@wandelbots/wandelbots-js-react-components 5.4.1 → 5.4.2-pr.ci-pr-preview.586.f684aae
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/3d.cjs.js +1 -1
- package/dist/3d.d.ts +1 -1
- package/dist/3d.d.ts.map +1 -1
- package/dist/3d.es.js +1 -1
- package/dist/MotionGroupVisualizer-B-e22qXF.cjs +2 -0
- package/dist/MotionGroupVisualizer-B-e22qXF.cjs.map +1 -0
- package/dist/MotionGroupVisualizer-CIASsBC6.js +1433 -0
- package/dist/MotionGroupVisualizer-CIASsBC6.js.map +1 -0
- package/dist/Setup.d.ts +1 -1
- package/dist/Setup.d.ts.map +1 -1
- package/dist/components/3d-viewport/SafetyZonesRenderer.d.ts +1 -1
- package/dist/components/3d-viewport/SafetyZonesRenderer.d.ts.map +1 -1
- package/dist/components/3d-viewport/collider/ColliderCollection.d.ts.map +1 -1
- package/dist/components/AppHeader.d.ts +1 -1
- package/dist/components/AppHeader.d.ts.map +1 -1
- package/dist/components/ConsoleFilter.d.ts +1 -1
- package/dist/components/ConsoleFilter.d.ts.map +1 -1
- package/dist/components/CopyableText.d.ts.map +1 -1
- package/dist/components/CycleTimer/DefaultVariant.d.ts.map +1 -1
- package/dist/components/CycleTimer/SmallVariant.d.ts.map +1 -1
- package/dist/components/DataGrid.d.ts +1 -1
- package/dist/components/DataGrid.d.ts.map +1 -1
- package/dist/components/LoadingCover.d.ts.map +1 -1
- package/dist/components/LogPanel.d.ts +1 -1
- package/dist/components/LogPanel.d.ts.map +1 -1
- package/dist/components/LogViewer.d.ts +1 -1
- package/dist/components/LogViewer.d.ts.map +1 -1
- package/dist/components/ProgramControl.d.ts.map +1 -1
- package/dist/components/ProgramStateIndicator.d.ts.map +1 -1
- package/dist/components/RobotCard.d.ts.map +1 -1
- package/dist/components/RobotListItem.d.ts.map +1 -1
- package/dist/components/RobotSetupReadinessIndicator.d.ts.map +1 -1
- package/dist/components/SelectableFab.d.ts +1 -1
- package/dist/components/SelectableFab.d.ts.map +1 -1
- package/dist/components/TabBar.d.ts +1 -1
- package/dist/components/TabBar.d.ts.map +1 -1
- package/dist/components/ThemeSelect.d.ts +1 -1
- package/dist/components/ThemeSelect.d.ts.map +1 -1
- package/dist/components/Timer/TimerDefaultVariant.d.ts.map +1 -1
- package/dist/components/Timer/TimerSmallVariant.d.ts.map +1 -1
- package/dist/components/TransparentOverlay.d.ts +2 -2
- package/dist/components/TransparentOverlay.d.ts.map +1 -1
- package/dist/components/VelocitySlider.d.ts +1 -1
- package/dist/components/VelocitySlider.d.ts.map +1 -1
- package/dist/components/experimental/utils/AdornedSelect.d.ts +1 -1
- package/dist/components/experimental/utils/AdornedSelect.d.ts.map +1 -1
- package/dist/components/jogging/JoggingBlocked.d.ts +1 -1
- package/dist/components/jogging/JoggingBlocked.d.ts.map +1 -1
- package/dist/components/jogging/JoggingCartesianAxisControl.d.ts.map +1 -1
- package/dist/components/jogging/JoggingCartesianTab.d.ts.map +1 -1
- package/dist/components/jogging/JoggingFreedriveTab.d.ts.map +1 -1
- package/dist/components/jogging/JoggingJointLimitDetector.d.ts +1 -1
- package/dist/components/jogging/JoggingJointLimitDetector.d.ts.map +1 -1
- package/dist/components/jogging/JoggingJointTab.d.ts +2 -2
- package/dist/components/jogging/JoggingJointTab.d.ts.map +1 -1
- package/dist/components/jogging/JoggingJointValueControl.d.ts.map +1 -1
- package/dist/components/jogging/JoggingOptions.d.ts.map +1 -1
- package/dist/components/jogging/JoggingPanel.d.ts +1 -1
- package/dist/components/jogging/JoggingPanel.d.ts.map +1 -1
- package/dist/components/jogging/JoggingStore.d.ts +1 -1
- package/dist/components/jogging/JoggingStore.d.ts.map +1 -1
- package/dist/components/jogging/JoggingToggleButtonGroup.d.ts +1 -1
- package/dist/components/jogging/JoggingToggleButtonGroup.d.ts.map +1 -1
- package/dist/components/jogging/JoggingVelocitySlider.d.ts +1 -1
- package/dist/components/jogging/JoggingVelocitySlider.d.ts.map +1 -1
