palette.divider}`,\n            borderRadius: \"18px\",\n            boxShadow: \"none\",\n            backgroundColor:\n              theme.palette.backgroundPaperElevation?.[8] || \"#2A2A3F\",\n            backgroundImage: \"none\", // Override any gradient from elevation\n          }}\n        >\n          {isLandscape ? (\n            <>\n              {/* Landscape Layout: Robot on left, content on right */}\n              <Box\n                sx={{\n                  flex: \"0 0 50%\",\n                  position: \"relative\",\n                  height: \"100%\",\n                  minHeight: \"100%\",\n                  maxHeight: \"100%\",\n                  borderRadius: 1,\n                  m: { xs: 1.5, sm: 2, md: 3 },\n                  mr: { xs: 0.75, sm: 1, md: 1.5 },\n                  overflow: \"hidden\", // Prevent content from affecting container size\n                  display: shouldHideRobot ? \"none\" : \"block\",\n                }}\n              >\n                {!shouldHideRobot && (\n                  <Canvas\n                    orthographic\n                    camera={{\n                      position: [3, 2, 3],\n                      zoom: 1,\n                    }}\n                    shadows\n                    frameloop=\"demand\"\n                    style={{\n                      borderRadius: theme.shape.borderRadius,\n                      width: \"100%\",\n                      height: \"100%\",\n                      background: \"transparent\",\n                      position: \"absolute\",\n                      top: 0,\n                      left: 0,\n                    }}\n                    dpr={[1, 2]}\n                    gl={{ alpha: true, antialias: true }}\n                  >\n                    <PresetEnvironment />\n                    <Bounds fit observe margin={1} maxDuration={1}>\n                      <RobotComponent\n                        connectedMotionGroup={connectedMotionGroup}\n                        postModelRender={handleModelRender}\n                      />\n                    </Bounds>\n                  </Canvas>\n                )}\n              </Box>\n\n              {/* Content container on right */}\n              <Box\n                sx={{\n                  flex: shouldHideRobot ? \"1\" : \"1\",\n                  display: \"flex\",\n                  flexDirection: \"column\",\n                  justifyContent: \"flex-start\",\n                  width: shouldHideRobot ? \"100%\" : \"50%\",\n                }}\n              >\n                {/* Header section with robot name and program state */}\n                <Box\n                  sx={{\n                    p: { xs: 1.5, sm: 2, md: 3 },\n                    pb: { xs: 1, sm: 1.5, md: 2 },\n                    textAlign: \"left\",\n                  }}\n                >\n                  <Typography variant=\"h6\" component=\"h2\" sx={{ mb: 1 }}>\n                    {robotName}\n                  </Typography>\n                  <ProgramStateIndicator\n                    programState={programState}\n                    safetyState={safetyState}\n                    operationMode={operationMode}\n                  />\n                </Box>\n\n                {/* Bottom section with custom content and button */}\n                <Box\n                  sx={{\n                    p: { xs: 1.5, sm: 2, md: 3 },\n                    pt: 0,\n                    flex: \"1\",\n                    display: \"flex\",\n                    flexDirection: \"column\",\n                    justifyContent: \"space-between\",\n                  }}\n                >\n                  {/* Custom content section - hidden if height is too low in landscape mode */}\n                  {!shouldHideCustomContent && CustomContentComponent && (\n                    <Box>\n                      <CustomContentComponent />\n\n                      {/* Divider */}\n                      <Divider\n                        sx={{\n                          mt: 1,\n                          mb: 