@wandelbots/wandelbots-js-react-components 4.7.2 → 5.0.0

package/dist/MotionGroupVisualizer-Cm-XYEZe.js

@@ -0,0 +1,1328 @@
+import { j as e, g as Me, v as _e, o as Te, N as ke, V as re, c as se, h as U, b as X, M as v, J as O } from "./interpolation-JdOMWH6y.js";
+import * as g from "three";
+import { Matrix4 as w, Vector3 as k, Quaternion as J } from "three";
+import { ConvexGeometry as oe, RoundedBoxGeometry as Fe } from "three-stdlib";
+import Ge, { useMemo as V, useRef as R, useEffect as M, useCallback as T, useState as F, Suspense as ie } from "react";
+import { useThree as ae, useFrame as le, Canvas as K } from "@react-three/fiber";
+import { Environment as Le, Lightformer as L, Line as B, useGLTF as Se, 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 oe(
+        t.vertices.map(
+          (n) => new g.Vector3(
+            n[0] / 1e3,
+            n[1] / 1e3,
+            n[2] / 1e3
+          )
+        )
+      );
+    case "box":
+      return new g.BoxGeometry(
+        t.size_x / 1e3,
+        t.size_y / 1e3,
+        t.size_z / 1e3
+      );
+    case "sphere":
+      return new g.SphereGeometry(t.radius / 1e3);
+    case "capsule":
+      return new g.CapsuleGeometry(
+        t.radius / 1e3,
+        t.cylinder_height / 1e3
+      );
+    case "cylinder":
+      return new g.CylinderGeometry(
+        t.radius / 1e3,
+        t.radius / 1e3,
+        t.height / 1e3
+      );
+    case "rectangle":
+      return new g.BoxGeometry(t.size_x / 1e3, t.size_y / 1e3, 0);
+    default:
+      return console.warn(`${t.shape_type} is not supported`), new g.BufferGeometry();
+  }
+}
+function Ve({
+  name: t,
+  collider: s,
+  children: n
+}) {
+  var u, c;
+  const a = ((u = s.pose) == null ? void 0 : u.position) ?? [0, 0, 0], i = ((c = s.pose) == null ? void 0 : c.orientation) ?? [0, 0, 0];
+  return s.margin && console.warn(`${t} margin is not supported`), /* @__PURE__ */ e.jsx(
+    "mesh",
+    {
+      name: t,
+      position: new g.Vector3(
+        a[0],
+        a[1],
+        a[2]
+      ).divideScalar(1e3),
+      rotation: new g.Euler(i[0], i[1], i[2], "XYZ"),
+      geometry: Oe(s.shape),
+      children: n
+    }
+  );
+}
+function Ue({
+  name: t,
+  colliders: s,
+  meshChildrenProvider: n,
+  ...a
+}) {
+  return /* @__PURE__ */ e.jsx("group", { name: t, ...a, children: Object.entries(s).map(([i, u]) => /* @__PURE__ */ e.jsx(
+    Ve,
+    {
+      name: i,
+      collider: u,
+      children: n(i, u)
+    },
+    i
+  )) });
+}
+function it({
+  scene: t,
+  meshChildrenProvider: s
+}) {
+  const n = t.colliders;
+  return /* @__PURE__ */ e.jsx("group", { children: n && /* @__PURE__ */ e.jsx(
+    Ue,
+    {
+      meshChildrenProvider: s,
+      colliders: n
+    }
+  ) });
+}
+function te() {
+  return /* @__PURE__ */ e.jsx(Le, { children: /* @__PURE__ */ e.jsx(Ce, {}) });
+}
+function Ce({ positions: t = [2, 0, 2, 0, 2, 0, 2, 0] }) {
+  return /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
+    /* @__PURE__ */ e.jsx(
+      L,
+      {
+        intensity: 5,
+        "rotation-x": Math.PI / 2,
+        position: [0, 5, -9],
+        scale: [10, 10, 1]
+      }
+    ),
+    /* @__PURE__ */ e.jsx("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ e.jsx("group", { children: t.map((s, n) => /* @__PURE__ */ e.jsx(
+      L,
+      {
+        form: "circle",
+        intensity: 5,
+        rotation: [Math.PI / 2, 0, 0],
+        position: [s, 4, n * 4],
+        scale: [3, 1, 1]
+      },
+      n