- package/dist/components/jogging/PoseCartesianValues.d.ts.map +1 -1
- package/dist/components/jogging/PoseJointValues.d.ts.map +1 -1
- package/dist/components/modal/NoMotionGroupModal.d.ts.map +1 -1
- package/dist/components/robots/DHLinearAxis.d.ts.map +1 -1
- package/dist/components/robots/DHRobot.d.ts.map +1 -1
- package/dist/components/robots/GenericRobot.d.ts +1 -1
- package/dist/components/robots/GenericRobot.d.ts.map +1 -1
- package/dist/components/robots/LinearAxisAnimator.d.ts +1 -1
- package/dist/components/robots/LinearAxisAnimator.d.ts.map +1 -1
- package/dist/components/robots/MotionGroupVisualizer.d.ts +2 -2
- package/dist/components/robots/MotionGroupVisualizer.d.ts.map +1 -1
- package/dist/components/robots/RobotAnimator.d.ts +1 -1
- package/dist/components/robots/RobotAnimator.d.ts.map +1 -1
- package/dist/components/robots/SupportedLinearAxis.d.ts.map +1 -1
- package/dist/components/robots/SupportedRobot.d.ts.map +1 -1
- package/dist/components/robots/robotModelLogic.d.ts.map +1 -1
- package/dist/components/safetyBar/ControllerTypeIndicator.d.ts +1 -1
- package/dist/components/safetyBar/ControllerTypeIndicator.d.ts.map +1 -1
- package/dist/components/safetyBar/IndicatorWithExplanation.d.ts +2 -1
- package/dist/components/safetyBar/IndicatorWithExplanation.d.ts.map +1 -1
- package/dist/components/safetyBar/OperationModeIndicator.d.ts +1 -1
- package/dist/components/safetyBar/OperationModeIndicator.d.ts.map +1 -1
- package/dist/components/safetyBar/SafetyBar.d.ts +1 -1
- package/dist/components/safetyBar/SafetyBar.d.ts.map +1 -1
- package/dist/components/safetyBar/SafetyStateIndicator.d.ts +1 -1
- package/dist/components/safetyBar/SafetyStateIndicator.d.ts.map +1 -1
- package/dist/components/utils/converters.d.ts +2 -2
- package/dist/components/utils/converters.d.ts.map +1 -1
- package/dist/components/utils/hooks.d.ts.map +1 -1
- package/dist/components/utils/interpolation.d.ts.map +1 -1
- package/dist/core.cjs.js +1 -1
- package/dist/core.es.js +2 -2
- package/dist/externalizeComponent.d.ts.map +1 -1
- package/dist/icons/DropdownArrowIcon.d.ts +1 -1
- package/dist/icons/DropdownArrowIcon.d.ts.map +1 -1
- package/dist/index.cjs.js +1 -1
- package/dist/index.es.js +3 -3
- package/dist/interpolation-BIB6FC35.cjs +198 -0
- package/dist/interpolation-BIB6FC35.cjs.map +1 -0
- package/dist/interpolation-lSTX6ZXZ.js +14559 -0
- package/dist/interpolation-lSTX6ZXZ.js.map +1 -0
- package/dist/lib/JoggerConnection.d.ts +1 -1
- package/dist/lib/JoggerConnection.d.ts.map +1 -1
- package/dist/themes/createDarkTheme.d.ts +1 -1
- package/dist/themes/createDarkTheme.d.ts.map +1 -1
- package/dist/themes/createLightTheme.d.ts +1 -1
- package/dist/themes/createLightTheme.d.ts.map +1 -1
- package/dist/theming-D_pShDEg.js +32236 -0
- package/dist/theming-D_pShDEg.js.map +1 -0
- package/dist/theming-L5E8VSae.cjs +84 -0
- package/dist/theming-L5E8VSae.cjs.map +1 -0
- package/package.json +4 -3
- package/src/3d.ts +2 -2
- package/src/Setup.tsx +2 -6
- package/src/components/3d-viewport/PresetEnvironment.tsx +1 -0
- package/src/components/3d-viewport/SafetyZonesRenderer.tsx +43 -23
- package/src/components/3d-viewport/TrajectoryRenderer.tsx +1 -1
- package/src/components/3d-viewport/collider/ColliderCollection.tsx +3 -2
- package/src/components/AppHeader.tsx +9 -12
- package/src/components/ConsoleFilter.tsx +1 -1
- package/src/components/CopyableText.tsx +4 -1
- package/src/components/CycleTimer/DefaultVariant.tsx +8 -5
- package/src/components/CycleTimer/SmallVariant.tsx +3 -1
- package/src/components/DataGrid.tsx +4 -1
- package/src/components/LoadingCover.tsx +4 -1
- package/src/components/LogPanel.tsx +1 -1
- package/src/components/LogViewer.tsx +13 -17
- package/src/components/ProgramControl.tsx +7 -2
- package/src/components/ProgramStateIndicator.tsx +3 -2
- package/src/components/RobotCard.tsx +6 -1
