@wandelbots/wandelbots-js-react-components 5.10.0 → 6.0.0

package/dist/chunks/theming-BwZXb5-H.cjs

@@ -0,0 +1,4 @@
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se{constructor(e,n,r,a,i,c,s="cell"){this.controller=n,this.motionGroup=r,this.description=a,this.initialMotionState=i,this.motionStateSocket=c,this.cellId=s,this.nova=re(e),this.rapidlyChangingMotionState=i,c.addEventListener("message",l=>{var p;const d=(p=L.tryParseJson(l.data))==null?void 0:p.result;if(!d)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${l.data}`);me(this.rapidlyChangingMotionState.joint_position,d.joint_position,Re)||k.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=d.joint_position}),fe(this.rapidlyChangingMotionState,d,Re)||k.runInAction(()=>{var u,b,S;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=d.tcp_pose:(u=d.tcp_pose)!=null&&u.orientation&&((b=d.tcp_pose)!=null&&b.position)&&((S=this.rapidlyChangingMotionState.tcp_pose)!=null&&S.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:d.tcp_pose.position,orientation:Ve(d.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",d.tcp_pose)}),d.tcp!==void 0&&this.rapidlyChangingMotionState.tcp!==d.tcp&&k.runInAction(()=>{this.rapidlyChangingMotionState.tcp=d.tcp}),this.rapidlyChangingMotionState.standstill!==d.standstill&&k.runInAction(()=>{this.rapidlyChangingMotionState.standstill=d.standstill});const m=this.rapidlyChangingMotionState.joint_limit_reached.limit_reached,g=d.joint_limit_reached.limit_reached;m.some((u,b)=>u!==g[b])&&k.runInAction(()=>{this.rapidlyChangingMotionState.joint_limit_reached=d.joint_limit_reached}),this.rapidlyChangingMotionState.execute!==d.execute&&k.runInAction(()=>{this.rapidlyChangingMotionState.execute=d.execute})}),k.makeAutoObservable(this)}static async open(e,n,r={}){var b;const a=re(e),i=r.cellId??"cell",[c,s]=n.split("@"),l=await a.api.controller.getCurrentRobotControllerState(i,s),d=l==null?void 0:l.motion_groups.find(S=>S.motion_group===n);if(!l||!d)throw new Error(`Controller ${s} or motion group ${n} not found`);const m=a.openReconnectingWebsocket(`/cells/${i}/controllers/${s}/motion-groups/${n}/state-stream`),g=await m.firstMessage(),p=(b=L.tryParseJson(g.data))==null?void 0:b.result;if(!p)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${d.motion_group}. Initial state:
+  `,p);const u=await a.api.motionGroup.getMotionGroupDescription(i,s,d.motion_group);return new se(a,l,d,u,p,m,i)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((e,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Ee="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class le{constructor(e,n={}){this.motionStream=e,this.options=n,this.DEFAULT_MODE="off",this.DEFAULT_TCP="Flange",this.NO_TCP=void 0,this.DEFAULT_INIT_TIMEOUT=5e3,this.DEFAULT_ORIENTATION="coordsys",this.mode="off",this.joggingSocket=null,this.trajectorySocket=null,this.timeout=this.DEFAULT_INIT_TIMEOUT,this.tcp=(n==null?void 0:n.tcp)||e.motionGroup.tcp||this.getDefaultTcp(e),this.orientation=(n==null?void 0:n.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(n==null?void 0:n.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(n==null?void 0:n.mode)||this.DEFAULT_MODE,this.onError=n==null?void 0:n.onError}static async open(e,n,r={}){const a=await se.open(e,n,{cellId:r.cellId}),i=new le(a,r);return await i.setJoggingMode(i.mode),i}getDefaultTcp(e){var r,a;const n=(a=(r=e.description.dh_parameters)==null?void 0:r[0])==null?void 0:a.type;return e.joints.length<6&&(n===q.JointTypeEnum.RevoluteJoint||n===q.JointTypeEnum.PrismaticJoint)?this.NO_TCP:this.DEFAULT_TCP}async setOptions(e){e.tcp&&(this.tcp=e.tcp),e.orientation&&(this.orientation=e.orientation),e.timeout&&(this.timeout=e.timeout),e.mode&&(this.mode=e.mode),e.onError&&(this.onError=e.onError),this.setJoggingMode(this.mode,!1)}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get cellId(){return this.motionStream.cellId}get numJoints(){return this.motionStream.joints.length}async stop(){if(this.joggingSocket){const e=new Array(this.numJoints).fill(0);this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:e})}this.trajectorySocket&&this.trajectorySocket.sendJson({message_type:"PauseMovementRequest"})}async dispose(){const e=[this.joggingSocket,this.trajectorySocket].filter(n=>n!