@wandelbots/wandelbots-js-react-components 5.10.0 → 6.0.0-pr.motion-smoothing-config.624.f0bfa13

package/dist/chunks/{MotionGroupVisualizer-BRec-k-p.js → MotionGroupVisualizer-DqUGHRK7.js}

@@ -1,26 +1,26 @@
-import { jsx as r, jsxs as x, Fragment as J } from "react/jsx-runtime";
+import { jsx as r, jsxs as x, Fragment as j } from "react/jsx-runtime";
 import * as w from "three";
-import { Matrix4 as v, Vector3 as L, Quaternion as $ } from "three";
-import { ConvexGeometry as ce, RoundedBoxGeometry as Ge } from "three-stdlib";
-import Le, { useMemo as F, forwardRef as Ie, useRef as R, useEffect as T, useImperativeHandle as Pe, useState as I, useCallback as G, Suspense as le } from "react";
-import { d as Ae, v as Fe, o as De, e as C } from "./externalizeComponent-EDymnaGR.js";
-import { Environment as Oe, Lightformer as A, Line as N, useGLTF as Ve, Bounds as z } from "@react-three/drei";
-import { useTheme as Ee } from "@mui/material/styles";
-import M from "@mui/material/Box";
-import ee from "@mui/material/Button";
-import Ue from "@mui/material/Card";
-import te from "@mui/material/Divider";
-import re from "@mui/material/Typography";
-import { useThree as ue, useFrame as fe, Canvas as ne } from "@react-three/fiber";
-import { observer as Je } from "mobx-react-lite";
-import { useTranslation as Ce } from "react-i18next";
-import { V as pe, c as de, b as oe } from "./interpolation-DG8VTxzS.js";
-import { Nova as je, Manufacturer as _, JointTypeEnum as U } from "@wandelbots/nova-js/v2";
-import { ErrorBoundary as he } from "react-error-boundary";
+import { Matrix4 as _, Vector3 as L, Quaternion as Y } from "three";
+import { ConvexGeometry as le, RoundedBoxGeometry as ke } from "three-stdlib";
+import Ge, { useMemo as F, forwardRef as Le, useRef as v, useEffect as I, useImperativeHandle as Pe, useState as P, useCallback as G, Suspense as ue } from "react";
+import { d as Ae, v as Fe, o as De, e as B } from "./externalizeComponent-EDymnaGR.js";
+import { Environment as Oe, Lightformer as A, Line as q, useGLTF as Ve, Bounds as ee } from "@react-three/drei";
+import { useTheme as Ce } from "@mui/material/styles";
+import T from "@mui/material/Box";
+import te from "@mui/material/Button";
+import Ee from "@mui/material/Card";
+import re from "@mui/material/Divider";
+import ne from "@mui/material/Typography";
+import { useThree as fe, useFrame as pe, Canvas as oe } from "@react-three/fiber";
+import { observer as Ue } from "mobx-react-lite";
+import { useTranslation as Je } from "react-i18next";
+import { V as de, d as he, b as ie } from "./interpolation-jnKIUiIm.js";
+import { Nova as je, Manufacturer as S, JointTypeEnum as J } from "@wandelbots/nova-js/v2";
+import { ErrorBoundary as me } from "react-error-boundary";
 function Be(e) {
   switch (e.shape_type) {
     case "convex_hull":
-      return new ce(
+      return new le(
         e.vertices.map(
           (t) => new w.Vector3(
             t[0] / 1e3,
@@ -59,8 +59,8 @@ function We({
   collider: n,
   children: t
 }) {
-  var f, c;
-  const s = ((f = n.pose) == null ? void 0 : f.position) ?? [0, 0, 0], a = ((c = n.pose) == null ? void 0 : c.orientation) ?? [0, 0, 0];
+  var f, l;
+  const s = ((f = n.pose) == null ? void 0 : f.position) ?? [0, 0, 0], a = ((l = n.pose) == null ? void 0 : l.orientation) ?? [0, 0, 0];
   return n.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ r(
     "mesh",
     {
@@ -92,7 +92,7 @@ function $e({
     a
   )) });
 }
-function xt({
+function vt({
   scene: e,
   meshChildrenProvider: n
 }) {
@@ -105,12 +105,12 @@ function xt({
     }
   ) });
 }
-function ie() {
+function se() {
   return /* @__PURE__ */ r(Oe, { frames: 1, children: /* @__PURE__ */ r(He, {}) });
 }
 const Ne = [2, 0, 2, 0, 2, 0, 2, 0];
 function He({ positions: e = Ne }) {
-  return /* @__PURE__ */ x(J, { children: [
+  return /* @__PURE__ */ x(j, { children: [
     /* @__PURE__ */ r(
       A,
       {
@@ -180,7 +180,7 @@ function He({ positions: e = Ne }) {
     )
   ] });
 }
-const se = {
+const ae = {
   attach: "material",
   color: "#009f4d",
   opacity: 0.2,
@@ -189,7 +189,7 @@ const se = {
   transparent: !0,
   polygonOffset: !0
 };
-function Rt({
+function Mt({
   safetyZones: e,
   dhParameters: n,
   ...t
@@ -197,11 +197,11 @@ function Rt({
   const s = F(
     () => Ae(n ?? []),
     [n]
-  ), a = (c, o) => {
-    var p, y;
-    if (!((p = o == null ? void 0 : o.pose) != null && p.position) || !((y = o == null ? void 0 : o.pose) != null && y.orientation))
+  ), a = (l, o) => {
+    var g, h;
+    if (!((g = o == null ? void 0 : o.pose) != null && g.position) || !((h = o == null ? void 0 : o.pose) != null && h.orientation))
       return null;
-    const g = new w.Vector3(
+    const y = new w.Vector3(
       o.pose.position[0] / 1e3,
       o.pose.position[1] / 1e3,
       o.pose.position[2] / 1e3
@@ -210,29 +210,29 @@ function Rt({
       o.pose.orientation[1],
       o.pose.orientation[2]
     );
-    let h;
-    const l = o.shape.shape_type === "plane" ? { ...se, side: w.DoubleSide } : { ...se, side: w.FrontSide };
+    let p;
+    const d = o.shape.shape_type === "plane" ? { ...ae, side: w.DoubleSide } : { ...ae, side: w.FrontSide };
     switch (o.shape.shape_type) {
       /**
        * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
        */
       case "plane":
-        h = /* @__PURE__ */ r("planeGeometry", { args: [s, s] });
+        p = /* @__PURE__ */ r("planeGeometry", { args: [s, s] });
         break;
       /**
        * Sphere shape
        */
       case "sphere": {
-        const m = (o == null ? void 0 : o.shape).radius / 1e3;
-        h = /* @__PURE__ */ r("sphereGeometry", { args: [m] });
+        const c = (o == null ? void 0 : o.shape).radius / 1e3;
+        p = /* @__PURE__ */ r("sphereGeometry", { args: [c] });
         break;
       }
       /**
        * Capsule shape
        */
       case "capsule": {
-        const m = (o == null ? void 0 : o.shape).radius / 1e3, u = (o == null ? void 0 : o.shape).cylinder_height / 1e3;
-        h = /* @__PURE__ */ r("capsuleGeometry", { args: [m, u] });
+        const c = (o == null ? void 0 : o.shape).radius / 1e3, u = (o == null ? void 0 : o.shape).cylinder_height / 1e3;
+        p = /* @__PURE__ */ r("capsuleGeometry", { args: [c, u] });
         break;
       }
       /**
@@ -240,26 +240,26 @@ function Rt({
        * renderer to be able to visualize the convex hull.