+    )) }) }),
+    /* @__PURE__ */ e.jsx(
+      L,
+      {
+        intensity: 40,
+        "rotation-y": Math.PI / 2,
+        position: [-5, 1, -1],
+        scale: [20, 0.1, 1]
+      }
+    ),
+    /* @__PURE__ */ e.jsx(
+      L,
+      {
+        intensity: 20,
+        "rotation-y": -Math.PI,
+        position: [-5, -2, -1],
+        scale: [20, 0.1, 1]
+      }
+    ),
+    /* @__PURE__ */ e.jsx(
+      L,
+      {
+        "rotation-y": Math.PI / 2,
+        position: [-5, -1, -1],
+        scale: [20, 0.5, 1],
+        intensity: 5
+      }
+    ),
+    /* @__PURE__ */ e.jsx(
+      L,
+      {
+        "rotation-y": -Math.PI / 2,
+        position: [10, 1, 0],
+        scale: [20, 1, 1],
+        intensity: 10
+      }
+    ),
+    /* @__PURE__ */ e.jsx(
+      L,
+      {
+        form: "ring",
+        color: "white",
+        intensity: 5,
+        scale: 10,
+        position: [-15, 4, -18],
+        target: [0, 0, 0]
+      }
+    )
+  ] });
+}
+function at({
+  safetyZones: t,
+  dhParameters: s,
+  ...n
+}) {
+  const a = {
+    attach: "material",
+    color: "#009f4d",
+    opacity: 0.2,
+    depthTest: !1,
+    depthWrite: !1,
+    transparent: !0,
+    polygonOffset: !0
+  }, i = Me(s ?? []), u = (f, r) => {
+    var d, x;
+    if (!((d = r == null ? void 0 : r.pose) != null && d.position) || !((x = r == null ? void 0 : r.pose) != null && x.orientation))
+      return null;
+    const h = new g.Vector3(r.pose.position[0] / 1e3, r.pose.position[1] / 1e3, r.pose.position[2] / 1e3), m = new g.Vector3(r.pose.orientation[0], r.pose.orientation[1], r.pose.orientation[2]);
+    let o;
+    const l = r.shape.shape_type === "plane" ? { ...a, side: g.DoubleSide } : { ...a, side: g.FrontSide };
+    switch (r.shape.shape_type) {
+      /**
+       * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
+       */
+      case "plane":
+        o = /* @__PURE__ */ e.jsx("planeGeometry", { args: [i, i] });
+        break;
+      /**
+       * Sphere shape
+       */
+      case "sphere": {
+        const p = (r == null ? void 0 : r.shape).radius / 1e3;
+        o = /* @__PURE__ */ e.jsx("sphereGeometry", { args: [p] });
+        break;
+      }
+      /**
+       * Capsule shape
+       */
+      case "capsule": {
+        const p = (r == null ? void 0 : r.shape).radius / 1e3, j = (r == null ? void 0 : r.shape).cylinder_height / 1e3;
+        o = /* @__PURE__ */ e.jsx("capsuleGeometry", { args: [p, j] });
+        break;
+      }
+      /**
+       * Convex hull, checks at first if the vertices are coplanar - if yes, adds a small offset for
+       * renderer to be able to visualize the convex hull.
+       */
+      case "convex_hull": {
+        const p = (r == null ? void 0 : r.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 G = new g.Vector3().addVectors(
+            p[0],
+            j.normal.multiplyScalar(1e-4)
+          );
+          p.push(G);
+        }
+        try {
+          o = /* @__PURE__ */ e.jsx("primitive", { object: new oe(p), attach: "geometry" });
+        } catch (y) {
+          return console.log("Error creating ConvexGeometry:", y), null;
+        }
+        break;
+      }
+      /**
+       * Convex hull around four spheres. Sphere center points in x/y-plane,
+       * offset by either combination "+/- sizeX" or "+/- sizeY".
+       * Alternative description: Rectangle in x/y-plane with a 3D padding (source: nova-api docs)
+       *
+       * Basically a rounded box with a rectangular cross-section.