==null);return e.forEach(n=>{n.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(e.map(n=>n.closed()))}async setJoggingMode(e,n=!0){if(!(this.mode===e&&n)&&(this.dispose(),this.mode=e,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((e,n)=>{const r=setTimeout(()=>{n(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/jogging`),this.joggingSocket.addEventListener("message",a=>{var c,s,l,d;const i=L.tryParseJson(a.data);if(((c=i==null?void 0:i.result)==null?void 0:c.kind)==="INITIALIZE_RECEIVED"){clearTimeout(r),e();return}if(((s=i==null?void 0:i.result)==null?void 0:s.kind)==="MOTION_ERROR")if(clearTimeout(r),this.onBlocked&&((l=i==null?void 0:i.result)!=null&&l.message.includes(Ee))){(d=this.joggingSocket)==null||d.dispose(),this.onBlocked();return}else this.onError?this.onError(a.data):n(new Error(a.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:e,direction:n,velocityValue:r,velocityUnit:a}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=new Array(this.numJoints).fill(0);i[e]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:e,direction:n,velocityMmPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const a=[0,0,0],i=[0,0,0];i[L.XYZ_TO_VECTOR[e]]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:a,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:e,direction:n,velocityRadsPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const a=[0,0,0],i=[0,0,0];a[L.XYZ_TO_VECTOR[e]]=n==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:a,use_tool_coordinate_system:this.orientation==="tool"})}async runIncrementalCartesianMotion({currentTcpPose:e,currentJoints:n,velocityInRelevantUnits:r,axis:a,direction:i,motion:c}){const s=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(c.type==="translate"){if(!e.position)throw new Error("Current pose has no position, cannot perform translation");const y=[...e.position];y[L.XYZ_TO_VECTOR[a]]+=c.distanceMm*(i==="-"?-1:1),s.push({limits_override:{tcp_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:y,orientation:e.orientation}}})}else if(c.type==="rotate"){if(!e.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const y=new de.Vector3(e.orientation[0],e.orientation[1],e.orientation[2]),f=y.length(),v=y.clone().normalize(),x=c.distanceRads*(i==="-"?-1:1),j=new de.Vector3(0,0,0);j[a]=1;const C=Math.cos(.5*x)*Math.cos(.5*f),T=Math.sin(.5*x)*Math.sin(.5*f),M=Math.sin(.5*x)*Math.cos(.5*f),E=Math.cos(.5*x)*Math.sin(.5*f),I=j.dot(v),P=j.clone().cross(v),F=2*Math.acos(C-T*I),Z=F/Math.sin(.5*F),ne=new de.Vector3().addScaledVector(P,T).addScaledVector(j,M).addScaledVector(v,E).multiplyScalar(Z);s.push({limits_override:{tcp_orientation_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:e.position,orientation:[...ne]}}})}const l=this.motionStream.description;if(l.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const d={motion_group_model:l.motion_group_model,cycle_time:l.cycle_time,mounting:l.mounting,global:l.operation_limits.auto_limits},m=await this.nova.api.trajectoryPlanning.planTrajectory(this.cellId,{motion_group_setup:d,start_joint_position:n,motion_commands:s}),g=m.response;if(!g)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(m)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/trajectory`);const p=y=>{var f;if(!y||y.add_trajectory_error||y.message)if(this.onError)this.onError(y);else throw new Error(((f=y==null?void 0:y.add_trajectory_error)==null?void 0:f.message)||(y==null?void 0:y.message)||"Failed to execute trajectory, unknown error");if(!this.trajectorySocket)throw new Error("Failed to execute trajectory, websocket not available anymore");this.trajectorySocket.sendJson({message_type:"StartMovementRequest",direction:"DIRECTION_FORWARD"})},u=async()=>{var y;await k.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await k.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},b=async()=>{var y;await k.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},S=async y=>{if(y!=null&&y.message)if(this.onError){this.onError(y);return}else throw new Error(y.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await u():await b()};this.trajectorySocket.addEventListener("message",y=>{var v,x;const f=L.tryParseJson(y.data);if(!((v=f==null?void 0:f.result)!=null&&v.