        */
       case "convex_hull": {
-        const m = (o == null ? void 0 : o.shape).vertices.map(
-          (d) => new w.Vector3(d[0] / 1e3, d[1] / 1e3, d[2] / 1e3)
-        ), u = Fe(m);
+        const c = (o == null ? void 0 : o.shape).vertices.map(
+          (b) => new w.Vector3(b[0] / 1e3, b[1] / 1e3, b[2] / 1e3)
+        ), u = Fe(c);
         if (u.isCoplanar && u.normal) {
-          const b = new w.Vector3().addVectors(
-            m[0],
+          const m = new w.Vector3().addVectors(
+            c[0],
             u.normal.multiplyScalar(1e-4)
           );
-          m.push(b);
+          c.push(m);
         }
         try {
-          h = /* @__PURE__ */ r(
+          p = /* @__PURE__ */ r(
             "primitive",
             {
-              object: new ce(m),
+              object: new le(c),
               attach: "geometry"
             }
           );
-        } catch (d) {
-          return console.log("Error creating ConvexGeometry:", d), null;
+        } catch (b) {
+          return console.log("Error creating ConvexGeometry:", b), null;
         }
         break;
       }
@@ -271,11 +271,11 @@ function Rt({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        const m = o.shape, u = m.radius / 1e3, d = m.sphere_center_distance_x / 1e3, b = m.sphere_center_distance_y / 1e3, S = u * 2;
-        h = /* @__PURE__ */ r(
+        const c = o.shape, u = c.radius / 1e3, b = c.sphere_center_distance_x / 1e3, m = c.sphere_center_distance_y / 1e3, R = u * 2;
+        p = /* @__PURE__ */ r(
           "primitive",
           {
-            object: new Ge(d, b, S, 2, u),
+            object: new ke(b, m, R, 2, u),
             attach: "geometry"
           }
         );
@@ -285,40 +285,40 @@ function Rt({
         console.warn(
           "Unsupported safety zone shape type:",
           o.shape.shape_type
-        ), h = null;
+        ), p = null;
     }
     return /* @__PURE__ */ x(
       "mesh",
       {
-        renderOrder: c,
-        position: g,
+        renderOrder: l,
+        position: y,
         quaternion: De(i),
         children: [
-          h,
-          /* @__PURE__ */ r("meshStandardMaterial", { ...l, polygonOffsetFactor: -c })
+          p,
+          /* @__PURE__ */ r("meshStandardMaterial", { ...d, polygonOffsetFactor: -l })
         ]
       },
-      `safety-zone-${o.shape.shape_type}-${c}`
+      `safety-zone-${o.shape.shape_type}-${l}`
     );
   }, f = F(() => Object.values(e ?? {}).map(
-    (c, o) => a(o, c)
+    (l, o) => a(o, l)
   ), [e, s]);
   return /* @__PURE__ */ r("group", { ...t, children: f });
 }
-function vt({
+function _t({
   trajectory: e,
   ...n
 }) {
   const t = (e == null ? void 0 : e.map((s) => {
     if (s.position && s.position.length >= 3) {
-      const [a, f, c] = s.position;
-      if (Number.isFinite(a) && Number.isFinite(f) && Number.isFinite(c))
-        return new w.Vector3(a / 1e3, c / 1e3, -f / 1e3);
+      const [a, f, l] = s.position;
+      if (Number.isFinite(a) && Number.isFinite(f) && Number.isFinite(l))
+        return new w.Vector3(a / 1e3, l / 1e3, -f / 1e3);
     }
     return null;
   }).filter((s) => s !== null)) || [];
   return /* @__PURE__ */ r("group", { ...n, children: t.length > 0 && /* @__PURE__ */ r(
-    N,
+    q,
     {
       points: t,
       lineWidth: 3,
@@ -328,16 +328,16 @@ function vt({
     }
   ) });
 }
-const W = /* @__PURE__ */ new Map();
-async function j(e, n) {
-  if (W.has(e))
-    return W.get(e);
+const H = /* @__PURE__ */ new Map();
+async function W(e, n) {
+  if (H.has(e))
+    return H.get(e);
   const t = (async () => {
-    var c;
+    var l;
     const s = n || "", a = new je({ instanceUrl: s }), f = a.api.motionGroupModels;
-    (c = f.axios) != null && c.interceptors && f.axios.interceptors.request.use((o) => {
-      var g;
-      return (g = o.url) != null && g.includes("/glb") && (o.responseType = "blob"), o;
+    (l = f.axios) != null && l.interceptors && f.axios.interceptors.request.use((o) => {
+      var y;
+      return (y = o.url) != null && y.includes("/glb") && (o.responseType = "blob"), o;
     });
     try {
       const o = await a.api.motionGroupModels.getMotionGroupGlbModel(
@@ -348,31 +348,31 @@ async function j(e, n) {
       throw console.error("Failed to fetch model:", o), o;
     }
   })();
-  return W.set(e, t), t;
+  return H.set(e, t), t;
 }
-function me(e) {
+function ye(e) {
   function n(t) {
     return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((s) => n(s))];
   }
-  return n(e).filter((t) => ge(t));
+  return n(e).filter((t) => be(t));
 }
-function ye(e) {
+function ge(e) {
   return e.name.endsWith("_FLG");
 }
-function ge(e) {
+function be(e) {
   return /_J[0-9]+$/.test(e.name);
 }
 function Ye(e, n) {
   let t;
   function s(a) {
-    if (ye(a)) {
+    if (ge(a)) {
       if (t)
         throw Error(
           `Found multiple flange groups in robot model ${n}; first ${t.name} then ${a.name}. Only one _FLG group is allowed.`
         );
       t = a;
     }
-    ge(a), a.children.map(s);
+    be(a), a.children.map(s);
   }
   if (s(e.scene), !t)
     throw Error(
@@ -380,119 +380,121 @@ function Ye(e, n) {
     );
   return { gltf: e };
 }
-const be = Ie(
-  function({ rapidlyChangingMotionState: n, dhParameters: t, onRotationChanged: s, children: a }, f) {
-    const c = R(null), o = R([]), g = R(null), { invalidate: i } = ue(), h = R(n);
-    h.current = n, T(() => {
-      const u = n.joint_position.filter(
-        (d) => d !== void 0
+const qe = (e) => new de(e), we = Le(
+  function({
+    rapidlyChangingMotionState: n,
+    dhParameters: t,
+    onRotationChanged: s,
+    createInterpolator: a = qe,
+    children: f
+  }, l) {
+    const o = v(null), y = v([]), i = v(null), { invalidate: p } = fe(), d = v(n);
+    d.current = n;
+    const g = v(a);
+    I(() => {
+      const m = n.joint_position.filter(
+        (R) => R !== void 0
       );
-      return g.current = new pe(u, {
-        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 d;
-        (d = g.current) == null || d.destroy();
+      return i.current = g.current(m), () => {
+        var R, M;
+        (M = (R = i.current) == null ? void 0 : R.destroy) == null || M.call(R);
       };
-    }, []), fe((u, d) => {
-      if (!g.current) return;