0,\n                          borderColor: theme.palette.divider,\n                          opacity: 0.5,\n                        }}\n                      />\n                    </Box>\n                  )}\n\n                  <Box\n                    sx={{\n                      mt:\n                        !shouldHideCustomContent && CustomContentComponent\n                          ? \"auto\"\n                          : 0,\n                    }}\n                  >\n                    {/* Drive to Home button with some space */}\n                    <Box\n                      sx={{\n                        display: \"flex\",\n                        justifyContent: \"flex-start\",\n                        mt: { xs: 1, sm: 1.5, md: 2 },\n                        mb: { xs: 0.5, sm: 0.75, md: 1 },\n                      }}\n                    >\n                      <Button\n                        ref={driveButtonRef}\n                        variant=\"contained\"\n                        color=\"secondary\"\n                        size=\"small\"\n                        disabled={!driveToHomeEnabled}\n                        onMouseDown={handleDriveToHomeMouseDown}\n                        onMouseUp={handleDriveToHomeMouseUp}\n                        onMouseLeave={handleDriveToHomeMouseLeave}\n                        onTouchStart={handleDriveToHomeMouseDown}\n                        onTouchEnd={handleDriveToHomeMouseUp}\n                        sx={{\n                          textTransform: \"none\",\n                          px: 1.5,\n                          py: 0.5,\n                        }}\n                      >\n                        {t(\"RobotCard.DriveToHome.bt\")}\n                      </Button>\n                    </Box>\n                  </Box>\n                </Box>\n              </Box>\n            </>\n          ) : (\n            <>\n              {/* Portrait Layout: Header, Robot, Footer */}\n              <Box\n                sx={{\n                  p: 3,\n                  height: \"100%\",\n                  display: \"flex\",\n                  flexDirection: \"column\",\n                }}\n              >\n                {/* Header section with robot name and program state */}\n                <Box>\n                  <Typography variant=\"h6\" component=\"h2\" sx={{ mb: 1 }}>\n                    {robotName}\n                  </Typography>\n                  <ProgramStateIndicator\n                    programState={programState}\n                    safetyState={safetyState}\n                    operationMode={operationMode}\n                  />\n                </Box>\n\n                {/* 3D Robot viewport in center */}\n                <Box\n                  sx={{\n                    flex: shouldHideRobot ? 0 : 1,\n                    position: \"relative\",\n                    minHeight: shouldHideRobot\n                      ? 0\n                      : { xs: 120, sm: 150, md: 200 },\n                    height: shouldHideRobot ? 0 : \"auto\",\n                    borderRadius: 1,\n                    overflow: \"hidden\",\n                    display: shouldHideRobot ? \"none\" : \"block\",\n                  }}\n                >\n                  {!shouldHideRobot && (\n                    <Canvas\n                      orthographic\n                      camera={{\n                        position: [3, 2, 3],\n                        zoom: 1,\n                      }}\n                      shadows\n                      frameloop=\"demand\"\n                      style={{\n                        borderRadius: theme.shape.borderRadius,\n                        width: \"100%\",\n                        height: \"100%\",\n                        background: \"transparent\",\n                        position: \"absolute\",\n                      }}\n                      dpr={[1, 2]}\n                      gl={{ alpha: true, antialias: true }}\n                    >\n                      <PresetEnvironment />\n                      <Bounds fit clip