@wandelbots/wandelbots-js-react-components 5.3.0 → 5.4.0

package/dist/{MotionGroupVisualizer-C6MgXjCN.cjs → MotionGroupVisualizer-Dq_KWGsa.cjs}

@@ -1,2 +1,2 @@
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y.CylinderGeometry(t.radius/1e3,t.radius/1e3,t.height/1e3);case"rectangle":return new y.BoxGeometry(t.size_x/1e3,t.size_y/1e3,0);default:return console.warn(`${t.shape_type} is not supported`),new y.BufferGeometry}}function le({name:t,collider:r,children:s}){var l,c;const a=((l=r.pose)==null?void 0:l.position)??[0,0,0],i=((c=r.pose)==null?void 0:c.orientation)??[0,0,0];return r.margin&&console.warn(`${t} margin is not supported`),e.jsxRuntimeExports.jsx("mesh",{name:t,position:new y.Vector3(a[0],a[1],a[2]).divideScalar(1e3),rotation:new y.Euler(i[0],i[1],i[2],"XYZ"),geometry:ce(r.shape),children:s})}function xe({name:t,colliders:r,meshChildrenProvider:s,...a}){return e.jsxRuntimeExports.jsx("group",{name:t,...a,children:Object.entries(r).map(([i,l])=>e.jsxRuntimeExports.jsx(le,{name:i,collider:l,children:s(i,l)},i))})}function pe({scene:t,meshChildrenProvider:r}){const s=t.colliders;return 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e.jsxRuntimeExports.jsxs(e.jsxRuntimeExports.Fragment,{children:[e.jsxRuntimeExports.jsx(w.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),e.jsxRuntimeExports.jsx("group",{rotation:[0,.5,0],children:e.jsxRuntimeExports.jsx("group",{children:t.map((r,s)=>e.jsxRuntimeExports.jsx(w.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[r,4,s*4],scale:[3,1,1]},s))})}),e.jsxRuntimeExports.jsx(w.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),e.jsxRuntimeExports.jsx(w.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),e.jsxRuntimeExports.jsx(w.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),e.jsxRuntimeExports.jsx(w.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),e.jsxRuntimeExports.jsx(w.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}function 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se({rapidlyChangingMotionState:t,dhParameters:r,...s}){const a=new R.Matrix4,i=x.useRef(null),l=x.useRef(null);function c(d){const h=new R.Matrix4;for(let j=0;j<r.length;j++){const m=r[j],g=d[j]??0,E=new R.Matrix4().makeRotationY(m.theta).multiply(new R.Matrix4().makeTranslation(m.a/1e3,(m.d+g*(m.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new R.Matrix4().makeRotationX(m.alpha));h.multiply(E)}const o=new R.Vector3,u=new R.Quaternion,p=new R.Vector3;return h.decompose(o,u,p),o}const f=c(t.joint_position);function n(d,h){a.identity();let o=new R.Vector3;for(let m=0;m<r.length;m++){const g=h[m]??0,E=r[m],v=new R.Matrix4().makeRotationY(E.theta).multiply(new R.Matrix4().makeTranslation(E.a/1e3,(E.d+g*(E.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new R.Matrix4().makeRotationX(E.alpha));a.multiply(v)}const u=new R.Vector3,p=new R.Quaternion,j=new R.Vector3;if(a.decompose(u,p,j),o=u,i.current&&i.current.position.set(o.x,o.y,o.z),l.current){const 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V=e.externalizeComponent(({rapidlyChangingMotionState:t,modelFromController:r,dhParameters:s,getModel:a=T,flangeRef:i,postModelRender:l,transparentColor:c,instanceUrl:f,...n})=>{const[d,h]=x.useState(null),o=x.useCallback(p=>{h(p)},[]);x.useEffect(()=>{d&&(c?K(d,c):z(d))},[d,c]);const