- package/src/components/RobotListItem.tsx +4 -1
- package/src/components/RobotSetupReadinessIndicator.tsx +4 -2
- package/src/components/SelectableFab.tsx +2 -2
- package/src/components/TabBar.tsx +7 -3
- package/src/components/ThemeSelect.tsx +2 -1
- package/src/components/Timer/TimerDefaultVariant.tsx +9 -6
- package/src/components/Timer/TimerSmallVariant.tsx +2 -1
- package/src/components/Timer/useTimerLogic.ts +9 -9
- package/src/components/TransparentOverlay.tsx +2 -2
- package/src/components/VelocitySlider.tsx +3 -1
- package/src/components/experimental/utils/AdornedSelect.tsx +4 -8
- package/src/components/jogging/JoggingBlocked.tsx +6 -2
- package/src/components/jogging/JoggingCartesianAxisControl.tsx +5 -7
- package/src/components/jogging/JoggingCartesianTab.tsx +6 -8
- package/src/components/jogging/JoggingFreedriveTab.tsx +1 -2
- package/src/components/jogging/JoggingJointLimitDetector.tsx +41 -43
- package/src/components/jogging/JoggingJointTab.tsx +12 -20
- package/src/components/jogging/JoggingJointValueControl.tsx +44 -30
- package/src/components/jogging/JoggingOptions.tsx +143 -139
- package/src/components/jogging/JoggingPanel.test.tsx +77 -85
- package/src/components/jogging/JoggingPanel.tsx +10 -13
- package/src/components/jogging/JoggingStore.ts +18 -13
- package/src/components/jogging/JoggingToggleButtonGroup.tsx +3 -3
- package/src/components/jogging/JoggingVelocitySlider.tsx +2 -10
- package/src/components/jogging/PoseCartesianValues.tsx +2 -1
- package/src/components/jogging/PoseJointValues.tsx +2 -1
- package/src/components/jogging/__fixtures__/motionStreamMockData.ts +0 -1
- package/src/components/modal/NoMotionGroupModal.tsx +7 -10
- package/src/components/robots/DHLinearAxis.tsx +62 -45
- package/src/components/robots/DHRobot.tsx +47 -45
- package/src/components/robots/GenericRobot.tsx +24 -24
- package/src/components/robots/LinearAxis.tsx +0 -1
- package/src/components/robots/LinearAxisAnimator.tsx +4 -1
- package/src/components/robots/MotionGroupVisualizer.tsx +53 -53
- package/src/components/robots/RobotAnimator.test.tsx +2 -2
- package/src/components/robots/RobotAnimator.tsx +4 -1
- package/src/components/robots/SupportedLinearAxis.tsx +10 -3
- package/src/components/robots/SupportedRobot.tsx +10 -3
- package/src/components/robots/robotModelLogic.ts +22 -11
- package/src/components/safetyBar/ControllerTypeIndicator.tsx +2 -1
- package/src/components/safetyBar/IndicatorWithExplanation.tsx +13 -11
- package/src/components/safetyBar/OperationModeIndicator.tsx +2 -1
- package/src/components/safetyBar/SafetyBar.tsx +3 -1
- package/src/components/safetyBar/SafetyStateIndicator.tsx +2 -1
- package/src/components/utils/converters.ts +10 -7
- package/src/components/utils/errorHandling.ts +1 -1
- package/src/components/utils/hooks.tsx +1 -0
- package/src/components/utils/interpolation.test.ts +53 -38
- package/src/components/utils/interpolation.ts +1 -0
- package/src/externalizeComponent.tsx +3 -1
- package/src/icons/DropdownArrowIcon.tsx +1 -2
- package/src/lib/JoggerConnection.ts +24 -24
- package/src/themes/createDarkTheme.ts +2 -3
- package/dist/MotionGroupVisualizer-1twp8wG6.js +0 -1328
- package/dist/MotionGroupVisualizer-1twp8wG6.js.map +0 -1
- package/dist/MotionGroupVisualizer-Dq_KWGsa.cjs +0 -2
- package/dist/MotionGroupVisualizer-Dq_KWGsa.cjs.map +0 -1
- package/dist/interpolation-B3pbgXYX.cjs +0 -42
- package/dist/interpolation-B3pbgXYX.cjs.map +0 -1
- package/dist/interpolation-D4ATdkEg.js +0 -7912
- package/dist/interpolation-D4ATdkEg.js.map +0 -1
- package/dist/theming-BJ6pB6jG.cjs +0 -115
- package/dist/theming-BJ6pB6jG.cjs.map +0 -1
- package/dist/theming-LwkvEF-K.js +0 -22417
- package/dist/theming-LwkvEF-K.js.map +0 -1
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/**
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* offset by either combination "+/- sizeX" or "+/- sizeY".