observe margin={1} maxDuration={1}>\n                        <RobotComponent\n                          connectedMotionGroup={connectedMotionGroup}\n                          postModelRender={handleModelRender}\n                        />\n                      </Bounds>\n                    </Canvas>\n                  )}\n                </Box>\n\n                {/* Bottom section with custom content and button */}\n                <Box>\n                  {/* Custom content section - hidden if height is too low */}\n                  {!shouldHideCustomContent && CustomContentComponent && (\n                    <>\n                      <CustomContentComponent />\n\n                      {/* Divider */}\n                      <Divider\n                        sx={{\n                          mt: 1,\n                          mb: 0,\n                          borderColor: theme.palette.divider,\n                          opacity: 0.5,\n                        }}\n                      />\n                    </>\n                  )}\n\n                  {/* Drive to Home button with some space */}\n                  <Box\n                    sx={{\n                      display: \"flex\",\n                      justifyContent: \"flex-start\",\n                      mt:\n                        !shouldHideCustomContent && CustomContentComponent\n                          ? { xs: 1, sm: 2, md: 5 }\n                          : { xs: 0.5, sm: 1, md: 2 },\n                      mb: { xs: 0.5, sm: 0.75, md: 1 },\n                    }}\n                  >\n                    <Button\n                      ref={driveButtonRef}\n                      variant=\"contained\"\n                      color=\"secondary\"\n                      size=\"small\"\n                      disabled={!driveToHomeEnabled}\n                      onMouseDown={handleDriveToHomeMouseDown}\n                      onMouseUp={handleDriveToHomeMouseUp}\n                      onMouseLeave={handleDriveToHomeMouseLeave}\n                      onTouchStart={handleDriveToHomeMouseDown}\n                      onTouchEnd={handleDriveToHomeMouseUp}\n                      sx={{\n                        textTransform: \"none\",\n                        px: 1.5,\n                        py: 0.5,\n                      }}\n                    >\n                      {t(\"RobotCard.DriveToHome.bt\")}\n                    </Button>\n                  </Box>\n                </Box>\n              </Box>\n            </>\n          )}\n        </Card>\n      )\n    },\n  ),\n)\n","export type AxisConfig = number[]\n\nexport const defaultAxisConfig: AxisConfig = Array(6).fill(2 * Math.PI)\n","import { useFrame, useThree } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport React, { useCallback, useEffect, useRef } from \"react\"\nimport type { Group, Object3D } from \"three\"\nimport { useAutorun } from \"../utils/hooks\"\nimport { ValueInterpolator } from \"../utils/interpolation\"\nimport { collectJoints } from \"./robotModelLogic\"\n\ntype LinearAxisAnimatorProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: DHParameter[]\n  onTranslationChanged?: (joints: Object3D[], jointValues: number[]) => void\n  children: React.ReactNode\n}\n\nexport default function LinearAxisAnimator({\n  rapidlyChangingMotionState,\n  dhParameters,\n  onTranslationChanged,\n  children,\n}: LinearAxisAnimatorProps) {\n  const jointValues = useRef<number[]>([])\n  const jointObjects = useRef<Object3D[]>([])\n  const interpolatorRef = useRef<ValueInterpolator | null>(null)\n  const { invalidate } = useThree()\n\n  // Initialize interpolator\n  useEffect(() => {\n    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    interpolatorRef.current = new ValueInterpolator(initialJointValues, {\n      tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion\n      friction: 20, // Controls damping - higher values reduce oscillation and create smoother settling\n      threshold: 0.001,\n    })\n\n    return () => {\n      interpolatorRef.current?.destroy()\n    }\n  }, [])\n\n  // Animation loop that runs at the display's refresh rate\n  useFrame((state, delta) => {\n    if (interpolatorRef.current) {\n      const isComplete = interpolatorRef.current.update(delta)\n      setTranslation()\n\n      // Trigger a re-render only if the animation is still running\n      if (!isComplete) {\n        invalidate()\n      }\n    }\n  })\n\n  function setGroupRef(group: Group | null) {\n    if (!group) return\n\n    jointObjects.current = collectJoints(group)\n\n    // Set initial position\n    setTranslation()\n    invalidate()\n  }\n\n  function setTranslation() {\n    const updatedJointValues = interpolatorRef.current?.getCurrentValues() || []\n\n    if (onTranslationChanged) {\n      onTranslationChanged(jointObjects.current, updatedJointValues)\n    } else {\n      // For linear axes, we apply translation instead of rotation\n      for (const [index, object] of jointObjects.current.entries()) {\n        const dhParam = dhParameters[index]\n        const translationSign = dhParam.reverse_rotation_direction ? -1 : 1\n\n        // Apply linear translation along Y axis\n        // Convert from millimeters to meters\n        object.position.y =\n          (translationSign * (updatedJointValues[index] || 0)) / 1000\n      }\n    }\n  }\n\n  const updateJoints = useCallback(() => {\n    const newJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    requestAnimationFrame(() => {\n      jointValues.current = newJointValues\n      interpolatorRef.current?.setTarget(newJointValues)\n    })\n  }, [rapidlyChangingMotionState])\n\n  /**\n   * Fire an update joints call on every motion state change.\n   * requestAnimationFrame used to avoid blocking main thread\n   */\n  useEffect(() => {\n    updateJoints()\n  }, [rapidlyChangingMotionState, updateJoints])\n\n  /**\n   * As some consumer applications (eg. storybook) deliver\n   * mobx observable for rapidlyChangingMotionState, we need to\n   * register the watcher to get the newest value updates\n   */\n  useAutorun(() => {\n    updateJoints()\n  })\n\n  return <group ref={setGroupRef}>{children}</group>\n}\n","import { Line } from \"@react-three/drei\"\nimport type { DHParameter } from \"@wandelbots/nova-js/v2\"\nimport React, { useRef } from \"react\"\nimport type * as THREE from \"three\"\nimport { Matrix4, Quaternion, Vector3 } from \"three\"\nimport LinearAxisAnimator from \"./LinearAxisAnimator\"\nimport type { DHLinearAxisProps } from \"./SupportedLinearAxis\"\n\nexport function DHLinearAxis({\n  rapidlyChangingMotionState,\n  dhParameters,\n  ...props\n}: DHLinearAxisProps) {\n  // reused in every update\n  const accumulatedMatrix = new Matrix4()\n\n  const tcpMeshRef = useRef<THREE.Mesh | null>(null)\n  const tcpLineRef = useRef<any>(null)\n\n  // Calculate initial TCP position\n  function calculateTcpPosition(jointValues: number[]): Vector3 {\n    const tempMatrix = new Matrix4()\n    \n    for (let i = 0; i < dhParameters.length; i++) {\n      const param = dhParameters[i]\n      const jointValue = jointValues[i] ?? 0\n      \n      const matrix = new Matrix4()\n        .makeRotationY(param.theta!) // Base rotation (if any)\n        .multiply(\n          new Matrix4().makeTranslation(\n            param.a! / 1000,\n            (param.d! + jointValue * (param.reverse_rotation_direction ? -1 : 1)) / 1000,\n            0\n          )\n        ) // Translate along X by a, and Y by d + joint_position\n        .multiply(new Matrix4().makeRotationX(param.alpha!)) // Rotate around X\n      \n      tempMatrix.multiply(matrix)\n    }\n    \n    const position = new Vector3()\n    const quaternion = new Quaternion()\n    const scale = new Vector3()\n    tempMatrix.decompose(position, quaternion, scale)\n    return position\n  }\n\n  // Calculate initial TCP position for rendering\n  const initialTcpPosition = calculateTcpPosition(rapidlyChangingMotionState.joint_position)\n\n  function setTranslation(joints: THREE.Object3D[], jointValues: number[]) {\n    accumulatedMatrix.identity()\n\n    let tcpPosition = new Vector3()\n\n    // Process all joints based on dhParameters length, not joints array\n    // Since we're using DHLinearAxis directly without a model, we don't have joint objects\n    for (let jointIndex = 0; jointIndex < dhParameters.length; jointIndex++) {\n      const jointValue = jointValues[jointIndex] ?? 