u=e.jsxRuntimeExports.jsx(se,{rapidlyChangingMotionState:t,dhParameters:s,...n});return e.jsxRuntimeExports.jsxs(H.ErrorBoundary,{fallback:u,onError:p=>{console.warn(p)},children:[e.jsxRuntimeExports.jsx(x.Suspense,{fallback:u,children:e.jsxRuntimeExports.jsx("group",{ref:o,children:e.jsxRuntimeExports.jsx(te,{rapidlyChangingMotionState:t,dhParameters:s,children:e.jsxRuntimeExports.jsx(Z,{modelURL:(()=>{const p=a(r,f);if(!p){const j=new Blob([],{type:"model/gltf-binary"}),m=new File([j],`${r}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(m))}return p})(),postModelRender:l,flangeRef:i,...n})})})}),e.jsxRuntimeExports.jsx(X,{})]})});function ve({connectedMotionGroup:t,getModel:r=T,flangeRef:s,transparentColor:a,postModelRender:i,...l}){if(!t.dhParameters)return null;const c=t.modelFromController||"";return c&&r(c)?e.jsxRuntimeExports.jsx(V,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,modelFromController:c,dhParameters:t.dhParameters,getModel:r,flangeRef:s,transparentColor:a,postModelRender:i,...l}):e.jsxRuntimeExports.jsx(se,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,dhParameters:t.dhParameters,...l})}const I={[e.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[e.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[e.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[e.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[e.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0]};function re(t){const[r]=t.split("_");switch(r){case"ABB":return e.Manufacturer.Abb;case"FANUC":return e.Manufacturer.Fanuc;case"YASKAWA":return e.Manufacturer.Yaskawa;case"KUKA":return e.Manufacturer.Kuka;case"UniversalRobots":return e.Manufacturer.Universalrobots;default:return null}}function _e(t,r){const s=re(t);return s&&s in I?I[s]:r||null}const Se=e.externalizeComponent(t=>{const{inverseSolver:r,dhParameters:s,...a}=t,[i,l]=x.useState(e.JointTypeEnum.RevoluteJoint);x.useEffect(()=>{s.length&&l(s[0].type??e.JointTypeEnum.RevoluteJoint)},[s]);const c=x.useMemo(()=>r===null&&i===e.JointTypeEnum.RevoluteJoint,[r,i]),f=x.useMemo(()=>r===null&&i===e.JointTypeEnum.PrismaticJoint,[r,i]);return x.useMemo(()=>!!r,[r])||c?e.jsxRuntimeExports.jsx(B,{dhParameters:s,...a}):f?e.jsxRuntimeExports.jsx(V,{dhParameters:s,...a}):e.jsxRuntimeExports.jsx(e.jsxRuntimeExports.Fragment,{})});exports.CollisionSceneRenderer=pe;exports.LinearAxis=ve;exports.MANUFACTURER_HOME_CONFIGS=I;exports.MotionGroupVisualizer=Se;exports.PresetEnvironment=A;exports.Robot=ee;exports.RobotCard=we;exports.SafetyZonesRenderer=fe;exports.SupportedLinearAxis=V;exports.SupportedRobot=B;exports.TrajectoryRenderer=de;exports.defaultAxisConfig=Me;exports.defaultGetModel=T;exports.extractManufacturer=re;exports.getDefaultHomeConfig=_e;