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${y.data}`);if(this.onBlocked&&((x=f.result.message)!=null&&x.includes(Ee))){this.onBlocked();return}if(f.result.kind==="INITIALIZE_RECEIVED")p(f.result);else if(f.result.kind==="START_RECEIVED")S(f);else if(f.result.kind!=="PAUSE_RECEIVED")if(f.result.kind==="MOTION_ERROR"&&f.result.message)if(this.onError){this.onError(f);return}else throw new Error(f.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${f.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:g,tcp:this.tcp}})}}const qe=t=>{const e=t.softTimeout||3e3,[n,r]=h.useState(!1),a=J.useTheme();return h.useEffect(()=>{const 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o.jsx(w,{sx:{display:"flex",flexDirection:"row",justifyContent:"center"},children:o.jsx(R,{"data-testid":"jogging-joint-limit-detector","aria-label":"jogging-joint-limit-detector",color:"error",variant:"body2",sx:{fontSize:"0.75rem",lineHeight:1.2,visibility:i.length?"visible":"hidden"},children:e("Jogging.JointLimitsReached.lb",{jointNumbers:i.map(c=>c+1).join(", ")})})})}),pn=J.styled(ft)(({theme:t})=>({"&.MuiFormControl-root":{".MuiSelect-select":{paddingTop:"20px",paddingLeft:"12px"},label:{pointerEvents:"none",fontSize:"16px"},".MuiInputLabel-root":{"&.Mui-focused":{color:t.palette.text.primary}}}}));function ie({labelValue:t,...e}){return o.jsxs(pn,{fullWidth:!0,variant:"filled",children:[o.jsx(xt,{id:e.labelId,children:t}),o.jsx(bt,{...e})]})}const pe=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],hn=[{id:"continuous"},...pe],mn=["coordsys","tool"];class ce{constructor(e,n,r,a,i){var c,s,l;this.jogger=e,this.coordSystems=n,this.motionGroupDescription=r,this.tcps=a,this.inverseSolverValue=i,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.tcpChangeInProgress=!1,this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=q.JointTypeEnum.RevoluteJoint;for(const d of n)if(d.coordinate_system===""){d.coordinate_system="world";break}this.selectedCoordSystemId=((c=n[0])==null?void 0:c.coordinate_system)||"world",this.selectedTcpId=e.motionStream.rapidlyChangingMotionState.tcp??"",this.tcpChangeInProgress=this.tcps.length>0&&!this.selectedTcpId,this.inverseSolver=i,this.jointType=((l=(s=r==null?void 0:r.dh_parameters)==null?void 0:s[0])==null?void 0:l.type)??q.JointTypeEnum.RevoluteJoint,k.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(k.autorun(()=>this.saveToLocalStorage())),this.disposers.push(k.autorun(()=>{const d=this.jogger.motionStream.rapidlyChangingMotionState.tcp;d&&d!==this.selectedTcpId&&k.runInAction(()=>{this.selectedTcpId=d,this.tcpChangeInProgress=!1})})),window.joggingStore=this}static async loadFor(e){const{nova:n,cellId:r}=e,[a,i]=await Promise.all([n.api.controller.listCoordinateSystems(r,e.motionStream.controllerId,"ROTATION_VECTOR"),n.api.motionGroup.getMotionGroupDescription(r,e.motionStream.controllerId,e.motionGroupId)]),c=await n.api.motionGroupModels.getMotionGroupKinematicModel(i.motion_group_model),s=Object.entries(i.tcps||{}).map(([l,d])=>({id:l,readable_name:d.name,position:d.pose.position,orientation:d.pose.orientation}));return new ce(e,a||[],i,s,c.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return he.countBy(this.coordSystems,e=>e.name)}async deactivate(){this.jogger.mode==="jogging"&&await this.jogger.setJoggingMode("off")}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&await this.jogger.setOptions({tcp:this.selectedTcpId||void 0,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const e=L.tryParseJson(localStorage.getItem("joggingToolStore"));e&&(this.tabsById[e.selectedTabId]&&(this.selectedTabId=e.selectedTabId),this.coordSystemsById[e.selectedCoordSystemId]&&(this.selectedCoordSystemId=e.selectedCoordSystemId),this.incrementOptionsById[e.selectedIncrementId]&&(this.selectedIncrementId=e.selectedIncrementId),["translate","rotate"].includes(e.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=e.selectedCartesianMotionType),["coordsys","tool"].includes(e.selectedOrientation)&&(this.selectedOrientation=e.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const e=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&e.unshift({id:"cartesian",label:"Cartesian"}),e}get incrementOptions(){return hn}get discreteIncrementOptions(){return pe}get incrementOptionsById(){return oe(this.incrementOptions,e=>e.id)}get tabsById(){return oe(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return oe(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return oe(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:pe.