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*
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*/
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|
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const p = r.shape, j = p.radius / 1e3, y = p.sphere_center_distance_x / 1e3, G = p.sphere_center_distance_y / 1e3, S = j * 2;
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o,
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/* @__PURE__ */ e.jsx("meshStandardMaterial", { ...l, polygonOffsetFactor: -f })
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]
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},
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`safety-zone-${r.shape.shape_type}-${f}`
|
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|
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);
|
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}, c = V(() => Object.values(t ?? {}).map((f, r) => u(r, f)), [t, i]);
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return /* @__PURE__ */ e.jsx("group", { ...n, children: c });
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}
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function lt({
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trajectory: t,
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|
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...s
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}) {
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|
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|
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|
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const [i, u, c] = a.position;
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|
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if (isFinite(i) && isFinite(u) && isFinite(c))
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return new g.Vector3(i / 1e3, c / 1e3, -u / 1e3);
|
|
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|
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}
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return null;
|
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287
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-
}).filter((a) => a !== null)) || [];
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|
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return /* @__PURE__ */ e.jsx("group", { ...s, children: n.length > 0 && /* @__PURE__ */ e.jsx(
|
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|
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B,
|
|
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|
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{
|
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|
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points: n,
|
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|
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lineWidth: 3,
|
|
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|
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polygonOffset: !0,
|
|
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|
-
polygonOffsetFactor: 10,
|
|
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|
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polygonOffsetUnits: 10
|
|
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|
-
}
|
|
297
|
-
) });
|
|
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|
-
}
|
|
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|
-
const E = /* @__PURE__ */ new Map();
|
|
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|
-
async function C(t, s) {
|
|
301
|
-
if (E.has(t))
|
|
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|