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y.CylinderGeometry(t.radius/1e3,t.radius/1e3,t.height/1e3);case"rectangle":return new y.BoxGeometry(t.size_x/1e3,t.size_y/1e3,0);default:return console.warn(`${t.shape_type} is not supported`),new y.BufferGeometry}}function le({name:t,collider:r,children:s}){var l,c;const a=((l=r.pose)==null?void 0:l.position)??[0,0,0],i=((c=r.pose)==null?void 0:c.orientation)??[0,0,0];return r.margin&&console.warn(`${t} margin is not supported`),e.jsxRuntimeExports.jsx("mesh",{name:t,position:new y.Vector3(a[0],a[1],a[2]).divideScalar(1e3),rotation:new y.Euler(i[0],i[1],i[2],"XYZ"),geometry:ce(r.shape),children:s})}function xe({name:t,colliders:r,meshChildrenProvider:s,...a}){return e.jsxRuntimeExports.jsx("group",{name:t,...a,children:Object.entries(r).map(([i,l])=>e.jsxRuntimeExports.jsx(le,{name:i,collider:l,children:s(i,l)},i))})}function pe({scene:t,meshChildrenProvider:r}){const s=t.colliders;return 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fe({safetyZones:t,dhParameters:r,...s}){const a={attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0},i=e.dhParametersToPlaneSize(r??[]),l=(f,n)=>{var p,j;if(!((p=n==null?void 0:n.pose)!=null&&p.position)||!((j=n==null?void 0:n.pose)!=null&&j.orientation))return null;const d=new y.Vector3(n.pose.position[0]/1e3,n.pose.position[1]/1e3,n.pose.position[2]/1e3),h=new y.Vector3(n.pose.orientation[0],n.pose.orientation[1],n.pose.orientation[2]);let o;const u=n.shape.shape_type==="plane"?{...a,side:y.DoubleSide}:{...a,side:y.FrontSide};switch(n.shape.shape_type){case"plane":o=e.jsxRuntimeExports.jsx("planeGeometry",{args:[i,i]});break;case"sphere":{const m=(n==null?void 0:n.shape).radius/1e3;o=e.jsxRuntimeExports.jsx("sphereGeometry",{args:[m]});break}case"capsule":{const m=(n==null?void 0:n.shape).radius/1e3,g=(n==null?void 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te({rapidlyChangingMotionState:t,dhParameters:r,onTranslationChanged:s,children:a}){const i=x.useRef([]),l=x.useRef([]),c=x.useRef(null),{invalidate:f}=S.useThree();x.useEffect(()=>{const o=t.joint_position.filter(u=>u!==void 0);return c.current=new e.ValueInterpolator(o,{tension:120,friction:20,threshold:.001}),()=>{var u;(u=c.current)==null||u.destroy()}},[]),S.useFrame((o,u)=>{if(c.current){const p=c.current.update(u);d(),p||f()}});function n(o){o&&(l.current=$(o),d(),f())}function d(){var u;const o=((u=c.current)==null?void 0:u.getCurrentValues())||[];if(s)s(l.current,o);else for(const[p,j]of l.current.entries()){const g=r[p].reverse_rotation_direction?-1:1;j.position.y=g*(o[p]||0)/1e3}}const h=x.useCallback(()=>{const o=t.joint_position.filter(u=>u!==void 0);requestAnimationFrame(()=>{var u;i.current=o,(u=c.current)==null||u.setTarget(o)})},[t]);return x.useEffect(()=>{h()},[t,h]),e.useAutorun(()=>{h()}),e.jsxRuntimeExports.jsx("group",{ref:n,children:a})}function se({rapidlyChangingMotionState:t,dhParameters:r,...s}){const a=new R.Matrix4,i=x.useRef(null),l=x.useRef(null);function c(d){const h=new R.Matrix4;for(let j=0;j<r.length;j++){const m=r[j],g=d[j]??0,E=new R.Matrix4().makeRotationY(m.theta).multiply(new R.Matrix4().makeTranslation(m.a/1e3,(m.d+g*(m.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new R.Matrix4().makeRotationX(m.alpha));h.multiply(E)}const o=new R.Vector3,u=new R.Quaternion,p=new R.Vector3;return h.decompose(o,u,p),o}const f=c(t.joint_position);function n(d,h){a.identity();let o=new R.Vector3;for(let m=0;m<r.length;m++){const g=h[m]??0,E=r[m],v=new R.Matrix4().makeRotationY(E.theta).multiply(new R.Matrix4().makeTranslation(E.a/1e3,(E.d+g*(E.