0\n      const param = dhParameters[jointIndex]\n      \n      // Calculate and accumulate transformation\n      const matrix = new Matrix4()\n        .makeRotationY(param.theta!) // Base rotation (if any)\n        .multiply(\n          new Matrix4().makeTranslation(\n            param.a! / 1000,\n            (param.d! + jointValue * (param.reverse_rotation_direction ? -1 : 1)) / 1000,\n            0\n          )\n        )\n        .multiply(new Matrix4().makeRotationX(param.alpha!))\n      \n      accumulatedMatrix.multiply(matrix)\n    }\n\n    // Get final TCP position from accumulated matrix\n    const position = new Vector3()\n    const quaternion = new Quaternion()\n    const scale = new Vector3()\n    accumulatedMatrix.decompose(position, quaternion, scale)\n    tcpPosition = position\n\n    // Update TCP marker\n    if (tcpMeshRef.current) {\n      tcpMeshRef.current.position.set(tcpPosition.x, tcpPosition.y, tcpPosition.z)\n    }\n\n    // Update TCP line\n    if (tcpLineRef.current) {\n      const lineGeometry = tcpLineRef.current.geometry\n      if (lineGeometry && lineGeometry.setPositions) {\n        lineGeometry.setPositions([0, 0, 0, tcpPosition.x, tcpPosition.y, tcpPosition.z])\n      }\n    }\n  }\n\n  return (\n    <>\n      <LinearAxisAnimator\n        rapidlyChangingMotionState={rapidlyChangingMotionState}\n        dhParameters={dhParameters}\n        onTranslationChanged={setTranslation}\n      >\n        <group {...props} name=\"Scene\">\n          {/* Base (origin) - Green sphere representing initial previous position */}\n          <mesh name=\"Base\" position={[0, 0, 0]}>\n            <sphereGeometry args={[0.02, 32, 32]} />\n            <meshStandardMaterial color={\"green\"} depthTest={true} />\n          </mesh>\n          {/* Line from Base to TCP */}\n          <Line\n            ref={tcpLineRef}\n            points={[new Vector3(0, 0, 0), initialTcpPosition]}\n            color={\"White\"}\n            lineWidth={5}\n          />\n          {/* TCP (Tool Center Point) - Red sphere that shows final position */}\n          <mesh ref={tcpMeshRef} name=\"TCP\" position={initialTcpPosition}>\n            <sphereGeometry args={[0.025, 32, 32]} />\n            <meshStandardMaterial color={\"red\"} depthTest={true} />\n          </mesh>\n        </group>\n      </LinearAxisAnimator>\n    </>\n  )\n}\n","import type { ThreeElements } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport { Suspense, useCallback, useEffect, useState } from \"react\"\nimport { ErrorBoundary } from \"react-error-boundary\"\nimport type * as THREE from \"three\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport ConsoleFilter from \"../ConsoleFilter\"\nimport { DHLinearAxis } from \"./DHLinearAxis\"\nimport { GenericRobot } from \"./GenericRobot\"\nimport LinearAxisAnimator from \"./LinearAxisAnimator\"\nimport { applyGhostStyle, removeGhostStyle } from \"./ghostStyle\"\nimport { defaultGetModel } from \"./robotModelLogic\"\n\nexport type DHLinearAxisProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: Array<DHParameter>\n} & ThreeElements[\"group\"]\n\nexport type SupportedLinearAxisProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  modelFromController: string\n  dhParameters: DHParameter[]\n  flangeRef?: React.Ref<THREE.Group>\n  instanceUrl?: string\n  getModel?: (modelFromController: string, instanceUrl?: string) => Promise<string> | undefined\n  postModelRender?: () => void\n  transparentColor?: string\n} & ThreeElements[\"group\"]\n\nexport const SupportedLinearAxis = externalizeComponent(\n  ({\n    rapidlyChangingMotionState,\n    modelFromController,\n    dhParameters,\n    getModel = defaultGetModel,\n    flangeRef,\n    postModelRender,\n    transparentColor,\n    instanceUrl,\n    ...props\n  }: SupportedLinearAxisProps) => {\n    