-
return E.get(t);
|
|
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|
-
const n = (async () => {
|
|
304
|
-
var c;
|
|
305
|
-
const a = s || "", i = new ke({ instanceUrl: a }), u = i.api.motionGroupModels;
|
|
306
|
-
(c = u.axios) != null && c.interceptors && u.axios.interceptors.request.use((f) => {
|
|
307
|
-
var r;
|
|
308
|
-
return (r = f.url) != null && r.includes("/glb") && (f.responseType = "blob"), f;
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|
309
|
-
});
|
|
310
|
-
try {
|
|
311
|
-
const f = await i.api.motionGroupModels.getMotionGroupGlbModel(t);
|
|
312
|
-
return URL.createObjectURL(f);
|
|
313
|
-
} catch (f) {
|
|
314
|
-
throw console.error("Failed to fetch model:", f), f;
|
|
315
|
-
}
|
|
316
|
-
})();
|
|
317
|
-
return E.set(t, n), n;
|
|
318
|
-
}
|
|
319
|
-
function ue(t) {
|
|
320
|
-
function s(n) {
|
|
321
|
-
return n.children.length === 0 ? [n] : [n, ...n.children.flatMap((a) => s(a))];
|
|
322
|
-
}
|
|
323
|
-
return s(t).filter((n) => pe(n));
|
|
324
|
-
}
|
|
325
|
-
function de(t) {
|
|
326
|
-
return t.name.endsWith("_FLG");
|
|
327
|
-
}
|
|
328
|
-
function pe(t) {
|
|
329
|
-
return /_J[0-9]+$/.test(t.name);
|
|
330
|
-
}
|
|
331
|
-
function Ee(t, s) {
|
|
332
|
-
let n;
|
|
333
|
-
function a(i) {
|
|
334
|
-
if (de(i)) {
|
|
335
|
-
if (n)
|
|
336
|
-
throw Error(
|
|
337
|
-
`Found multiple flange groups in robot model ${s}; first ${n.name} then ${i.name}. Only one _FLG group is allowed.`
|
|
338
|
-
);
|
|
339
|
-
n = i;
|
|
340
|
-
}
|
|
341
|
-
pe(i), i.children.map(a);
|
|
342
|
-
}
|
|
343
|
-
if (a(t.scene), !n)
|
|
344
|
-
throw Error(
|
|
345
|
-
`No flange group found in robot model ${s}. Flange must be identified with a name ending in _FLG.`
|
|
346
|
-
);
|
|
347
|
-
return { gltf: t };
|
|
348
|
-
}
|
|
349
|
-
function fe({
|
|
350
|
-
rapidlyChangingMotionState: t,
|
|
351
|
-
dhParameters: s,
|
|
352
|
-
onRotationChanged: n,
|
|
353
|
-
children: a
|
|
354
|
-
}) {
|
|
355
|
-
const i = R([]), u = R([]), c = R(null), { invalidate: f } = ae();
|
|
356
|
-
M(() => {
|
|
357
|
-
const o = t.joint_position.filter(
|
|
358
|
-
(l) => l !== void 0
|
|
359
|
-
);
|
|
360
|
-
return c.current = new re(o, {
|
|
361
|
-
tension: 120,
|
|
362
|
-
// Controls spring stiffness - higher values create faster, more responsive motion
|
|
363
|
-
friction: 20,
|
|
364
|
-
// Controls damping - higher values reduce oscillation and create smoother settling
|
|
365
|
-
threshold: 1e-3
|
|
366
|
-
}), () => {
|
|
367
|
-
var l;
|
|
368
|
-
(l = c.current) == null || l.destroy();
|
|
369
|
-
};
|
|
370
|
-
}, []), le((o, l) => {
|
|
371
|
-
if (c.current) {
|
|
372
|
-
const d = c.current.update(l);
|
|
373
|
-
h(), d || f();
|
|
374
|
-
}
|
|
375
|
-
});
|
|
376
|
-
function r(o) {
|
|
377
|
-
o && (u.current = ue(o), h(), f());
|
|
378
|
-
}
|
|
379
|
-
function h() {
|
|
380
|
-
var l;
|
|
381
|
-
const o = ((l = c.current) == null ? void 0 : l.getCurrentValues()) || [];
|
|
382
|
-
if (n)
|
|
383
|
-
n(u.current, o);
|
|
384
|
-
else
|
|
385
|
-
for (const [d, x] of u.current.entries()) {
|
|
386
|
-
const p = s[d], j = p.theta || 0, y = p.reverse_rotation_direction ? -1 : 1;
|
|
387
|
-
x.rotation.y = y * (o[d] || 0) + j;
|
|
388
|
-
}
|
|
389
|
-
}
|
|
390
|
-
const m = T(() => {
|
|
391
|
-
const o = t.joint_position.filter(
|
|
392
|
-
(l) => l !== void 0
|
|
393
|
-
);
|
|
394
|
-
requestAnimationFrame(() => {
|
|
395
|
-
var l;
|
|
396
|
-
i.current = o, (l = c.current) == null || l.setTarget(o);
|
|
397
|
-
});
|
|
398
|
-
}, [t]);
|
|
399
|
-
return M(() => {
|
|
400
|
-
m();
|
|
401
|
-
}, [t, m]), se(() => {
|
|
402
|
-
m();
|
|
403
|
-