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new R.Matrix4().makeRotationX(E.alpha));a.multiply(v)}const u=new R.Vector3,p=new R.Quaternion,j=new R.Vector3;if(a.decompose(u,p,j),o=u,i.current&&i.current.position.set(o.x,o.y,o.z),l.current){const 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V=e.externalizeComponent(({rapidlyChangingMotionState:t,modelFromController:r,dhParameters:s,getModel:a=T,flangeRef:i,postModelRender:l,transparentColor:c,instanceUrl:f,...n})=>{const[d,h]=x.useState(null),o=x.useCallback(p=>{h(p)},[]);x.useEffect(()=>{d&&(c?K(d,c):z(d))},[d,c]);const u=e.jsxRuntimeExports.jsx(se,{rapidlyChangingMotionState:t,dhParameters:s,...n});return e.jsxRuntimeExports.jsxs(H.ErrorBoundary,{fallback:u,onError:p=>{console.warn(p)},children:[e.jsxRuntimeExports.jsx(x.Suspense,{fallback:u,children:e.jsxRuntimeExports.jsx("group",{ref:o,children:e.jsxRuntimeExports.jsx(te,{rapidlyChangingMotionState:t,dhParameters:s,children:e.jsxRuntimeExports.jsx(Z,{modelURL:(()=>{const p=a(r,f);if(!p){const j=new Blob([],{type:"model/gltf-binary"}),m=new File([j],`${r}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(m))}return p})(),postModelRender:l,flangeRef:i,...n})})})}),e.jsxRuntimeExports.jsx(X,{})]})});function ve({connectedMotionGroup:t,getModel:r=T,flangeRef:s,transparentColor:a,postModelRender:i,...l}){if(!t.dhParameters)return null;const c=t.modelFromController||"";return c&&r(c)?e.jsxRuntimeExports.jsx(V,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,modelFromController:c,dhParameters:t.dhParameters,getModel:r,flangeRef:s,transparentColor:a,postModelRender:i,...l}):e.jsxRuntimeExports.jsx(se,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,dhParameters:t.dhParameters,...l})}const I={[e.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[e.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[e.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[e.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[e.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0]};function re(t){const[r]=t.split("_");switch(r){case"ABB":return e.Manufacturer.Abb;case"FANUC":return e.Manufacturer.Fanuc;case"YASKAWA":return e.Manufacturer.Yaskawa;case"KUKA":return e.Manufacturer.Kuka;case"UniversalRobots":return e.Manufacturer.Universalrobots;default:return null}}function _e(t,r){const s=re(t);return s&&s in I?I[s]:r||null}const Se=e.externalizeComponent(t=>{const{inverseSolver:r,dhParameters:s,...a}=t,[i,l]=x.useState(e.JointTypeEnum.RevoluteJoint);x.useEffect(()=>{s.length&&l(s[0].type??e.JointTypeEnum.RevoluteJoint)},[s]);const c=x.useMemo(()=>r===null&&i===e.JointTypeEnum.RevoluteJoint,[r,i]),f=x.useMemo(()=>r===null&&i===e.JointTypeEnum.PrismaticJoint,[r,i]);return x.useMemo(()=>!!r,[r])||c?e.jsxRuntimeExports.jsx(B,{dhParameters:s,...a}):f?e.jsxRuntimeExports.jsx(V,{dhParameters:s,...a}):e.jsxRuntimeExports.jsx(e.jsxRuntimeExports.Fragment,{})});exports.CollisionSceneRenderer=pe;exports.LinearAxis=ve;exports.MANUFACTURER_HOME_CONFIGS=I;exports.MotionGroupVisualizer=Se;exports.PresetEnvironment=A;exports.Robot=ee;exports.RobotCard=we;exports.SafetyZonesRenderer=fe;exports.SupportedLinearAxis=V;exports.SupportedRobot=B;exports.TrajectoryRenderer=de;exports.defaultAxisConfig=Me;exports.defaultGetModel=T;exports.extractManufacturer=re;exports.getDefaultHomeConfig=_e;
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