const [robotGroup, setRobotGroup] = useState<THREE.Group | null>(null)\n\n    const setRobotRef = useCallback((instance: THREE.Group | null) => {\n      setRobotGroup(instance)\n    }, [])\n\n    useEffect(() => {\n      if (!robotGroup) return\n\n      if (transparentColor) {\n        applyGhostStyle(robotGroup, transparentColor)\n      } else {\n        removeGhostStyle(robotGroup)\n      }\n    }, [robotGroup, transparentColor])\n\n    const dhLinearAxis = (\n      <DHLinearAxis\n        rapidlyChangingMotionState={rapidlyChangingMotionState}\n        dhParameters={dhParameters}\n        {...props}\n      />\n    )\n\n    return (\n      <ErrorBoundary\n        fallback={dhLinearAxis}\n        onError={(err) => {\n          // Missing model; show the fallback for now\n          console.warn(err)\n        }}\n      >\n        <Suspense fallback={dhLinearAxis}>\n          <group ref={setRobotRef}>\n            <LinearAxisAnimator\n              rapidlyChangingMotionState={rapidlyChangingMotionState}\n              dhParameters={dhParameters}\n            >\n              <GenericRobot\n                modelURL={(() => {\n                  const result = getModel(modelFromController, instanceUrl)\n                  if (!result) {\n                    const mockBlob = new Blob([], { type: 'model/gltf-binary' })\n                    const mockFile = new File([mockBlob], `${modelFromController}.glb`, { type: 'model/gltf-binary' })\n                    return Promise.resolve(URL.createObjectURL(mockFile))\n                  }\n                  return result\n                })()}\n                postModelRender={postModelRender}\n                flangeRef={flangeRef}\n                {...props}\n              />\n            </LinearAxisAnimator>\n          </group>\n        </Suspense>\n        <ConsoleFilter />\n      </ErrorBoundary>\n    )\n  },\n)\n","import type { ThreeElements } from \"@react-three/fiber\"\n\nimport type { Group } from \"three\"\nimport type { ConnectedMotionGroup } from \"../../lib/ConnectedMotionGroup\"\nimport { DHLinearAxis } from \"./DHLinearAxis\"\nimport { defaultGetModel } from \"./robotModelLogic\"\nimport { SupportedLinearAxis } from \"./SupportedLinearAxis\"\n\nexport type LinearAxisProps = {\n  connectedMotionGroup: ConnectedMotionGroup\n  getModel?: (modelFromController: string) => Promise<string>\n  flangeRef?: React.Ref<Group>\n  transparentColor?: string\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]\n\n/**\n * The LinearAxis component is a wrapper that renders SupportedLinearAxis if a model is available,\n * otherwise falls back to DHLinearAxis for usage with @wandelbots/nova-js ConnectedMotionGroup object.\n *\n * @param {LinearAxisProps} props - The properties for the LinearAxis component.\n * @param {ConnectedMotionGroup} props.connectedMotionGroup - The connected motion group containing motion state and parameters.\n * @param {Function} [props.getModel=defaultGetModel] - Optional function to get the model URL. Defaults to defaultGetModel.\n * @param {Object} props - Additional properties passed to the underlying component.\n *\n * @returns {JSX.Element} The rendered SupportedLinearAxis or DHLinearAxis component.\n */\nexport function LinearAxis({\n  connectedMotionGroup,\n  getModel = defaultGetModel,\n  flangeRef,\n  transparentColor,\n  postModelRender,\n  ...props\n}: LinearAxisProps) {\n  if (!connectedMotionGroup.dhParameters) {\n    return null\n  }\n\n  const modelFromController = connectedMotionGroup.modelFromController || \"\"\n  const hasModel = modelFromController && getModel(modelFromController)\n\n  // Use SupportedLinearAxis if model is available, otherwise fall back to DHLinearAxis\n  if (hasModel) {\n    return (\n      <SupportedLinearAxis\n        rapidlyChangingMotionState={\n          connectedMotionGroup.rapidlyChangingMotionState\n        }\n        modelFromController={modelFromController}\n        dhParameters={connectedMotionGroup.dhParameters}\n        getModel={getModel}\n        flangeRef={flangeRef}\n        transparentColor={transparentColor}\n        postModelRender={postModelRender}\n        {...props}\n      />\n    )\n  }\n\n  return (\n    <DHLinearAxis\n      rapidlyChangingMotionState={\n        connectedMotionGroup.rapidlyChangingMotionState\n      }\n      dhParameters={connectedMotionGroup.dhParameters}\n      {...props}\n    />\n  )\n}\n\nexport { defaultGetModel }\n\n","import { Manufacturer } from \"@wandelbots/nova-js/v2\"\n\n/**\n * Default home configs for different robot manufacturers.