}), /* @__PURE__ */ e.jsx("group", { ref: r, children: a });
|
|
404
|
-
}
|
|
405
|
-
const Je = "line", Be = "mesh";
|
|
406
|
-
function We({
|
|
407
|
-
rapidlyChangingMotionState: t,
|
|
408
|
-
dhParameters: s,
|
|
409
|
-
...n
|
|
410
|
-
}) {
|
|
411
|
-
const a = new w(), i = R([]), u = R([]);
|
|
412
|
-
Ge.useEffect(() => {
|
|
413
|
-
i.current = new Array(s.length).fill(null), u.current = new Array(s.length).fill(null);
|
|
414
|
-
}, [s.length]);
|
|
415
|
-
function c(h, m) {
|
|
416
|
-
const o = new k(), l = new J(), d = new k();
|
|
417
|
-
a.decompose(o, l, d);
|
|
418
|
-
const x = o.clone(), p = new w().makeRotationY(
|
|
419
|
-
h.theta + m * (h.reverse_rotation_direction ? -1 : 1)
|
|
420
|
-
).multiply(new w().makeTranslation(0, h.d / 1e3, 0)).multiply(new w().makeTranslation(h.a / 1e3, 0, 0)).multiply(new w().makeRotationX(h.alpha));
|
|
421
|
-
return a.multiply(p), a.decompose(o, l, d), { a: x, b: o };
|
|
422
|
-
}
|
|
423
|
-
function f(h, m, o, l) {
|
|
424
|
-
if (!s)
|
|
425
|
-
return;
|
|
426
|
-
const d = s[h];
|
|
427
|
-
if (!d)
|
|
428
|
-
return;
|
|
429
|
-
const { a: x, b: p } = c(d, l);
|
|
430
|
-
m.geometry.setPositions([x.toArray(), p.toArray()].flat()), o.position.set(p.x, p.y, p.z);
|
|
431
|
-
}
|
|
432
|
-
function r(h, m) {
|
|
433
|
-
a.identity();
|
|
434
|
-
for (let o = 0; o < Math.min(h.length, m.length); o++) {
|
|
435
|
-
const l = i.current[o], d = u.current[o];
|
|
436
|
-
l && d && f(o, l, d, m[o]);
|
|
437
|
-
}
|
|
438
|
-
}
|
|
439
|
-
return /* @__PURE__ */ e.jsx(e.Fragment, { children: /* @__PURE__ */ e.jsx(
|
|
440
|
-
fe,
|
|
441
|
-
{
|
|
442
|
-
rapidlyChangingMotionState: t,
|
|
443
|
-
dhParameters: s,
|
|
444
|
-
onRotationChanged: r,
|
|
445
|
-
children: /* @__PURE__ */ e.jsxs("group", { ...n, name: "Scene", children: [
|
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446
|
-
/* @__PURE__ */ e.jsxs("mesh", { children: [
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447
|
-
/* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
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448
|
-
/* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
|
|
449
|
-
] }),
|
|
450
|
-
s.map((h, m) => {
|
|
451
|
-
const { a: o, b: l } = c(
|
|
452
|
-
h,
|
|
453
|
-
t.joint_position[m] ?? 0
|
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454
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-
), d = `dhrobot_J0${m}`;
|
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455
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-
return /* @__PURE__ */ e.jsxs("group", { name: d, children: [
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-
/* @__PURE__ */ e.jsx(
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457
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-
B,
|
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458
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-
{
|
|
459
|
-
ref: (x) => {
|
|
460
|
-
i.current[m] = x;
|
|
461
|
-
},
|
|
462
|
-
name: Je,
|
|
463
|
-
points: [o, l],
|
|
464
|
-
color: "white",
|
|
465
|
-
lineWidth: 5
|
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466
|
-
}
|
|
467
|
-
),
|
|
468
|
-
/* @__PURE__ */ e.jsxs(
|
|
469
|
-
"mesh",
|
|
470
|
-
{
|
|
471
|
-
ref: (x) => {
|
|
472
|
-
u.current[m] = x;
|
|
473
|
-
},
|
|
474
|
-
name: Be,
|
|
475
|
-
position: l,
|
|
476
|
-
children: [
|
|
477
|
-
/* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.01, 32, 32] }),
|
|
478
|
-
/* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "black", depthTest: !0 })
|
|
479
|
-
]
|
|
480
|
-
},
|
|
481
|
-
"mesh_" + m
|
|
482
|
-
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|
|
483
|
-
] }, d);
|
|