-      o.current.length === 0 && c.current && p();
-      const b = g.current.update(d);
-      y(), b || i();
+    }, []), pe((m, R) => {
+      if (!i.current) return;
+      y.current.length === 0 && o.current && c();
+      const M = i.current.update(R);
+      u(), M || p();
     });
-    function l(u) {
-      c.current = u, u && p();
+    function h(m) {
+      o.current = m, m && c();
     }
-    function p() {
-      c.current && (o.current = me(c.current), y(), i());
+    function c() {
+      o.current && (y.current = ye(o.current), u(), p());
     }
-    Pe(f, () => ({ recollectJoints: p }));
-    function y() {
-      var d;
-      const u = ((d = g.current) == null ? void 0 : d.getCurrentValues()) || [];
+    Pe(l, () => ({ recollectJoints: c }));
+    function u() {
+      var R;
+      const m = ((R = i.current) == null ? void 0 : R.getCurrentValues()) || [];
       if (s)
-        s(o.current, u);
+        s(y.current, m);
       else
-        for (const [b, S] of o.current.entries()) {
-          const P = t[b], B = P.theta || 0, H = P.reverse_rotation_direction ? -1 : 1;
-          S.rotation.y = H * (u[b] || 0) + B;
+        for (const [M, D] of y.current.entries()) {
+          const $ = t[M], N = $.theta || 0, O = $.reverse_rotation_direction ? -1 : 1;
+          D.rotation.y = O * (m[M] || 0) + N;
         }
     }
-    function m(u) {
-      var b;
-      const d = u.joint_position.filter(
-        (S) => S !== void 0
+    function b(m) {
+      var M;
+      const R = m.joint_position.filter(
+        (D) => D !== void 0
       );
-      (b = g.current) == null || b.setTarget(d), i();
+      (M = i.current) == null || M.setTarget(R), p();
     }
-    return de(() => {
-      m(h.current);
-    }), T(() => {
-      m(n);
-    }, [n]), /* @__PURE__ */ r("group", { ref: l, children: a });
+    return he(() => {
+      b(d.current);
+    }), I(() => {
+      b(n);
+    }, [n]), /* @__PURE__ */ r("group", { ref: h, children: f });
   }
-), qe = "line", Xe = "mesh";
-function Ke({
+), Xe = "line", Ke = "mesh";
+function Ze({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...t
 }) {
-  const s = new v(), a = R([]), f = R([]);
-  Le.useEffect(() => {
+  const s = new _(), a = v([]), f = v([]);
+  Ge.useEffect(() => {
     a.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
   }, [n.length]);
-  function c(i, h) {
-    const l = new L(), p = new $(), y = new L();
-    s.decompose(l, p, y);
-    const m = l.clone(), u = new v().makeRotationY(
-      i.theta + h * (i.reverse_rotation_direction ? -1 : 1)
-    ).multiply(new v().makeTranslation(0, i.d / 1e3, 0)).multiply(new v().makeTranslation(i.a / 1e3, 0, 0)).multiply(new v().makeRotationX(i.alpha));
-    return s.multiply(u), s.decompose(l, p, y), { a: m, b: l };
+  function l(i, p) {
+    const d = new L(), g = new Y(), h = new L();
+    s.decompose(d, g, h);
+    const c = d.clone(), u = new _().makeRotationY(
+      i.theta + p * (i.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new _().makeTranslation(0, i.d / 1e3, 0)).multiply(new _().makeTranslation(i.a / 1e3, 0, 0)).multiply(new _().makeRotationX(i.alpha));
+    return s.multiply(u), s.decompose(d, g, h), { a: c, b: d };
   }
-  function o(i, h, l, p) {
+  function o(i, p, d, g) {
     if (!n)
       return;
-    const y = n[i];
-    if (!y)
+    const h = n[i];
+    if (!h)
       return;
-    const { a: m, b: u } = c(y, p);
-    h.geometry.setPositions([m.toArray(), u.toArray()].flat()), l.position.set(u.x, u.y, u.z);
+    const { a: c, b: u } = l(h, g);
+    p.geometry.setPositions([c.toArray(), u.toArray()].flat()), d.position.set(u.x, u.y, u.z);
   }
-  function g(i, h) {
+  function y(i, p) {
     s.identity();
-    for (let l = 0; l < Math.min(i.length, h.length); l++) {
-      const p = a.current[l], y = f.current[l];
-      p && y && o(l, p, y, h[l]);
+    for (let d = 0; d < Math.min(i.length, p.length); d++) {
+      const g = a.current[d], h = f.current[d];
+      g && h && o(d, g, h, p[d]);
     }
   }
   return /* @__PURE__ */ r(
-    be,
+    we,
     {
       rapidlyChangingMotionState: e,
       dhParameters: n,
-      onRotationChanged: g,
+      onRotationChanged: y,
       children: /* @__PURE__ */ x("group", { ...t, name: "Scene", children: [
         /* @__PURE__ */ x("mesh", { children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.01, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "black", depthTest: !0 })
         ] }),
-        n == null ? void 0 : n.map((i, h) => {
-          const { a: l, b: p } = c(
+        n == null ? void 0 : n.map((i, p) => {
+          const { a: d, b: g } = l(
             i,
-            e.joint_position[h] ?? 0
-          ), y = `dhrobot_J0${h}`;
-          return /* @__PURE__ */ x("group", { name: y, children: [
+            e.joint_position[p] ?? 0
+          ), h = `dhrobot_J0${p}`;
+          return /* @__PURE__ */ x("group", { name: h, children: [
             /* @__PURE__ */ r(
-              N,
+              q,
               {
-                ref: (m) => {
-                  a.current[h] = m;
+                ref: (c) => {
+                  a.current[p] = c;
                 },
-                name: qe,
-                points: [l, p],
+                name: Xe,
+                points: [d, g],
                 color: "white",
                 lineWidth: 5
               }
@@ -500,50 +502,50 @@ function Ke({
             /* @__PURE__ */ x(
               "mesh",
               {
-                ref: (m) => {
-                  f.current[h] = m;
+                ref: (c) => {
+                  f.current[p] = c;
                 },
-                name: Xe,
-                position: p,
+                name: Ke,
+                position: g,
                 children: [
                   /* @__PURE__ */ r("sphereGeometry", { args: [0.01, 32, 32] }),
                   /* @__PURE__ */ r("meshStandardMaterial", { color: "black", depthTest: !0 })
                 ]
               },
-              `mesh_${h}`
+              `mesh_${p}`
             )
-          ] }, y);
+          ] }, h);
         })
       ] })
     }
   );
 }
-const Ze = console.warn;
-function we() {
-  return T(() => {
+const Qe = console.warn;
+function xe() {
+  return I(() => {