+       */
+      case "rectangular_capsule": {
+        const p = r.shape, j = p.radius / 1e3, y = p.sphere_center_distance_x / 1e3, G = p.sphere_center_distance_y / 1e3, S = j * 2;
+        o = /* @__PURE__ */ e.jsx(
+          "primitive",
+          {
+            object: new Fe(y, G, S, 2, j),
+            attach: "geometry"
+          }
+        );
+        break;
+      }
+      default:
+        console.warn("Unsupported safety zone shape type:", r.shape.shape_type), o = null;
+    }
+    return /* @__PURE__ */ e.jsxs(
+      "mesh",
+      {
+        renderOrder: f,
+        position: h,
+        quaternion: Te(m),
+        children: [
+          o,
+          /* @__PURE__ */ e.jsx("meshStandardMaterial", { ...l, polygonOffsetFactor: -f })
+        ]
+      },
+      `safety-zone-${r.shape.shape_type}-${f}`
+    );
+  }, c = V(() => Object.values(t ?? {}).map((f, r) => u(r, f)), [t, i]);
+  return /* @__PURE__ */ e.jsx("group", { ...n, children: c });
+}
+function lt({
+  trajectory: t,
+  ...s
+}) {
+  const n = (t == null ? void 0 : t.map((a) => {
+    if (a.position && a.position.length >= 3) {
+      const [i, u, c] = a.position;
+      if (isFinite(i) && isFinite(u) && isFinite(c))
+        return new g.Vector3(i / 1e3, c / 1e3, -u / 1e3);
+    }
+    return null;
+  }).filter((a) => a !== null)) || [];
+  return /* @__PURE__ */ e.jsx("group", { ...s, children: n.length > 0 && /* @__PURE__ */ e.jsx(
+    B,
+    {
+      points: n,
+      lineWidth: 3,
+      polygonOffset: !0,
+      polygonOffsetFactor: 10,
+      polygonOffsetUnits: 10
+    }
+  ) });
+}
+const E = /* @__PURE__ */ new Map();
+async function C(t, s) {
+  if (E.has(t))
+    return E.get(t);
+  const n = (async () => {
+    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((f) => {
+      var r;
+      return (r = f.url) != null && r.includes("/glb") && (f.responseType = "blob"), f;
+    });
+    try {
+      const f = await i.api.motionGroupModels.getMotionGroupGlbModel(t);
+      return URL.createObjectURL(f);
+    } catch (f) {
+      throw console.error("Failed to fetch model:", f), f;
+    }
+  })();
+  return E.set(t, n), n;
+}
+function ue(t) {
+  function s(n) {
+    return n.children.length === 0 ? [n] : [n, ...n.children.flatMap((a) => s(a))];
+  }
+  return s(t).filter((n) => pe(n));
+}
+function de(t) {
+  return t.name.endsWith("_FLG");
+}
+function pe(t) {
+  return /_J[0-9]+$/.test(t.name);
+}
+function Ee(t, s) {
+  let n;
+  function a(i) {
+    if (de(i)) {
+      if (n)
+        throw Error(
+          `Found multiple flange groups in robot model ${s}; first ${n.name} then ${i.name}. Only one _FLG group is allowed.`
+        );
+      n = i;
+    }
+    pe(i), i.children.map(a);
+  }
+  if (a(t.scene), !n)
+    throw Error(
+      `No flange group found in robot model ${s}. Flange must be identified with a name ending in _FLG.`
+    );
+  return { gltf: t };
+}
+function fe({
+  rapidlyChangingMotionState: t,
+  dhParameters: s,
+  onRotationChanged: n,
+  children: a
+}) {
+  const i = R([]), u = R([]), c = R(null), { invalidate: f } = ae();
+  M(() => {
+    const o = t.joint_position.filter(
+      (l) => l !== void 0
+    );
+    return c.current = new re(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 l;
+      (l = c.current) == null || l.destroy();
+    };
+  }, []), le((o, l) => {
+    if (c.current) {
+      const d = c.current.update(l);
+      h(), d || f();
+    }
+  });
+  function r(o) {
+    o && (u.current = ue(o), h(), f());
+  }
+  function h() {
+    var l;
+    const o = ((l = c.current) == null ? void 0 : l.getCurrentValues()) || [];
+    if (n)
+      n(u.current, o);
+    else
+      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 m = T(() => {
+    const o = t.joint_position.filter(
+      (l) => l !== void 0
+    );
+    requestAnimationFrame(() => {
+      var l;
+      i.current = o, (l = c.current) == null || l.setTarget(o);
+    });
+  }, [t]);
+  return M(() => {
+    m();
+  }, [t, m]), se(() => {
+    m();
+  }), /* @__PURE__ */ e.jsx("group", { ref: r, children: a });
+}
+const Je = "line", Be = "mesh";
+function We({
+  rapidlyChangingMotionState: t,
+  dhParameters: s,
+  ...n
+}) {
+  const a = new w(), i = R([]), u = R([]);
+  Ge.useEffect(() => {
+    i.current = new Array(s.length).fill(null), u.current = new Array(s.length).fill(null);
+  }, [s.length]);
+  function c(h, m) {
+    const o = new k(), l = new J(), d = new k();
+    a.decompose(o, l, d);
+    const x = o.clone(), p = new w().makeRotationY(
+      h.theta + m * (h.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new w().makeTranslation(0, h.d / 1e3, 0)).multiply(new w().makeTranslation(h.a / 1e3, 0, 0)).multiply(new w().makeRotationX(h.alpha));
+    return a.multiply(p), a.decompose(o, l, d), { a: x, b: o };
+  }
+  function f(h, m, o, l) {
+    if (!s)
+      return;
+    const d = s[h];
+    if (!d)
+      return;
+    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 r(h, m) {
+    a.identity();
+    for (let o = 0; o < Math.min(h.length, m.length); o++) {