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(e,n){const r=this.tabs[n]||this.tabs[0];this.selectedTabId=r.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.requestTcpChange(e).catch(n=>{console.error("Failed to change TCP:",n)})}async requestTcpChange(e){if(e===this.selectedTcpId)return;this.tcpChangeInProgress=!0;const n=this.jogger.tcp,r=this.jogger.mode!=="jogging";try{this.jogger.tcp=e,r?await this.jogger.setJoggingMode("jogging"):await this.jogger.setJoggingMode("jogging",!1);let a=await 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h.useEffect(()=>{e?(i.isRunning&&(c(f=>({...f,wasRunningBeforeError:!0})),u()),r()):(i.wasRunningBeforeError&&!i.isRunning&&(c(f=>({...f,wasRunningBeforeError:!1})),b()),a())},[e,i.isRunning,i.wasRunningBeforeError,u,b,r,a]),h.useEffect(()=>{if(i.isRunning){const f=()=>{if(l.current){const x=(Date.now()-l.current)/1e3+d.current,j=x/60%1*100;c(T=>({...T,elapsedTime:Math.floor(x)})),Math.abs(j-m.current)>.1&&(g.setTarget([j]),m.current=j)}s.current=requestAnimationFrame(f)};s.current=requestAnimationFrame(f)}else s.current&&(cancelAnimationFrame(s.current),s.current=null);return()=>{s.current&&(cancelAnimationFrame(s.current),s.current=null)}},[i.isRunning,g]),h.useEffect(()=>{let f=null;const v=()=>{g.update(),f=requestAnimationFrame(v)};return f=requestAnimationFrame(v),()=>{f&&cancelAnimationFrame(f)}},[g]),{timerState:i,controls:{start:p,pause:u,resume:b,reset:S,isPaused:y}}},Nn=B.externalizeComponent(D.observer(({onTimerReady:t,autoStart:e=!0,variant:n="default",compact:r=!1,className:a,hasError:i=!1})=>{const{animationState:c,triggerPauseAnimation:s,triggerErrorAnimation:l,clearErrorAnimation:d,setInitialAnimationState:m,cleanup:g}=Vn(),{timerState:p,controls:u}=qn({autoStart:e,hasError:i,onPauseAnimation:s,onErrorAnimation:l,onClearErrorAnimation:d});return h.useEffect(()=>{m()},[m]),h.useEffect(()=>{let b=!0;const S=setTimeout(()=>{b&&t(u)},0);return()=>{b=!1,clearTimeout(S)}},[t,u]),h.useEffect(()=>g,[g]),n==="small"?o.jsx($n,{timerState:p,animationState:c,hasError:i,compact:r,className:a}):o.jsx(zn,{timerState:p,animationState:c,hasError:i,className:a})})),_e=1e-4,Wn={a:0,d:0,alpha:0,theta:0,reverse_rotation_direction:!1};class ae{constructor(e,n,r,a,i,c,s,l,d,m,g="cell"){this.controller=n,this.motionGroup=r,this.initialMotionState=a,this.motionStateSocket=i,this.isVirtual=c,this.tcps=s,this.description=l,this.initialControllerState=d,this.controllerStateSocket=m,this.cellId=g,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.nova=re(e),this.rapidlyChangingMotionState=a,this.controllerState=d,m.addEventListener("message",p=>{var b;const u=(b=L.tryParseJson(p.data))==null?void 0:b.result;u&&k.runInAction(()=>{this.controllerState=u})}),i.addEventListener("message",p=>{var b;const u=(b=L.tryParseJson(p.data))==null?void 0:b.result;if(!u)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);me(this.rapidlyChangingMotionState.joint_position,u.joint_position,_e)||k.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=u.joint_position}),fe(this.rapidlyChangingMotionState,u,_e)||k.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=u.tcp_pose}),u.tcp!==void 0&&this.rapidlyChangingMotionState.tcp!==u.tcp&&k.runInAction(()=>{this.rapidlyChangingMotionState.tcp=u.tcp}),this.rapidlyChangingMotionState.standstill!==u.standstill&&k.runInAction(()=>{this.rapidlyChangingMotionState.standstill=u.standstill})}),k.makeAutoObservable(this)}static async connectMultiple(e,n,r={}){return Promise.all(n.map(a=>ae.connect(e,a,r)))}static async connect(e,n,r={}){var j,C;const a=re(e),i=r.cellId??"cell",[c,s]=n.split("@"),l=await a.api.controller.getCurrentRobotControllerState(i,s),d=l==null?void 0:l.motion_groups.find(T=>T.motion_group===n);if(!l||!d)throw new Error(`Controller ${s} or motion group ${n} not found`);const m=a.openReconnectingWebsocket(`/cells/${i}/controllers/${s}/motion-groups/${n}/state-stream`),g=await m.firstMessage(),p=(j=L.tryParseJson(g.data))==null?void 0:j.result;if(!p)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${d.motion_group}. Initial state:
+  `,p);const b=(await a.api.controller.getRobotController(i,l.controller)).configuration.kind==="VirtualController",S=await a.api.motionGroup.getMotionGroupDescription(i,s,d.motion_group),y=Object.entries(S.tcps||{}).map(([T,M])=>({id:T,readable_name:M.name,position:M.pose.position,orientation:M.pose.orientation})),f=a.openReconnectingWebsocket(`/cells/${i}/controllers/${l.controller}/state-stream?response_rate=1000`),v=await f.firstMessage(),x=(C=L.tryParseJson(v.data))==null?void 0:C.result;if(!x)throw new Error(`Unable to parse initial controller state message ${v.data}`);return console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
+  `,x),new ae(a,l,d,p,m,b,y,S,x,f,i)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((e,n)=>({index:n}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(e=>({...Wn,...e}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var e,n,r;return this.description.mounting?[(((e=this.description.mounting.position)==null?void 0:e[0])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[1])||0)/1e3,(((r=this.description.mounting.position)==null?void 0:r[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var a,i,c,s,l,d;const e=new ke.Vector3(((i=(a=this.description.mounting)==null?void 0:a.orientation)==null?void 0:i[0])||0,((s=(c=this.description.mounting)==null?void 0:c.orientation)==null?void 0:s[1])||0,((d=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:d[2])||0),n=e.length(),r=e.normalize();return new ke.Quaternion().setFromAxisAngle(r,n)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}async deactivate(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}k.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),k.runInAction(()=>{this.activationState="inactive"})}catch(e){throw k.runInAction(()=>{this.activationState="active"}),e}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}k.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),k.runInAction(()=>{this.activationState="active"})}catch(e){throw k.runInAction(()=>{this.activationState="inactive"}),e}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(e){this.joggingVelocity=e}}const K="rgba(255, 255, 255, 1)",Gn={components:{MuiCssBaseline:{styleOverrides:{".MuiDataGrid-panelContent":{borderRadius:"16px !important","& .MuiPaper-root":{borderRadius:"16px !important"}},".MuiDataGrid-filterForm":{borderRadius:"16px !important","& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}},"& .MuiTextField-root":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}},".MuiDataGrid-filterFormValueInput":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}}},MuiDataGrid:{styleOverrides:{panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:`${H.RadiusSm} !important`,"& fieldset":{borderRadius:`${H.RadiusSm} !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${H.RadiusSm} !important`}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:`${H.RadiusSm} !important`,"& fieldset":{borderRadius:`${H.RadiusSm} !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${H.RadiusSm} !important`}}}}}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:K},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:K},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:K}}},JoggingJoint:{Joint:{arrowColor:K}},VelocitySlider:{sliderLegendColor:K}}}};function Ke(...t){const e=t.map(n=>{var r;if(((r=n==null?void 0:n.palette)==null?void 0:r.mode)==="light"){console.warn("[createNovaTheme] palette.mode 'light' is not supported — light tokens are not yet available. Falling back to dark mode. Remove palette.mode from your theme options to silence this warning.");const{mode:a,...i}=n.palette;return{...n,palette:i}}return n});return zt.createNovaMuiTheme(Gn,...e)}function Hn(t={}){return Ke(t)}exports.AdornedTextField=Vt;exports.AppHeader=Nt;exports.ConnectedMotionGroup=ae;exports.CycleTimer=Xt;exports.JoggerConnection=le;exports.JoggingCartesianAxisControl=ge;exports.JoggingJointValueControl=ze;exports.JoggingPanel=Sn;exports.JoggingStore=ce;exports.LoadingCover=qe;exports.LoadingErrorMessage=Ne;exports.LogPanel=kn;exports.LogStore=Ze;exports.LogViewer=Xe;exports.MotionStreamConnection=se;exports.NoMotionGroupModal=En;exports.PoseCartesianValues=Cn;exports.PoseJointValues=jn;exports.RobotListItem=An;exports.RobotSetupReadinessIndicator=Qe;exports.RobotSetupReadinessState=be;exports.SelectableFab=Dn;exports.TabBar=Fn;exports.Timer=Nn;exports.VelocitySlider=Ge;exports.VelocitySliderLabel=xe;exports.WandelbotsDataGrid=Be;exports.createDebugMessage=wn;exports.createErrorMessage=In;exports.createInfoMessage=Tn;exports.createLogMessage=te;exports.createNovaMuiTheme=Hn;exports.createNovaTheme=Ke;exports.createWarningMessage=Mn;exports.jointValuesEqual=me;exports.poseEqual=$e;exports.tcpMotionEqual=fe;exports.unwrapRotationVector=Ve;