     console.warn = (e) => {
-      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Ze(e);
+      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Qe(e);
     };
   }, []), null;
 }
-function Qe(e) {
+function ze(e) {
   return e.type === "Mesh";
 }
-function ze({
+function et({
   url: e,
   flangeRef: n,
   postModelRender: t,
   ...s
 }) {
-  const a = Ve(e), c = Ye(a, "robot.glb").gltf, o = G(
+  const a = Ve(e), l = Ye(a, "robot.glb").gltf, o = G(
     (i) => {
       i && t && t();
     },
     [t]
   );
-  function g(i) {
+  function y(i) {
     try {
-      return Qe(i) ? i.geometry ? /* @__PURE__ */ r(
+      return ze(i) ? i.geometry ? /* @__PURE__ */ r(
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@@ -567,38 +569,38 @@ function ze({
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           position: i.position,
           rotation: i.rotation,
-          ref: ye(i) ? n : void 0,
-          children: i.children.map(g)
+          ref: ge(i) ? n : void 0,
+          children: i.children.map(y)
         },
         i.uuid
       );
-    } catch (h) {
-      return console.warn("Error rendering node", i.name, h), null;
+    } catch (p) {
+      return console.warn("Error rendering node", i.name, p), null;
     }
   }
-  return /* @__PURE__ */ r("group", { ...s, dispose: null, ref: o, children: g(c.scene) });
+  return /* @__PURE__ */ r("group", { ...s, dispose: null, ref: o, children: y(l.scene) });
 }
-function xe({
+function Re({
   modelURL: e,
   flangeRef: n,
   postModelRender: t,
   ...s
 }) {
-  const [a, f] = I(null);
-  return T(() => {
-    let c = !1;
+  const [a, f] = P(null);
+  return I(() => {
+    let l = !1;
     return (async () => {
       try {
-        const g = typeof e == "string" ? e : await e;
-        c || f((i) => i === g ? i : g);
-      } catch (g) {
-        console.error("Failed to resolve model URL:", g);
+        const y = typeof e == "string" ? e : await e;
+        l || f((i) => i === y ? i : y);
+      } catch (y) {
+        console.error("Failed to resolve model URL:", y);
       }
     })(), () => {
-      c = !0;
+      l = !0;
     };
   }, [e]), a ? /* @__PURE__ */ r(
-    ze,
+    et,
     {
       url: a,
       flangeRef: n,
@@ -607,7 +609,7 @@ function xe({
     }
   ) : null;
 }
-const Re = (e, n) => {
+const ve = (e, n) => {
   e.userData.isGhost || (e.traverse((t) => {
     if (t instanceof w.Mesh) {
       t.material instanceof w.Material && (t.material.colorWrite = !1);
@@ -631,7 +633,7 @@ const Re = (e, n) => {
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     }
   }), e.userData.isGhost = !0);
-}, ve = (e) => {
+}, Me = (e) => {
   if (!e.userData.isGhost) return;
   const n = [];
   e.traverse((t) => {
@@ -640,83 +642,85 @@ const Re = (e, n) => {
   }), n.forEach((t) => {
     t.parent && t.parent.remove(t);
   }), e.userData.isGhost = !1;
-}, Me = C(
+}, _e = B(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: s = j,
+    getModel: s = W,
     flangeRef: a,
     postModelRender: f,
-    transparentColor: c,
+    transparentColor: l,
     instanceUrl: o,
-    ...g
+    createInterpolator: y,
+    ...i
   }) => {
-    const [i, h] = I(null), l = R(null), p = G((d) => {
-      h(d);
-    }, []), y = G(() => {
-      var d;
-      (d = l.current) == null || d.recollectJoints(), f == null || f();
+    const [p, d] = P(null), g = v(null), h = G((m) => {
+      d(m);
+    }, []), c = G(() => {
+      var m;
+      (m = g.current) == null || m.recollectJoints(), f == null || f();
     }, [f]);
-    T(() => {
-      i && (c ? Re(i, c) : ve(i));
-    }, [i, c]);
-    const m = F(() => {
-      const d = s(n, o);
-      if (!d)
+    I(() => {
+      p && (l ? ve(p, l) : Me(p));
+    }, [p, l]);
+    const u = F(() => {
+      const m = s(n, o);
+      if (!m)
         throw new Error(
           `No model found for robot "${n}". Ensure the model is available or provide a custom getModel function.`
         );
-      return d;
-    }, [n, o, s]), u = /* @__PURE__ */ r(
-      Ke,
+      return m;
+    }, [n, o, s]), b = /* @__PURE__ */ r(
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       {
         rapidlyChangingMotionState: e,
         dhParameters: t,
-        ...g
+        ...i
       }
     );
     return /* @__PURE__ */ x(
-      he,
+      me,
       {
-        fallback: u,
-        onError: (d) => {
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+        fallback: b,
+        onError: (m) => {
+          console.warn(m);
         },
         children: [
-          /* @__PURE__ */ r(le, { fallback: u, children: /* @__PURE__ */ r("group", { ref: p, children: /* @__PURE__ */ r(
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             {
-              ref: l,
+              ref: g,
               rapidlyChangingMotionState: e,
               dhParameters: t,
+              createInterpolator: y,
               children: /* @__PURE__ */ r(
-                xe,
+                Re,
                 {
-                  modelURL: m,
-                  postModelRender: y,
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+                  postModelRender: c,
                   flangeRef: a,
-                  ...g
+                  ...i
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ r(we, {})
+          /* @__PURE__ */ r(xe, {})
         ]
       }
     );
   }
 );
-function et({
+function tt({
   connectedMotionGroup: e,
-  getModel: n = j,
+  getModel: n = W,
   flangeRef: t,
   transparentColor: s,
   postModelRender: a,
   ...f
 }) {
   return e.dhParameters ? /* @__PURE__ */ r(
-    Me,
+    _e,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       modelFromController: e.modelFromController || "",
@@ -729,8 +733,8 @@ function et({
     }
   ) : null;
 }
-const Mt = C(
-  Je(
+const Tt = B(
+  Ue(
     ({
       robotName: e,
       programState: n,
@@ -738,61 +742,61 @@ const Mt = C(
       operationMode: s,
       driveToHomeEnabled: a = !1,
       onDriveToHomePress: f,
-      onDriveToHomeRelease: c,
+      onDriveToHomeRelease: l,
       connectedMotionGroup: o,
-      robotComponent: g = et,
+      robotComponent: y = tt,
       customContentComponent: i,
-      className: h
+      className: p
     }) => {
-      var X;