+      const l = i.current[o], d = u.current[o];
+      l && d && f(o, l, d, m[o]);
+    }
+  }
+  return /* @__PURE__ */ e.jsx(e.Fragment, { children: /* @__PURE__ */ e.jsx(
+    fe,
+    {
+      rapidlyChangingMotionState: t,
+      dhParameters: s,
+      onRotationChanged: r,
+      children: /* @__PURE__ */ e.jsxs("group", { ...n, 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 })
+        ] }),
+        s.map((h, m) => {
+          const { a: o, b: l } = c(
+            h,
+            t.joint_position[m] ?? 0
+          ), d = `dhrobot_J0${m}`;
+          return /* @__PURE__ */ e.jsxs("group", { name: d, children: [
+            /* @__PURE__ */ e.jsx(
+              B,
+              {
+                ref: (x) => {
+                  i.current[m] = x;
+                },
+                name: Je,
+                points: [o, l],
+                color: "white",
+                lineWidth: 5
+              }
+            ),
+            /* @__PURE__ */ e.jsxs(
+              "mesh",
+              {
+                ref: (x) => {
+                  u.current[m] = x;
+                },
+                name: Be,
+                position: l,
+                children: [
+                  /* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
+                  /* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
+                ]
+              },
+              "mesh_" + m
+            )
+          ] }, d);
+        })
+      ] })
+    }
+  ) });
+}
+const $e = console.warn;
+function he() {
+  return M(() => {
+    console.warn = (t) => {
+      t !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && $e(t);
+    };
+  }, []), /* @__PURE__ */ e.jsx(e.Fragment, {});
+}
+function He(t) {
+  return t.type === "Mesh";
+}
+function Ne({
+  url: t,
+  flangeRef: s,
+  postModelRender: n,
+  ...a
+}) {
+  const i = Se(t);
+  let u;
+  try {
+    u = Ee(i, "robot.glb").gltf;
+  } catch (r) {
+    throw r;
+  }
+  const c = T(
+    (r) => {
+      r && n && n();
+    },
+    [n]
+  );
+  function f(r) {
+    try {
+      return He(r) ? r.geometry ? /* @__PURE__ */ e.jsx(
+        "mesh",
+        {
+          name: r.name,
+          geometry: r.geometry,
+          material: r.material,
+          position: r.position,
+          rotation: r.rotation
+        },
+        r.uuid
+      ) : /* @__PURE__ */ e.jsx("group", { name: r.name, position: r.position, rotation: r.rotation }, r.uuid) : /* @__PURE__ */ e.jsx(
+        "group",
+        {
+          name: r.name,
+          position: r.position,
+          rotation: r.rotation,
+          ref: de(r) ? s : void 0,
+          children: r.children.map(f)
+        },
+        r.uuid
+      );
+    } catch (h) {
+      return console.warn("Error rendering node", r.name, h), null;
+    }
+  }
+  return /* @__PURE__ */ e.jsx("group", { ...a, dispose: null, ref: c, children: f(u.scene) });
+}
+function me({
+  modelURL: t,
+  flangeRef: s,
+  postModelRender: n,
+  ...a
+}) {
+  const [i, u] = F(null);
+  return M(() => {
+    (async () => {
+      try {
+        if (typeof t == "string")
+          u(t);
+        else {
+          const f = await t;
+          u(f);
+        }
+      } catch (f) {
+        console.error("Failed to resolve model URL:", f);
+      }
+    })();
+  }, [t]), i ? /* @__PURE__ */ e.jsx(
+    Ne,
+    {
+      url: i,
+      flangeRef: s,
+      postModelRender: n,
+      ...a
+    }
+  ) : null;
+}
+const xe = (t, s) => {
+  t.userData.isGhost || (t.traverse((n) => {
+    if (n instanceof g.Mesh) {
+      n.material instanceof g.Material && (n.material.colorWrite = !1);
+      const a = n.clone(), i = n.clone();
+      a.material = new g.MeshStandardMaterial({
+        depthTest: !0,
+        depthWrite: !0,
+        colorWrite: !1,
+        polygonOffset: !0,
+        polygonOffsetFactor: -1,
+        side: g.DoubleSide
+      }), a.userData.isGhost = !0, i.material = new g.MeshStandardMaterial({
+        color: s,
+        opacity: 0.3,
+        depthTest: !0,
+        depthWrite: !1,
+        transparent: !0,
+        polygonOffset: !0,
+        polygonOffsetFactor: -2,
+        side: g.DoubleSide
+      }), i.userData.isGhost = !0, n.parent && (n.parent.add(a), n.parent.add(i));
+    }
+  }), t.userData.isGhost = !0);
+}, ye = (t) => {
+  if (!t.userData.isGhost) return;
+  const s = [];
+  t.traverse((n) => {
+    var a;
+    n instanceof g.Mesh && ((a = n.userData) != null && a.isGhost ? s.push(n) : n.material instanceof g.Material && (n.material.colorWrite = !0));
+  }), s.forEach((n) => {
+    n.parent && n.parent.remove(n);
+  }), t.userData.isGhost = !1;
+}, ge = U(
+  ({
+    rapidlyChangingMotionState: t,
+    modelFromController: s,
+    dhParameters: n,
+    getModel: a = C,
+    flangeRef: i,
+    postModelRender: u,
+    transparentColor: c,
+    instanceUrl: f,
+    ...r
+  }) => {
+    const [h, m] = F(null), o = T((d) => {
+      m(d);
+    }, []);
+    M(() => {
+      h && (c ? xe(h, c) : ye(h));
+    }, [h, c]);
+    const l = /* @__PURE__ */ e.jsx(