package/dist/core.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-DL6p0QAr.cjs"),o=require("./chunks/interpolation-C9sLsved.cjs"),t=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),a=require("./chunks/SafetyBar-VvOZ9aRM.cjs");exports.AdornedTextField=e.AdornedTextField;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createNovaTheme=e.createNovaTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=o.ProgramControl;exports.ProgramState=o.ProgramState;exports.ProgramStateIndicator=o.ProgramStateIndicator;exports.ValueInterpolator=o.ValueInterpolator;exports.useAnimationFrame=o.useAnimationFrame;exports.useAutorun=o.useAutorun;exports.useInterpolation=o.useInterpolation;exports.useMounted=o.useMounted;exports.useReaction=o.useReaction;exports.i18n=t.i18n;exports.SafetyBar=a.SafetyBar;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-BwZXb5-H.cjs"),o=require("./chunks/interpolation-C9sLsved.cjs"),t=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),a=require("./chunks/SafetyBar-DPrv_OQA.cjs");exports.AdornedTextField=e.AdornedTextField;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createNovaTheme=e.createNovaTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=o.ProgramControl;exports.ProgramState=o.ProgramState;exports.ProgramStateIndicator=o.ProgramStateIndicator;exports.ValueInterpolator=o.ValueInterpolator;exports.useAnimationFrame=o.useAnimationFrame;exports.useAutorun=o.useAutorun;exports.useInterpolation=o.useInterpolation;exports.useMounted=o.useMounted;exports.useReaction=o.useReaction;exports.i18n=t.i18n;exports.SafetyBar=a.SafetyBar;

package/dist/core.js

@@ -1,7 +1,7 @@
-import { A as o, b as s, u as t, C as r, v as n, d as i, e as g, f as l, J as u, h as c, i as d, j as m, L as p, p as M, M as S, N as b, P as C, g as V, R as L, r as P, q as f, S as J, T as R, s as x, V as T, t as A, W as I, l as y, o as E, m as q, k as v, a as N, c as h, n as w, w as F, x as G, y as W, z as j } from "./chunks/theming-D4Vvwf6q.js";
+import { A as o, b as s, u as t, C as r, v as n, d as i, e as g, f as l, J as u, h as c, i as d, j as m, L as p, p as M, M as S, N as b, P as C, g as V, R as L, r as P, q as f, S as J, T as R, s as x, V as T, t as A, W as I, l as y, o as E, m as q, k as v, a as N, c as h, n as w, w as F, x as G, y as W, z as j } from "./chunks/theming-B2dYJ4Ca.js";
 import { a as D, P as k, b as z, V as H, e as K, c as O, f as Q, u as U, d as X } from "./chunks/interpolation-DG8VTxzS.js";
 import { i as Z } from "./chunks/externalizeComponent-EDymnaGR.js";
-import { S as $ } from "./chunks/SafetyBar-CxxIVVeR.js";
+import { S as $ } from "./chunks/SafetyBar-Cy9DiXp9.js";
 export {
   o as AdornedTextField,
   s as AppHeader,

package/dist/index.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-zDM0Lgd-.cjs"),e=require("./chunks/theming-DL6p0QAr.cjs"),t=require("./chunks/interpolation-C9sLsved.cjs"),i=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),s=require("./chunks/SafetyBar-VvOZ9aRM.cjs"),a=require("./chunks/robot-SEtfVAmf.cjs"),n=require("./chunks/wbLogo-G_IfZ03l.cjs"),r=require("./chunks/safety-state-stop-CgPfwC18.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.LinearAxis=o.