-      const l = Ee(), { t: p } = Ce(), [y, m] = I(!1), u = R(null), d = R(null), [b, S] = I(!1), [P, B] = I({ width: 400, height: 600 }), [H, ke] = I(0);
-      T(() => {
-        const E = () => {
-          if (d.current) {
-            const { offsetWidth: Z, offsetHeight: Q } = d.current;
-            S(Z > Q), B({ width: Z, height: Q });
+      var K;
+      const d = Ce(), { t: g } = Je(), [h, c] = P(!1), u = v(null), b = v(null), [m, R] = P(!1), [M, D] = P({ width: 400, height: 600 }), [$, N] = P(0);
+      I(() => {
+        const U = () => {
+          if (b.current) {
+            const { offsetWidth: Q, offsetHeight: z } = b.current;
+            R(Q > z), D({ width: Q, height: z });
           }
         };
-        E();
-        const K = new ResizeObserver(E);
-        return d.current && K.observe(d.current), () => {
-          K.disconnect();
+        U();
+        const Z = new ResizeObserver(U);
+        return b.current && Z.observe(b.current), () => {
+          Z.disconnect();
         };
       }, []);
-      const Y = G(() => {
-        ke((E) => E + 1);
-      }, []), D = G(() => {
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-        y && c && (m(!1), c());
-      }, [y, c]), k = b ? P.width < 350 : P.height < 200, V = b ? P.height < 310 : P.height < 450;
+      const O = G(() => {
+        N((U) => U + 1);
+      }, []), V = G(() => {
+        !a || !f || (c(!0), f());
+      }, [a, f]), C = G(() => {
+        !a || !l || (c(!1), l());
+      }, [a, l]), X = G(() => {
+        h && l && (c(!1), l());
+      }, [h, l]), k = m ? M.width < 350 : M.height < 200, E = m ? M.height < 310 : M.height < 450;
       return /* @__PURE__ */ r(
-        Ue,
+        Ee,
         {
-          ref: d,
-          className: h,
+          ref: b,
+          className: p,
           sx: {
             width: "100%",
             height: "100%",
             display: "flex",
-            flexDirection: b ? "row" : "column",
+            flexDirection: m ? "row" : "column",
             position: "relative",
             overflow: "hidden",
             minWidth: { xs: 180, sm: 220, md: 250 },
-            minHeight: b ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
+            minHeight: m ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
             // Allow progressive hiding in portrait mode
-            border: `1px solid ${l.palette.divider}`,
+            border: `1px solid ${d.palette.divider}`,
             borderRadius: "18px",
             boxShadow: "none",
-            backgroundColor: ((X = l.palette.backgroundPaperElevation) == null ? void 0 : X[8]) || "#292B3F",
+            backgroundColor: ((K = d.palette.backgroundPaperElevation) == null ? void 0 : K[8]) || "#292B3F",
             backgroundImage: "none"
             // Override any gradient from elevation
           },
-          children: b ? /* @__PURE__ */ x(J, { children: [
+          children: m ? /* @__PURE__ */ x(j, { children: [
             /* @__PURE__ */ r(
-              M,
+              T,
               {
                 sx: {
                   flex: "0 0 50%",
@@ -808,7 +812,7 @@ const Mt = C(
                   display: k ? "none" : "block"
                 },
                 children: !k && /* @__PURE__ */ x(
-                  ne,
+                  oe,
                   {
                     orthographic: !0,
                     camera: {
@@ -818,7 +822,7 @@ const Mt = C(
                     shadows: !0,
                     frameloop: "demand",
                     style: {
-                      borderRadius: l.shape.borderRadius,
+                      borderRadius: d.shape.borderRadius,
                       width: "100%",
                       height: "100%",
                       background: "transparent",
@@ -829,12 +833,12 @@ const Mt = C(
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                     gl: { alpha: !0, antialias: !0 },
                     children: [
-                      /* @__PURE__ */ r(ie, {}),
-                      /* @__PURE__ */ r(z, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
-                        g,
+                      /* @__PURE__ */ r(se, {}),
+                      /* @__PURE__ */ r(ee, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
+                        y,
                         {
                           connectedMotionGroup: o,
-                          postModelRender: Y
+                          postModelRender: O
                         }
                       ) })
                     ]
@@ -843,7 +847,7 @@ const Mt = C(
               }
             ),
             /* @__PURE__ */ x(
-              M,
+              T,
               {
                 sx: {
                   flex: "1",
@@ -854,7 +858,7 @@ const Mt = C(
                 },
                 children: [
                   /* @__PURE__ */ x(
-                    M,
+                    T,
                     {
                       sx: {
                         p: { xs: 1.5, sm: 2, md: 3 },
@@ -862,9 +866,9 @@ const Mt = C(
                         textAlign: "left"
                       },
                       children: [
-                        /* @__PURE__ */ r(re, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
+                        /* @__PURE__ */ r(ne, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
                         /* @__PURE__ */ r(
-                          oe,
+                          ie,
                           {
                             programState: n,
                             safetyState: t,
@@ -875,7 +879,7 @@ const Mt = C(
                     }
                   ),
                   /* @__PURE__ */ x(
-                    M,
+                    T,
                     {
                       sx: {
                         p: { xs: 1.5, sm: 2, md: 3 },
@@ -886,28 +890,28 @@ const Mt = C(
                         justifyContent: "space-between"
                       },
                       children: [
-                        !V && i && /* @__PURE__ */ x(M, { children: [
+                        !E && i && /* @__PURE__ */ x(T, { children: [
                           /* @__PURE__ */ r(i, {}),
                           /* @__PURE__ */ r(
-                            te,
+                            re,