+      We,
+      {
+        rapidlyChangingMotionState: t,
+        dhParameters: n,
+        ...r
+      }
+    );
+    return /* @__PURE__ */ e.jsxs(
+      ce,
+      {
+        fallback: l,
+        onError: (d) => {
+          console.warn(d);
+        },
+        children: [
+          /* @__PURE__ */ e.jsx(ie, { fallback: l, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
+            fe,
+            {
+              rapidlyChangingMotionState: t,
+              dhParameters: n,
+              children: /* @__PURE__ */ e.jsx(
+                me,
+                {
+                  modelURL: (() => {
+                    const d = a(s, f);
+                    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 d;
+                  })(),
+                  postModelRender: u,
+                  flangeRef: i,
+                  ...r
+                }
+              )
+            }
+          ) }) }),
+          /* @__PURE__ */ e.jsx(he, {})
+        ]
+      }
+    );
+  }
+);
+function qe({
+  connectedMotionGroup: t,
+  getModel: s = C,
+  flangeRef: n,
+  transparentColor: a,
+  postModelRender: i,
+  ...u
+}) {
+  return t.dhParameters ? /* @__PURE__ */ e.jsx(
+    ge,
+    {
+      rapidlyChangingMotionState: t.rapidlyChangingMotionState,
+      modelFromController: t.modelFromController || "",
+      dhParameters: t.dhParameters,
+      getModel: s,
+      flangeRef: n,
+      transparentColor: a,
+      postModelRender: i,
+      ...u
+    }
+  ) : null;
+}
+const ct = U(
+  Ie(
+    ({
+      robotName: t,
+      programState: s,
+      safetyState: n,
+      operationMode: a,
+      driveToHomeEnabled: i = !1,
+      onDriveToHomePress: u,
+      onDriveToHomeRelease: c,
+      connectedMotionGroup: f,
+      robotComponent: r = qe,
+      customContentComponent: h,
+      className: m
+    }) => {
+      var H;
+      const o = Pe(), { t: l } = De(), [d, x] = F(!1), p = R(null), j = R(null), [y, G] = F(!1), [S, Re] = F({ width: 400, height: 600 }), [Xe, ve] = F(0);
+      M(() => {
+        const D = () => {
+          if (j.current) {
+            const { offsetWidth: q, offsetHeight: Y } = j.current;
+            G(q > Y), Re({ width: q, height: Y });
+          }
+        };
+        D();
+        const N = new ResizeObserver(D);
+        return j.current && N.observe(j.current), () => {
+          N.disconnect();
+        };
+      }, []);
+      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 ? S.width < 350 : S.height < 200, I = y ? S.height < 310 : S.height < 450;
+      return /* @__PURE__ */ e.jsx(
+        Ae,
+        {
+          ref: j,
+          className: m,
+          sx: {
+            width: "100%",
+            height: "100%",
+            display: "flex",
+            flexDirection: y ? "row" : "column",
+            position: "relative",
+            overflow: "hidden",
+            minWidth: { xs: 180, sm: 220, md: 250 },
+            minHeight: y ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
+            // Allow progressive hiding in portrait mode
+            border: `1px solid ${o.palette.divider}`,
+            borderRadius: "18px",
+            boxShadow: "none",
+            backgroundColor: ((H = o.palette.backgroundPaperElevation) == null ? void 0 : H[8]) || "#2A2A3F",
+            backgroundImage: "none"
+            // Override any gradient from elevation
+          },
+          children: y ? /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
+            /* @__PURE__ */ e.jsx(
+              b,
+              {
+                sx: {
+                  flex: "0 0 50%",
+                  position: "relative",
+                  height: "100%",
+                  minHeight: "100%",
+                  maxHeight: "100%",
+                  borderRadius: 1,
+                  m: { xs: 1.5, sm: 2, md: 3 },
+                  mr: { xs: 0.75, sm: 1, md: 1.5 },
+                  overflow: "hidden",
+                  // Prevent content from affecting container size
+                  display: _ ? "none" : "block"
+                },
+                children: !_ && /* @__PURE__ */ e.jsxs(
+                  K,
+                  {
+                    orthographic: !0,
+                    camera: {
+                      position: [3, 2, 3],
+                      zoom: 1
+                    },
+                    shadows: !0,
+                    frameloop: "demand",
+                    style: {
+                      borderRadius: o.shape.borderRadius,
+                      width: "100%",
+                      height: "100%",
+                      background: "transparent",
+                      position: "absolute",
+                      top: 0,
+                      left: 0
+                    },
+                    dpr: [1, 2],
+                    gl: { alpha: !0, antialias: !0 },
+                    children: [
+                      /* @__PURE__ */ e.jsx(te, {}),
+                      /* @__PURE__ */ e.jsx(Z, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