484
|
-
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|
|
485
|
-
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|
|
486
|
-
}
|
|
487
|
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|
|
488
|
-
}
|
|
489
|
-
const $e = console.warn;
|
|
490
|
-
function he() {
|
|
491
|
-
return M(() => {
|
|
492
|
-
console.warn = (t) => {
|
|
493
|
-
t !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && $e(t);
|
|
494
|
-
};
|
|
495
|
-
}, []), /* @__PURE__ */ e.jsx(e.Fragment, {});
|
|
496
|
-
}
|
|
497
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-
function He(t) {
|
|
498
|
-
return t.type === "Mesh";
|
|
499
|
-
}
|
|
500
|
-
function Ne({
|
|
501
|
-
url: t,
|
|
502
|
-
flangeRef: s,
|
|
503
|
-
postModelRender: n,
|
|
504
|
-
...a
|
|
505
|
-
}) {
|
|
506
|
-
const i = Se(t);
|
|
507
|
-
let u;
|
|
508
|
-
try {
|
|
509
|
-
u = Ee(i, "robot.glb").gltf;
|
|
510
|
-
} catch (r) {
|
|
511
|
-
throw r;
|
|
512
|
-
}
|
|
513
|
-
const c = T(
|
|
514
|
-
(r) => {
|
|
515
|
-
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|
|
516
|
-
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|
|
517
|
-
[n]
|
|
518
|
-
);
|
|
519
|
-
function f(r) {
|
|
520
|
-
try {
|
|
521
|
-
return He(r) ? r.geometry ? /* @__PURE__ */ e.jsx(
|
|
522
|
-
"mesh",
|
|
523
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-
{
|
|
524
|
-
name: r.name,
|
|
525
|
-
geometry: r.geometry,
|
|
526
|
-
material: r.material,
|
|
527
|
-
position: r.position,
|
|
528
|
-
rotation: r.rotation
|
|
529
|
-
},
|
|
530
|
-
r.uuid
|
|
531
|
-
) : /* @__PURE__ */ e.jsx("group", { name: r.name, position: r.position, rotation: r.rotation }, r.uuid) : /* @__PURE__ */ e.jsx(
|
|
532
|
-
"group",
|
|
533
|
-
{
|
|
534
|
-
name: r.name,
|
|
535
|
-
position: r.position,
|
|
536
|
-
rotation: r.rotation,
|
|
537
|
-
ref: de(r) ? s : void 0,
|
|
538
|
-
children: r.children.map(f)
|
|
539
|
-
},
|
|
540
|
-
r.uuid
|
|
541
|
-
);
|
|
542
|
-
} catch (h) {
|
|
543
|
-
return console.warn("Error rendering node", r.name, h), null;
|
|
544
|
-
}
|
|
545
|
-
}
|
|
546
|
-
return /* @__PURE__ */ e.jsx("group", { ...a, dispose: null, ref: c, children: f(u.scene) });
|
|
547
|
-
}
|
|
548
|
-
function me({
|
|
549
|
-
modelURL: t,
|
|
550
|
-
flangeRef: s,
|
|
551
|
-
postModelRender: n,
|
|
552
|
-
...a
|
|
553
|
-
}) {
|
|
554
|
-
const [i, u] = F(null);
|
|
555
|
-
return M(() => {
|
|
556
|
-
(async () => {
|
|
557
|
-
try {
|
|
558
|
-
if (typeof t == "string")
|
|
559
|
-
u(t);
|
|
560
|
-
else {
|
|
561
|
-
const f = await t;
|
|
562
|
-
u(f);
|
|
563
|
-
}
|
|
564
|
-
} catch (f) {
|
|
565
|
-
console.error("Failed to resolve model URL:", f);
|
|
566
|
-
}
|
|
567
|
-
})();
|
|
568
|
-
}, [t]), i ? /* @__PURE__ */ e.jsx(
|
|
569
|
-
Ne,
|
|
570
|
-
{
|
|
571
|
-
url: i,
|
|
572
|
-
flangeRef: s,
|
|
573
|
-
postModelRender: n,
|
|
574
|
-
...a
|
|
575
|
-
}
|
|
576
|
-
) : null;
|
|
577
|
-
}
|
|
578
|
-
const xe = (t, s) => {
|
|
579
|
-
t.userData.isGhost || (t.traverse((n) => {
|
|
580
|
-
if (n instanceof g.Mesh) {
|
|
581
|
-
n.material instanceof g.Material && (n.material.colorWrite = !1);
|
|
582
|
-
const a = n.clone(), i = n.clone();
|
|
583
|
-
a.material = new g.MeshStandardMaterial({
|
|
584
|
-
depthTest: !0,
|
|
585
|
-
depthWrite: !0,
|
|
586
|
-
colorWrite: !1,
|
|
587
|
-
polygonOffset: !0,
|
|
588
|
-
polygonOffsetFactor: -1,
|
|
589
|
-
side: g.DoubleSide
|
|
590
|
-
}), a.userData.isGhost = !0, i.material = new g.MeshStandardMaterial({
|
|
591
|
-
color: s,
|
|
592
|
-
opacity: 0.3,
|
|
593
|
-
depthTest: !0,
|
|
594
|
-
depthWrite: !1,
|
|
595
|
-
transparent: !0,
|
|
596
|
-
polygonOffset: !0,
|
|
597
|
-
polygonOffsetFactor: -2,
|
|
598