                             {
                               sx: {
                                 mt: 1,
                                 mb: 0,
-                                borderColor: l.palette.divider,
+                                borderColor: d.palette.divider,
                                 opacity: 0.5
                               }
                             }
                           )
                         ] }),
                         /* @__PURE__ */ r(
-                          M,
+                          T,
                           {
                             sx: {
-                              mt: !V && i ? "auto" : 0
+                              mt: !E && i ? "auto" : 0
                             },
                             children: /* @__PURE__ */ r(
-                              M,
+                              T,
                               {
                                 sx: {
                                   display: "flex",
@@ -916,24 +920,24 @@ const Mt = C(
                                   mb: { xs: 0.5, sm: 0.75, md: 1 }
                                 },
                                 children: /* @__PURE__ */ r(
-                                  ee,
+                                  te,
                                   {
                                     ref: u,
                                     variant: "contained",
                                     color: "secondary",
                                     size: "small",
                                     disabled: !a,
-                                    onMouseDown: D,
-                                    onMouseUp: O,
-                                    onMouseLeave: q,
-                                    onTouchStart: D,
-                                    onTouchEnd: O,
+                                    onMouseDown: V,
+                                    onMouseUp: C,
+                                    onMouseLeave: X,
+                                    onTouchStart: V,
+                                    onTouchEnd: C,
                                     sx: {
                                       textTransform: "none",
                                       px: 1.5,
                                       py: 0.5
                                     },
-                                    children: p("RobotCard.DriveToHome.bt")
+                                    children: g("RobotCard.DriveToHome.bt")
                                   }
                                 )
                               }
@@ -946,8 +950,8 @@ const Mt = C(
                 ]
               }
             )
-          ] }) : /* @__PURE__ */ r(J, { children: /* @__PURE__ */ x(
-            M,
+          ] }) : /* @__PURE__ */ r(j, { children: /* @__PURE__ */ x(
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@@ -956,10 +960,10 @@ const Mt = C(
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-                /* @__PURE__ */ x(M, { children: [
-                  /* @__PURE__ */ r(re, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
+                /* @__PURE__ */ x(T, { children: [
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                   /* @__PURE__ */ r(
-                    oe,
+                    ie,
                     {
                       programState: n,
                       safetyState: t,
@@ -968,7 +972,7 @@ const Mt = C(
                   )
                 ] }),
                 /* @__PURE__ */ r(
-                  M,
+                  T,
                   {
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                       flex: k ? 0 : 1,
@@ -980,7 +984,7 @@ const Mt = C(
                       display: k ? "none" : "block"
                     },
                     children: !k && /* @__PURE__ */ x(
-                      ne,
+                      oe,
                       {
                         orthographic: !0,
                         camera: {
@@ -990,7 +994,7 @@ const Mt = C(
                         shadows: !0,
                         frameloop: "demand",
                         style: {
-                          borderRadius: l.shape.borderRadius,
+                          borderRadius: d.shape.borderRadius,
                           width: "100%",
                           height: "100%",
                           background: "transparent",
@@ -999,12 +1003,12 @@ const Mt = C(
                         dpr: [1, 2],
                         gl: { alpha: !0, antialias: !0 },
                         children: [
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-                          /* @__PURE__ */ r(z, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
-                            g,
+                          /* @__PURE__ */ r(se, {}),
+                          /* @__PURE__ */ r(ee, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
+                            y,
                             {
                               connectedMotionGroup: o,
-                              postModelRender: Y
+                              postModelRender: O
                             }
                           ) })
                         ]
@@ -1012,49 +1016,49 @@ const Mt = C(
                     )
                   }
                 ),
-                /* @__PURE__ */ x(M, { children: [
-                  !V && i && /* @__PURE__ */ x(J, { children: [
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                       {
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                           mt: 1,
                           mb: 0,
-                          borderColor: l.palette.divider,
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                           opacity: 0.5
                         }
                       }
                     )
                   ] }),
                   /* @__PURE__ */ r(
-                    M,
+                    T,
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                         display: "flex",
                         justifyContent: "flex-start",
-                        mt: !V && i ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