+                        r,
+                        {
+                          connectedMotionGroup: f,
+                          postModelRender: W
+                        }
+                      ) })
+                    ]
+                  }
+                )
+              }
+            ),
+            /* @__PURE__ */ e.jsxs(
+              b,
+              {
+                sx: {
+                  flex: "1",
+                  display: "flex",
+                  flexDirection: "column",
+                  justifyContent: "flex-start",
+                  width: _ ? "100%" : "50%"
+                },
+                children: [
+                  /* @__PURE__ */ e.jsxs(
+                    b,
+                    {
+                      sx: {
+                        p: { xs: 1.5, sm: 2, md: 3 },
+                        pb: { xs: 1, sm: 1.5, md: 2 },
+                        textAlign: "left"
+                      },
+                      children: [
+                        /* @__PURE__ */ e.jsx(Q, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
+                        /* @__PURE__ */ e.jsx(
+                          X,
+                          {
+                            programState: s,
+                            safetyState: n,
+                            operationMode: a
+                          }
+                        )
+                      ]
+                    }
+                  ),
+                  /* @__PURE__ */ e.jsxs(
+                    b,
+                    {
+                      sx: {
+                        p: { xs: 1.5, sm: 2, md: 3 },
+                        pt: 0,
+                        flex: "1",
+                        display: "flex",
+                        flexDirection: "column",
+                        justifyContent: "space-between"
+                      },
+                      children: [
+                        !I && h && /* @__PURE__ */ e.jsxs(b, { children: [
+                          /* @__PURE__ */ e.jsx(h, {}),
+                          /* @__PURE__ */ e.jsx(
+                            z,
+                            {
+                              sx: {
+                                mt: 1,
+                                mb: 0,
+                                borderColor: o.palette.divider,
+                                opacity: 0.5
+                              }
+                            }
+                          )
+                        ] }),
+                        /* @__PURE__ */ e.jsx(
+                          b,
+                          {
+                            sx: {
+                              mt: !I && h ? "auto" : 0
+                            },
+                            children: /* @__PURE__ */ e.jsx(
+                              b,
+                              {
+                                sx: {
+                                  display: "flex",
+                                  justifyContent: "flex-start",
+                                  mt: { xs: 1, sm: 1.5, md: 2 },
+                                  mb: { xs: 0.5, sm: 0.75, md: 1 }
+                                },
+                                children: /* @__PURE__ */ e.jsx(
+                                  ee,
+                                  {
+                                    ref: p,
+                                    variant: "contained",
+                                    color: "secondary",
+                                    size: "small",
+                                    disabled: !i,
+                                    onMouseDown: P,
+                                    onMouseUp: A,
+                                    onMouseLeave: $,
+                                    onTouchStart: P,
+                                    onTouchEnd: A,
+                                    sx: {
+                                      textTransform: "none",
+                                      px: 1.5,
+                                      py: 0.5
+                                    },
+                                    children: l("RobotCard.DriveToHome.bt")
+                                  }
+                                )
+                              }
+                            )
+                          }
+                        )
+                      ]
+                    }
+                  )
+                ]
+              }
+            )
+          ] }) : /* @__PURE__ */ e.jsx(e.Fragment, { children: /* @__PURE__ */ e.jsxs(
+            b,
+            {
+              sx: {
+                p: 3,
+                height: "100%",
+                display: "flex",
+                flexDirection: "column"
+              },
+              children: [
+                /* @__PURE__ */ e.jsxs(b, { children: [
+                  /* @__PURE__ */ e.jsx(Q, { variant: "h6", component: "h2", sx: { mb: 1 }, children: t }),
+                  /* @__PURE__ */ e.jsx(
+                    X,
+                    {