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=o.MotionGroupVisualizer;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedLinearAxis=o.SupportedLinearAxis;exports.SupportedRobot=o.SupportedRobot;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.AdornedTextField=e.AdornedTextField;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createNovaTheme=e.createNovaTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.i18n=i.i18n;exports.SafetyBar=s.SafetyBar;exports.AxisXIcon=a.ForwardRef;exports.AxisYIcon=a.ForwardRef$1;exports.AxisZIcon=a.ForwardRef$2;exports.JogMinusIcon=a.ForwardRef$3;exports.JogPlusIcon=a.ForwardRef$4;exports.RobotIcon=a.ForwardRef$5;exports.RotationIcon=a.ForwardRef$6;exports.HomeIcon=n.ForwardRef;exports.JoggingIcon=n.ForwardRef$1;exports.OrientationCoordSystemIcon=n.ForwardRef$2;exports.OrientationToolIcon=n.ForwardRef$3;exports.WBLogoIcon=n.ForwardRef$4;exports.ControllerTypePhysicalIcon=r.ForwardRef;exports.ControllerTypeVirtualIcon=r.ForwardRef$1;exports.OperationModeAutomaticIcon=r.ForwardRef$2;exports.OperationModeErrorIcon=r.ForwardRef$3;exports.OperationModeManualIcon=r.ForwardRef$4;exports.SafetyStateErrorIcon=r.ForwardRef$5;exports.SafetyStateEstopIcon=r.ForwardRef$6;exports.SafetyStateManualActionRequiredIcon=r.ForwardRef$7;exports.SafetyStateNormalIcon=r.ForwardRef$8;exports.SafetyStateStopIcon=r.ForwardRef$9;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-zDM0Lgd-.cjs"),e=require("./chunks/theming-BwZXb5-H.cjs"),t=require("./chunks/interpolation-C9sLsved.cjs"),r=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),a=require("./chunks/SafetyBar-DPrv_OQA.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.LinearAxis=o.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=o.MotionGroupVisualizer;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedLinearAxis=o.SupportedLinearAxis;exports.SupportedRobot=o.SupportedRobot;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.AdornedTextField=e.AdornedTextField;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createNovaTheme=e.createNovaTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.i18n=r.i18n;exports.SafetyBar=a.SafetyBar;

package/dist/index.d.ts

@@ -1,3 +1,2 @@
 export * from "./3d";
 export * from "./core";
-export * from "./wb-icons";

package/dist/index.js

@@ -1,96 +1,71 @@
-import { C as e, L as s, M as t, h as r, P as n, b as i, R as c, S as l, c as g, f as u, T as d, a as p, d as S, e as I, g as f } from "./chunks/MotionGroupVisualizer-BRec-k-p.js";
-import { A as M, b as C, u as R, C as b, v as x, d as y, e as A, f as L, J as P, h as T, i as V, j as E, L as J, p as F, M as N, N as O, P as h, g as G, R as q, r as v, q as H, S as W, T as j, s as w, V as B, t as D, W as z, l as U, o as Z, m as _, k, a as X, c as Y, n as K, w as Q, x as $, y as aa, z as oa } from "./chunks/theming-D4Vvwf6q.js";
-import { a as sa, P as ta, b as ra, V as na, e as ia, c as ca, f as la, u as ga, d as ua } from "./chunks/interpolation-DG8VTxzS.js";
+import { C as o, L as s, M as t, h as r, P as n, b as i, R as g, S as l, c as u, f as d, T as c, a as p, d as M, e as S, g as m } from "./chunks/MotionGroupVisualizer-BRec-k-p.js";
+import { A as f, b as R, u as b, C as x, v as L, d as V, e as A, f as P, J as T, h as E, i as J, j as y, L as I, p as G, M as N, N as v, P as F, g as h, R as q, r as j, q as w, S as D, T as H, s as W, V as z, t as B, W as O, l as U, o as _, m as k, k as Z, a as K, c as Q, n as X, w as Y, x as $, y as aa, z as ea } from "./chunks/theming-B2dYJ4Ca.js";
+import { a as sa, P as ta, b as ra, V as na, e as ia, c as ga, f as la, u as ua, d as da } from "./chunks/interpolation-DG8VTxzS.js";
 import { i as pa } from "./chunks/externalizeComponent-EDymnaGR.js";
-import { S as Ia } from "./chunks/SafetyBar-CxxIVVeR.js";
-import { F as ma, a as Ma, b as Ca, c as Ra, d as ba, e as xa, f as ya } from "./chunks/robot-Cy9ST5-m.js";
-import { F as La, a as Pa, b as Ta, c as Va, d as Ea } from "./chunks/wbLogo-CObCmqTw.js";
-import { F as Fa, a as Na, b as Oa, c as ha, d as Ga, e as qa, f as va, g as Ha, h as Wa, i as ja } from "./chunks/safety-state-stop-CJW5CKkp.js";
+import { S as Sa } from "./chunks/SafetyBar-Cy9DiXp9.js";
 export {
-  M as AdornedTextField,
-  C as AppHeader,
-  ma as AxisXIcon,
-  Ma as AxisYIcon,
-  Ca as AxisZIcon,
-  e as CollisionSceneRenderer,
-  R as ConnectedMotionGroup,
-  Fa as ControllerTypePhysicalIcon,
-  Na as ControllerTypeVirtualIcon,
-  b as CycleTimer,
-  La as HomeIcon,
-  Ra as JogMinusIcon,
-  ba as JogPlusIcon,
-  x as JoggerConnection,
-  y as JoggingCartesianAxisControl,
-  Pa as JoggingIcon,
+  f as AdornedTextField,
+  R as AppHeader,
+  o as CollisionSceneRenderer,