+                        mt: !E && i ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
                         mb: { xs: 0.5, sm: 0.75, md: 1 }
                       },
                       children: /* @__PURE__ */ r(
-                        ee,
+                        te,
                         {
                           ref: u,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
                           disabled: !a,
-                          onMouseDown: D,
-                          onMouseUp: O,
-                          onMouseLeave: q,
-                          onTouchStart: D,
-                          onTouchEnd: O,
+                          onMouseDown: V,
+                          onMouseUp: C,
+                          onMouseLeave: X,
+                          onTouchStart: V,
+                          onTouchEnd: C,
                           sx: {
                             textTransform: "none",
                             px: 1.5,
                             py: 0.5
                           },
-                          children: p("RobotCard.DriveToHome.bt")
+                          children: g("RobotCard.DriveToHome.bt")
                         }
                       )
                     }
@@ -1067,130 +1071,125 @@ const Mt = C(
       );
     }
   )
-), _t = Array(6).fill(2 * Math.PI);
-function _e({
+), St = Array(6).fill(2 * Math.PI), rt = (e) => new de(e);
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   rapidlyChangingMotionState: e,
   dhParameters: n,
   onTranslationChanged: t,
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 }) {
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-  T(() => {
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+  const f = v([]), l = v([]), o = v(null), { invalidate: y } = fe(), i = v(s);
+  I(() => {
+    const h = e.joint_position.filter(
+      (c) => c !== void 0
     );
-    return c.current = new pe(l, {
-      tension: 120,
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-      // Controls damping - higher values reduce oscillation and create smoother settling
-      threshold: 1e-3
-    }), () => {
-      var p;
-      (p = c.current) == null || p.destroy();
+    return o.current = i.current(h), () => {
+      var c, u;
+      (u = (c = o.current) == null ? void 0 : c.destroy) == null || u.call(c);
     };
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-    if (c.current) {
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-      i(), y || o();
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     }
   });
-  function g(l) {
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   }
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     else
-      for (const [y, m] of f.current.entries()) {
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-        m.position.y = d * (l[y] || 0) / 1e3;
+      for (const [u, b] of l.current.entries()) {
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       }
   }
-  const h = G(() => {
-    const l = e.joint_position.filter(
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+  const g = G(() => {
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   }, [e]);
-  return T(() => {
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+  return I(() => {
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 }
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+function Se({
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-      const u = n[m], d = i[m] ?? 0, b = new v().makeRotationY(u.theta).multiply(
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+  const s = new _(), a = v(null), f = v(null);
+  function l(i) {
+    const p = new _();
+    for (let c = 0; c < n.length; c++) {
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           u.a / 1e3,
-          (u.d + d * (u.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          (u.d + b * (u.reverse_rotation_direction ? -1 : 1)) / 1e3,
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         )
-      ).multiply(new v().makeRotationX(u.alpha));
-      h.multiply(b);
+      ).multiply(new _().makeRotationX(u.alpha));
+      p.multiply(m);
     }
-    const l = new L(), p = new $(), y = new L();
-    return h.decompose(l, p, y), l;
+    const d = new L(), g = new Y(), h = new L();
+    return p.decompose(d, g, h), d;
   }
-  const o = c(
+  const o = l(
     e.joint_position
   );
-  function g(i, h) {
+  function y(i, p) {
     s.identity();
-    let l = new L();
+    let d = new L();
     for (let u = 0; u < n.length; u++) {
-      const d = h[u] ?? 0, b = n[u], S = new v().makeRotationY(b.theta).multiply(
-        new v().makeTranslation(
-          b.a / 1e3,
-          (b.d + d * (b.reverse_rotation_direction ? -1 : 1)) / 1e3,
+      const b = p[u] ?? 0, m = n[u], R = new _().makeRotationY(m.theta).multiply(
+        new _().makeTranslation(
+          m.a / 1e3,
+          (m.d + b * (m.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new v().makeRotationX(b.alpha));
-      s.multiply(S);
+      ).multiply(new _().makeRotationX(m.alpha));
+      s.multiply(R);
     }
-    const p = new L(), y = new $(), m = new L();
-    if (s.decompose(p, y, m), l = p, a.current && a.current.position.set(
-      l.x,
-      l.y,
-      l.z
+    const g = new L(), h = new Y(), c = new L();
+    if (s.decompose(g, h, c), d = g, a.current && a.current.position.set(
+      d.x,
+      d.y,
+      d.z
     ), f.current) {
       const u = f.current.geometry;
       u != null && u.setPositions && u.setPositions([
         0,
         0,
         0,
-        l.x,
-        l.y,
-        l.z
+        d.x,
+        d.y,
+        d.z
       ]);
     }
   }
   return /* @__PURE__ */ r(
-    _e,
+    Te,
     {
       rapidlyChangingMotionState: e,
       dhParameters: n,
-      onTranslationChanged: g,
+      onTranslationChanged: y,
       children: /* @__PURE__ */ x("group", { ...t, name: "Scene", children: [
         /* @__PURE__ */ x("mesh", { name: "Base", position: [0, 0, 0], children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.02, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "green", depthTest: !0 })
         ] }),
         /* @__PURE__ */ r(
-          N,
+          q,
           {
             ref: f,
             points: [new L(0, 0, 0), o],