+                      programState: s,
+                      safetyState: n,
+                      operationMode: a
+                    }
+                  )
+                ] }),
+                /* @__PURE__ */ e.jsx(
+                  b,
+                  {
+                    sx: {
+                      flex: _ ? 0 : 1,
+                      position: "relative",
+                      minHeight: _ ? 0 : { xs: 120, sm: 150, md: 200 },
+                      height: _ ? 0 : "auto",
+                      borderRadius: 1,
+                      overflow: "hidden",
+                      display: _ ? "none" : "block"
+                    },
+                    children: !_ && /* @__PURE__ */ e.jsxs(
+                      K,
+                      {
+                        orthographic: !0,
+                        camera: {
+                          position: [3, 2, 3],
+                          zoom: 1
+                        },
+                        shadows: !0,
+                        frameloop: "demand",
+                        style: {
+                          borderRadius: o.shape.borderRadius,
+                          width: "100%",
+                          height: "100%",
+                          background: "transparent",
+                          position: "absolute"
+                        },
+                        dpr: [1, 2],
+                        gl: { alpha: !0, antialias: !0 },
+                        children: [
+                          /* @__PURE__ */ e.jsx(te, {}),
+                          /* @__PURE__ */ e.jsx(Z, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ e.jsx(
+                            r,
+                            {
+                              connectedMotionGroup: f,
+                              postModelRender: W
+                            }
+                          ) })
+                        ]
+                      }
+                    )
+                  }
+                ),
+                /* @__PURE__ */ e.jsxs(b, { children: [
+                  !I && h && /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
+                    /* @__PURE__ */ e.jsx(h, {}),
+                    /* @__PURE__ */ e.jsx(
+                      z,
+                      {
+                        sx: {
+                          mt: 1,
+                          mb: 0,
+                          borderColor: o.palette.divider,
+                          opacity: 0.5
+                        }
+                      }
+                    )
+                  ] }),
+                  /* @__PURE__ */ e.jsx(
+                    b,
+                    {
+                      sx: {
+                        display: "flex",
+                        justifyContent: "flex-start",
+                        mt: !I && h ? { 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(
+                        ee,
+                        {
+                          ref: p,
+                          variant: "contained",
+                          color: "secondary",
+                          size: "small",
+                          disabled: !i,
+                          onMouseDown: P,
+                          onMouseUp: A,
+                          onMouseLeave: $,
+                          onTouchStart: P,
+                          onTouchEnd: A,
+                          sx: {
+                            textTransform: "none",
+                            px: 1.5,
+                            py: 0.5
+                          },
+                          children: l("RobotCard.DriveToHome.bt")
+                        }
+                      )
+                    }
+                  )
+                ] })
+              ]
+            }
+          ) })
+        }
+      );
+    }
+  )
+), ut = Array(6).fill(2 * Math.PI);
+function je({
+  rapidlyChangingMotionState: t,
+  dhParameters: s,
+  onTranslationChanged: n,
+  children: a
+}) {
+  const i = R([]), u = R([]), c = R(null), { invalidate: f } = ae();
+  M(() => {
+    const o = t.joint_position.filter(
+      (l) => l !== void 0
+    );
+    return c.current = new re(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 l;
+      (l = c.current) == null || l.destroy();
+    };
+  }, []), le((o, l) => {
+    if (c.current) {
+      const d = c.current.update(l);
+      h(), d || f();
+    }
+  });
+  function r(o) {
+    o && (u.current = ue(o), h(), f());
+  }
+  function h() {
+    var l;
+    const o = ((l = c.current) == null ? void 0 : l.getCurrentValues()) || [];
+    if (n)
+      n(u.current, o);
+    else
+      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 m = T(() => {
+    const o = t.joint_position.filter(
+      (l) => l !== void 0
+    );
+    requestAnimationFrame(() => {
+      var l;
+      i.current = o, (l = c.current) == null || l.setTarget(o);
+    });
+  }, [t]);
+  return M(() => {
+    m();
+  }, [t, m]), se(() => {
+    m();
+  }), /* @__PURE__ */ e.jsx("group", { ref: r, children: a });