+  b as ConnectedMotionGroup,
+  x as CycleTimer,
+  L as JoggerConnection,
+  V as JoggingCartesianAxisControl,
   A as JoggingJointValueControl,
-  L as JoggingPanel,
-  P as JoggingStore,
+  P as JoggingPanel,
+  T as JoggingStore,
   s as LinearAxis,
-  T as LoadingCover,
-  V as LoadingErrorMessage,
-  E as LogPanel,
-  J as LogStore,
-  F as LogViewer,
+  E as LoadingCover,
+  J as LoadingErrorMessage,
+  y as LogPanel,
+  I as LogStore,
+  G as LogViewer,
   t as MANUFACTURER_HOME_CONFIGS,
   r as MotionGroupVisualizer,
   N as MotionStreamConnection,
-  O as NoMotionGroupModal,
-  Oa as OperationModeAutomaticIcon,
-  ha as OperationModeErrorIcon,
-  Ga as OperationModeManualIcon,
-  Ta as OrientationCoordSystemIcon,
-  Va as OrientationToolIcon,
-  h as PoseCartesianValues,
-  G as PoseJointValues,
+  v as NoMotionGroupModal,
+  F as PoseCartesianValues,
+  h as PoseJointValues,
   n as PresetEnvironment,
   sa as ProgramControl,
   ta as ProgramState,
   ra as ProgramStateIndicator,
   i as Robot,
-  c as RobotCard,
-  xa as RobotIcon,
+  g as RobotCard,
   q as RobotListItem,
-  v as RobotSetupReadinessIndicator,
-  H as RobotSetupReadinessState,
-  ya as RotationIcon,
-  Ia as SafetyBar,
-  qa as SafetyStateErrorIcon,
-  va as SafetyStateEstopIcon,
-  Ha as SafetyStateManualActionRequiredIcon,
-  Wa as SafetyStateNormalIcon,
-  ja as SafetyStateStopIcon,
+  j as RobotSetupReadinessIndicator,
+  w as RobotSetupReadinessState,
+  Sa as SafetyBar,
   l as SafetyZonesRenderer,
-  W as SelectableFab,
-  g as SupportedLinearAxis,
-  u as SupportedRobot,
-  j as TabBar,
-  w as Timer,
-  d as TrajectoryRenderer,
+  D as SelectableFab,
+  u as SupportedLinearAxis,
+  d as SupportedRobot,
+  H as TabBar,
+  W as Timer,
+  c as TrajectoryRenderer,
   na as ValueInterpolator,
-  B as VelocitySlider,
-  D as VelocitySliderLabel,
-  Ea as WBLogoIcon,
-  z as WandelbotsDataGrid,
+  z as VelocitySlider,
+  B as VelocitySliderLabel,
+  O as WandelbotsDataGrid,
   U as createDebugMessage,
-  Z as createErrorMessage,
-  _ as createInfoMessage,
-  k as createLogMessage,
-  X as createNovaMuiTheme,
-  Y as createNovaTheme,
-  K as createWarningMessage,
+  _ as createErrorMessage,
+  k as createInfoMessage,
+  Z as createLogMessage,
+  K as createNovaMuiTheme,
+  Q as createNovaTheme,
+  X as createWarningMessage,
   p as defaultAxisConfig,
-  S as defaultGetModel,
-  I as extractManufacturer,
-  f as getDefaultHomeConfig,
+  M as defaultGetModel,
+  S as extractManufacturer,
+  m as getDefaultHomeConfig,
   pa as i18n,
-  Q as jointValuesEqual,
+  Y as jointValuesEqual,
   $ as poseEqual,
   aa as tcpMotionEqual,
-  oa as unwrapRotationVector,
+  ea as unwrapRotationVector,
   ia as useAnimationFrame,
-  ca as useAutorun,
+  ga as useAutorun,
   la as useInterpolation,
-  ga as useMounted,
-  ua as useReaction
+  ua as useMounted,
+  da as useReaction
 };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "5.10.0",
+  "version": "6.0.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -27,11 +27,6 @@
       "import": "./dist/3d.js",
       "require": "./dist/3d.cjs"
     },
-    "./wb-icons": {
-      "types": "./dist/wb-icons.d.ts",
-      "import": "./dist/wb-icons.js",
-      "require": "./dist/wb-icons.cjs"
-    },
     "./package.json": "./package.json",
     "./*": {
       "types": "./dist/*/index.d.ts",

package/dist/SafetyBar/icons/index.d.ts

@@ -1,10 +0,0 @@
-export { default as ControllerTypePhysicalIcon } from "./controller-type-physical.svg";
-export { default as ControllerTypeVirtualIcon } from "./controller-type-virtual.svg";
-export { default as OperationModeAutomaticIcon } from "./operation-mode-automatic.svg";
-export { default as OperationModeErrorIcon } from "./operation-mode-error.svg";
-export { default as OperationModeManualIcon } from "./operation-mode-manual.svg";
-export { default as SafetyStateErrorIcon } from "./safety-state-error.svg";
-export { default as SafetyStateEstopIcon } from "./safety-state-estop.svg";
-export { default as SafetyStateManualActionRequiredIcon } from "./safety-state-manual-action-required.svg";
-export { default as SafetyStateNormalIcon } from "./safety-state-normal.svg";
-export { default as SafetyStateStopIcon } from "./safety-state-stop.svg";