\n * These joint configurations represent safe home configs for each manufacturer's robots.\n * All angles are in radians.\n */\nexport const MANUFACTURER_HOME_CONFIGS: Record<Manufacturer, number[]> = {\n  [Manufacturer.Abb]: [0.0, 0.0, 0.0, 0.0, Math.PI / 2, 0.0, 0.0],\n  [Manufacturer.Fanuc]: [0.0, 0.0, 0.0, 0.0, -Math.PI / 2, 0.0, 0.0],\n  [Manufacturer.Yaskawa]: [0.0, 0.0, 0.0, 0.0, -Math.PI / 2, 0.0, 0.0],\n  [Manufacturer.Kuka]: [\n    0.0,\n    -Math.PI / 2,\n    Math.PI / 2,\n    0.0,\n    Math.PI / 2,\n    0.0,\n    0.0,\n  ],\n  [Manufacturer.Universalrobots]: [\n    0.0,\n    -Math.PI / 2,\n    -Math.PI / 2,\n    -Math.PI / 2,\n    Math.PI / 2,\n    -Math.PI / 2,\n    0.0,\n  ],\n}\n\n/**\n * Extracts manufacturer from modelFromController string.\n * @param modelFromController - String in format \"Manufacturer_ModelName\"\n * @returns Manufacturer enum value or null if not recognized\n */\nexport function extractManufacturer(\n  modelFromController: string,\n): Manufacturer | null {\n  const [manufacturerString] = modelFromController.split(\"_\")\n\n  // Handle the mapping from string to enum\n  switch (manufacturerString) {\n    case \"ABB\":\n      return Manufacturer.Abb\n    case \"FANUC\":\n      return Manufacturer.Fanuc\n    case \"YASKAWA\":\n      return Manufacturer.Yaskawa\n    case \"KUKA\":\n      return Manufacturer.Kuka\n    case \"UniversalRobots\":\n      return Manufacturer.Universalrobots\n    default:\n      return null\n  }\n}\n\n/**\n * Gets the default home config for a robot based on its model identifier.\n * @param modelFromController - String in format \"Manufacturer_ModelName\"\n * @param defaultJointConfig - Optional custom default configuration to use if manufacturer not found\n * @returns Array of joint positions in radians, or null if no configuration available\n */\nexport function getDefaultHomeConfig(\n  modelFromController: string,\n  defaultJointConfig?: number[],\n): number[] | null {\n  const manufacturer = extractManufacturer(modelFromController)\n\n  if (manufacturer && manufacturer in MANUFACTURER_HOME_CONFIGS) {\n    return MANUFACTURER_HOME_CONFIGS[manufacturer]\n  }\n\n  return defaultJointConfig || null\n}\n","import React, { useEffect, useMemo, useState } from \"react\"\nimport { JointTypeEnum } from \"@wandelbots/nova-js/v2\"\n\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { SupportedRobot, type SupportedRobotProps } from \"./SupportedRobot\"\nimport { SupportedLinearAxis, type SupportedLinearAxisProps } from \"./SupportedLinearAxis\"\n\nexport type MotionGroupVisualizerProps = {\n  instanceUrl: string\n  inverseSolver?: string | null\n} & (SupportedRobotProps | SupportedLinearAxisProps)\n\nexport const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps> = externalizeComponent((props: MotionGroupVisualizerProps) => {\n  const {\n    inverseSolver,\n    dhParameters,\n    ...rest\n  } = props\n\n  /**\n   * Joint type to find out - in combination with inverseSolver - whether the\n   * active robot is a turn table\n   */\n  const [jointType, setJointType] = useState<JointTypeEnum>(JointTypeEnum.RevoluteJoint)\n\n  /**\n   * Sets the joint type according to delivered dh parameter type\n   *\n   * TODO as soon as V2 api migration is done, the setting of the default RevoluteJoint value should be\n   *  deleted, cause the type property is expected to be always delivered. It is not the case in the V1 at the\n   *  moment.\n   */\n  useEffect(() => {\n    if (dhParameters.length) {\n      setJointType(dhParameters[0].type ?? 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