+}
+function we({
+  rapidlyChangingMotionState: t,
+  dhParameters: s,
+  ...n
+}) {
+  const a = new w(), i = R(null), u = R(null);
+  function c(h) {
+    const m = new w();
+    for (let x = 0; x < s.length; x++) {
+      const p = s[x], j = h[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 w().makeRotationX(p.alpha));
+      m.multiply(y);
+    }
+    const o = new k(), l = new J(), d = new k();
+    return m.decompose(o, l, d), o;
+  }
+  const f = c(t.joint_position);
+  function r(h, m) {
+    a.identity();
+    let o = new k();
+    for (let p = 0; p < s.length; p++) {
+      const j = m[p] ?? 0, y = s[p], G = 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 w().makeRotationX(y.alpha));
+      a.multiply(G);
+    }
+    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(
+    je,
+    {
+      rapidlyChangingMotionState: t,
+      dhParameters: s,
+      onTranslationChanged: r,
+      children: /* @__PURE__ */ e.jsxs("group", { ...n, 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: u,
+            points: [new k(0, 0, 0), f],
+            color: "White",
+            lineWidth: 5
+          }
+        ),
+        /* @__PURE__ */ e.jsxs("mesh", { ref: i, name: "TCP", position: f, children: [
+          /* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.025, 32, 32] }),
+          /* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "red", depthTest: !0 })
+        ] })
+      ] })
+    }
+  ) });
+}
+const be = U(
+  ({
+    rapidlyChangingMotionState: t,
+    modelFromController: s,
+    dhParameters: n,
+    getModel: a = C,
+    flangeRef: i,
+    postModelRender: u,
+    transparentColor: c,
+    instanceUrl: f,
+    ...r
+  }) => {
+    const [h, m] = F(null), o = T((d) => {
+      m(d);
+    }, []);
+    M(() => {
+      h && (c ? xe(h, c) : ye(h));
+    }, [h, c]);
+    const l = /* @__PURE__ */ e.jsx(
+      we,
+      {
+        rapidlyChangingMotionState: t,
+        dhParameters: n,
+        ...r
+      }
+    );
+    return /* @__PURE__ */ e.jsxs(
+      ce,
+      {
+        fallback: l,
+        onError: (d) => {
+          console.warn(d);
+        },
+        children: [
+          /* @__PURE__ */ e.jsx(ie, { fallback: l, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
+            je,
+            {
+              rapidlyChangingMotionState: t,
+              dhParameters: n,
+              children: /* @__PURE__ */ e.jsx(
+                me,
+                {
+                  modelURL: (() => {
+                    const d = a(s, f);
+                    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 d;
+                  })(),
+                  postModelRender: u,
+                  flangeRef: i,
+                  ...r
+                }
+              )
+            }
+          ) }) }),
+          /* @__PURE__ */ e.jsx(he, {})
+        ]
+      }
+    );
+  }
+);
+function dt({
+  connectedMotionGroup: t,
+  getModel: s = C,
+  flangeRef: n,
+  transparentColor: a,
+  postModelRender: i,
+  ...u
+}) {
+  if (!t.dhParameters)
+    return null;
+  const c = t.modelFromController || "";
+  return c && s(c) ? /* @__PURE__ */ e.jsx(
+    be,
+    {
+      rapidlyChangingMotionState: t.rapidlyChangingMotionState,
+      modelFromController: c,
+      dhParameters: t.dhParameters,
+      getModel: s,
+      flangeRef: n,
+      transparentColor: a,
+      postModelRender: i,
+      ...u
+    }
+  ) : /* @__PURE__ */ e.jsx(
+    we,
+    {
+      rapidlyChangingMotionState: t.rapidlyChangingMotionState,
+      dhParameters: t.dhParameters,
+      ...u
+    }
+  );
+}
+const ne = {
+  [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,
+    0,
+    Math.PI / 2,
+    0,
+    0
+  ],
+  [v.Universalrobots]: [
+    0,
+    -Math.PI / 2,
+    -Math.PI / 2,
+    -Math.PI / 2,
+    Math.PI / 2,
+    -Math.PI / 2,
+    0
+  ]
+};
+function Ye(t) {
+  const [s] = t.split("_");
+  switch (s) {
+    case "ABB":
+      return v.Abb;
+    case "FANUC":
+      return v.Fanuc;
+    case "YASKAWA":
+      return v.Yaskawa;
+    case "KUKA":
+      return v.Kuka;
+    case "UniversalRobots":
+      return v.Universalrobots;
+    default:
+      return null;
+  }
+}
+function pt(t, s) {
+  const n = Ye(t);
+  return n && n in ne ? ne[n] : s || null;
+}
+const ft = U((t) => {
+  const {
+    inverseSolver: s,
+    dhParameters: n,
+    ...a
+  } = t, [i, u] = F(O.RevoluteJoint);
+  M(() => {
+    n.length && u(n[0].type ?? O.RevoluteJoint);
+  }, [n]);
+  const c = V(() => s === null && i === O.RevoluteJoint, [s, i]), f = V(() => s === null && i === O.PrismaticJoint, [s, i]);
+  return V(() => !!s, [s]) || c ? /* @__PURE__ */ e.jsx(ge, { dhParameters: n, ...a }) : f ? /* @__PURE__ */ e.jsx(be, { dhParameters: n, ...a }) : /* @__PURE__ */ e.jsx(e.Fragment, {});
+});
+export {
+  it as C,
+  dt as L,
+  ne as M,
+  te as P,
+  ct as R,
+  at as S,
+  lt as T,
+  ut as a,
+  qe as b,
+  be as c,
+  C as d,
+  Ye as e,
+  ge as f,
+  pt as g,
+  ft as h
+};
+//# sourceMappingURL=MotionGroupVisualizer-Cm-XYEZe.js.map