@@ -1206,76 +1205,78 @@ function Te({
     }
   );
 }
-const Se = C(
+const Ie = B(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: s = j,
+    getModel: s = W,
     flangeRef: a,
     postModelRender: f,
-    transparentColor: c,
+    transparentColor: l,
     instanceUrl: o,
-    ...g
+    createInterpolator: y,
+    ...i
   }) => {
-    const [i, h] = I(null), l = G((y) => {
-      h(y);
+    const [p, d] = P(null), g = G((c) => {
+      d(c);
     }, []);
-    T(() => {
-      i && (c ? Re(i, c) : ve(i));
-    }, [i, c]);
-    const p = /* @__PURE__ */ r(
-      Te,
+    I(() => {
+      p && (l ? ve(p, l) : Me(p));
+    }, [p, l]);
+    const h = /* @__PURE__ */ r(
+      Se,
       {
         rapidlyChangingMotionState: e,
         dhParameters: t,
-        ...g
+        ...i
       }
     );
     return /* @__PURE__ */ x(
-      he,
+      me,
       {
-        fallback: p,
-        onError: (y) => {
-          console.warn(y);
+        fallback: h,
+        onError: (c) => {
+          console.warn(c);
         },
         children: [
-          /* @__PURE__ */ r(le, { fallback: p, children: /* @__PURE__ */ r("group", { ref: l, children: /* @__PURE__ */ r(
-            _e,
+          /* @__PURE__ */ r(ue, { fallback: h, children: /* @__PURE__ */ r("group", { ref: g, children: /* @__PURE__ */ r(
+            Te,
             {
               rapidlyChangingMotionState: e,
               dhParameters: t,
+              createInterpolator: y,
               children: /* @__PURE__ */ r(
-                xe,
+                Re,
                 {
                   modelURL: (() => {
-                    const y = s(n, o);
-                    if (!y) {
-                      const m = new Blob([], { type: "model/gltf-binary" }), u = new File(
-                        [m],
+                    const c = s(n, o);
+                    if (!c) {
+                      const u = new Blob([], { type: "model/gltf-binary" }), b = new File(
+                        [u],
                         `${n}.glb`,
                         { type: "model/gltf-binary" }
                       );
-                      return Promise.resolve(URL.createObjectURL(u));
+                      return Promise.resolve(URL.createObjectURL(b));
                     }
-                    return y;
+                    return c;
                   })(),
                   postModelRender: f,
                   flangeRef: a,
-                  ...g
+                  ...i
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ r(we, {})
+          /* @__PURE__ */ r(xe, {})
         ]
       }
     );
   }
 );
-function Tt({
+function It({
   connectedMotionGroup: e,
-  getModel: n = j,
+  getModel: n = W,
   flangeRef: t,
   transparentColor: s,
   postModelRender: a,
@@ -1283,12 +1284,12 @@ function Tt({
 }) {
   if (!e.dhParameters)
     return null;
-  const c = e.modelFromController || "";
-  return c && n(c) ? /* @__PURE__ */ r(
-    Se,
+  const l = e.modelFromController || "";
+  return l && n(l) ? /* @__PURE__ */ r(
+    Ie,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
-      modelFromController: c,
+      modelFromController: l,
       dhParameters: e.dhParameters,
       getModel: n,
       flangeRef: t,
@@ -1297,7 +1298,7 @@ function Tt({
       ...f
     }
   ) : /* @__PURE__ */ r(
-    Te,
+    Se,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       dhParameters: e.dhParameters,
@@ -1305,11 +1306,11 @@ function Tt({
     }
   );
 }
-const ae = {
-  [_.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
-  [_.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
-  [_.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
-  [_.Kuka]: [
+const ce = {
+  [S.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
+  [S.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [S.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [S.Kuka]: [
     0,
     -Math.PI / 2,
     Math.PI / 2,
@@ -1318,7 +1319,7 @@ const ae = {
     0,
     0
   ],
-  [_.Universalrobots]: [
+  [S.Universalrobots]: [
     0,
     -Math.PI / 2,
     -Math.PI / 2,
@@ -1327,55 +1328,55 @@ const ae = {
     -Math.PI / 2,
     0
   ],
-  [_.Staubli]: [0, -Math.PI / 2, Math.PI / 2, 0, 0, 0, 0]
+  [S.Staubli]: [0, -Math.PI / 2, Math.PI / 2, 0, 0, 0, 0]
 };
-function tt(e) {
+function nt(e) {
   const [n] = e.split("_");
   switch (n) {
     case "ABB":
-      return _.Abb;
+      return S.Abb;
     case "FANUC":
-      return _.Fanuc;
+      return S.Fanuc;
     case "YASKAWA":
-      return _.Yaskawa;
+      return S.Yaskawa;
     case "KUKA":
-      return _.Kuka;
+      return S.Kuka;
     case "UniversalRobots":
-      return _.Universalrobots;
+      return S.Universalrobots;
     case "STAUBLI":
-      return _.Staubli;
+      return S.Staubli;
     default:
       return null;
   }
 }
-function St(e, n) {
-  const t = tt(e);
-  return t && t in ae ? ae[t] : n || null;
+function kt(e, n) {
+  const t = nt(e);
+  return t && t in ce ? ce[t] : n || null;
 }
-const kt = C((e) => {
-  const { inverseSolver: n, dhParameters: t, ...s } = e, [a, f] = I(
-    U.RevoluteJoint
+const Gt = B((e) => {
+  const { inverseSolver: n, dhParameters: t, ...s } = e, [a, f] = P(
+    J.RevoluteJoint
   );
-  T(() => {
-    t.length && f(t[0].type ?? U.RevoluteJoint);
+  I(() => {
+    t.length && f(t[0].type ?? J.RevoluteJoint);
   }, [t]);
-  const c = F(() => n === null && a === U.RevoluteJoint, [n, a]), o = F(() => n === null && a === U.PrismaticJoint, [n, a]);
-  return F(() => !!n, [n]) || c ? /* @__PURE__ */ r(Me, { dhParameters: t, ...s }) : o ? /* @__PURE__ */ r(Se, { dhParameters: t, ...s }) : null;
+  const l = F(() => n === null && a === J.RevoluteJoint, [n, a]), o = F(() => n === null && a === J.PrismaticJoint, [n, a]);
+  return F(() => !!n, [n]) || l ? /* @__PURE__ */ r(_e, { dhParameters: t, ...s }) : o ? /* @__PURE__ */ r(Ie, { dhParameters: t, ...s }) : null;
 });
 export {
-  xt as C,
-  Tt as L,
-  ae as M,
-  ie as P,
-  Mt as R,
-  Rt as S,
-  vt as T,
-  _t as a,
-  et as b,
-  Se as c,
-  j as d,
-  tt as e,
-  Me as f,
-  St as g,
-  kt as h
+  vt as C,
+  It as L,
+  ce as M,
+  se as P,
+  Tt as R,
+  Mt as S,
+  _t as T,
+  St as a,
+  tt as b,
+  Ie as c,
+  W as d,
+  nt as e,
+  _e as f,
+  kt as g,
+  Gt as h
 };