|
-
side: g.DoubleSide
|
|
599
|
-
}), i.userData.isGhost = !0, n.parent && (n.parent.add(a), n.parent.add(i));
|
|
600
|
-
}
|
|
601
|
-
}), t.userData.isGhost = !0);
|
|
602
|
-
}, ye = (t) => {
|
|
603
|
-
if (!t.userData.isGhost) return;
|
|
604
|
-
const s = [];
|
|
605
|
-
t.traverse((n) => {
|
|
606
|
-
var a;
|
|
607
|
-
n instanceof g.Mesh && ((a = n.userData) != null && a.isGhost ? s.push(n) : n.material instanceof g.Material && (n.material.colorWrite = !0));
|
|
608
|
-
}), s.forEach((n) => {
|
|
609
|
-
n.parent && n.parent.remove(n);
|
|
610
|
-
}), t.userData.isGhost = !1;
|
|
611
|
-
}, ge = U(
|
|
612
|
-
({
|
|
613
|
-
rapidlyChangingMotionState: t,
|
|
614
|
-
modelFromController: s,
|
|
615
|
-
dhParameters: n,
|
|
616
|
-
getModel: a = C,
|
|
617
|
-
flangeRef: i,
|
|
618
|
-
postModelRender: u,
|
|
619
|
-
transparentColor: c,
|
|
620
|
-
instanceUrl: f,
|
|
621
|
-
...r
|
|
622
|
-
}) => {
|
|
623
|
-
const [h, m] = F(null), o = T((d) => {
|
|
624
|
-
m(d);
|
|
625
|
-
}, []);
|
|
626
|
-
M(() => {
|
|
627
|
-
h && (c ? xe(h, c) : ye(h));
|
|
628
|
-
}, [h, c]);
|
|
629
|
-
const l = /* @__PURE__ */ e.jsx(
|
|
630
|
-
We,
|
|
631
|
-
{
|
|
632
|
-
rapidlyChangingMotionState: t,
|
|
633
|
-
dhParameters: n,
|
|
634
|
-
...r
|
|
635
|
-
}
|
|
636
|
-
);
|
|
637
|
-
return /* @__PURE__ */ e.jsxs(
|
|
638
|
-
ce,
|
|
639
|
-
{
|
|
640
|
-
fallback: l,
|
|
641
|
-
onError: (d) => {
|
|
642
|
-
console.warn(d);
|
|
643
|
-
},
|
|
644
|
-
children: [
|
|
645
|
-
/* @__PURE__ */ e.jsx(ie, { fallback: l, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
|
|
646
|
-
fe,
|
|
647
|
-
{
|
|
648
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-
rapidlyChangingMotionState: t,
|
|
649
|
-
dhParameters: n,
|
|
650
|
-
children: /* @__PURE__ */ e.jsx(
|
|
651
|
-
me,
|
|
652
|
-
{
|
|
653
|
-
modelURL: (() => {
|
|
654
|
-
const d = a(s, f);
|
|
655
|
-
if (!d) {
|
|
656
|
-
const x = new Blob([], { type: "model/gltf-binary" }), p = new File([x], `${s}.glb`, { type: "model/gltf-binary" });
|
|
657
|
-
return Promise.resolve(URL.createObjectURL(p));
|
|
658
|
-
}
|
|
659
|
-
return d;
|
|
660
|
-
})(),
|
|
661
|
-
postModelRender: u,
|
|
662
|
-
flangeRef: i,
|
|
663
|
-
...r
|
|
664
|
-
}
|
|
665
|
-
)
|
|
666
|
-
}
|
|
667
|
-
) }) }),
|
|
668
|
-
/* @__PURE__ */ e.jsx(he, {})
|
|
669
|
-
]
|
|
670
|
-
}
|
|
671
|
-
);
|
|
672
|
-
}
|
|
673
|
-
);
|
|
674
|
-
function qe({
|
|
675
|
-
connectedMotionGroup: t,
|
|
676
|
-
getModel: s = C,
|
|
677
|
-
flangeRef: n,
|
|
678
|
-
transparentColor: a,
|
|
679
|
-
postModelRender: i,
|
|
680
|
-
...u
|
|
681
|
-
}) {
|
|
682
|
-
return t.dhParameters ? /* @__PURE__ */ e.jsx(
|
|
683
|
-
ge,
|
|
684
|
-
{
|
|
685
|
-
rapidlyChangingMotionState: t.rapidlyChangingMotionState,
|
|
686
|
-
modelFromController: t.modelFromController || "",
|
|
687
|
-
dhParameters: t.dhParameters,
|
|
688
|
-
getModel: s,
|
|
689
|
-
flangeRef: n,
|
|
690
|
-
transparentColor: a,
|
|
691
|
-
postModelRender: i,
|
|
692
|
-
...u
|
|
693
|
-
}
|
|
694
|
-
) : null;
|
|
695
|
-
}
|
|
696
|
-
const ct = U(
|
|
697
|
-
Ie(
|
|
698
|
-
({
|
|
699
|
-
robotName: t,
|
|
700
|
-
programState: s,
|
|
701
|
-
safetyState: n,
|
|
702
|
-
operationMode: a,
|
|
703
|
-
driveToHomeEnabled: i = !1,
|
|
704
|
-
onDriveToHomePress: u,
|
|
705
|
-
onDriveToHomeRelease: c,
|
|
706
|
-
connectedMotionGroup: f,
|
|
707
|
-
robotComponent: r = qe,
|
|
708
|
-
customContentComponent: h,
|
|
709
|
-
className: m
|
|
710
|
-
}) => {
|
|
711
|
-
var H;
|
|
712
|
-
const o = Pe(), { t: l } = De(), [d, x] = F(!1), p = R(null), j = R(null), [y, G] = F(!1), [S, Re] = F({ width: 400, height: 600 }), [Xe, ve] = F(0);
|
|
713
|
-
M(() => {
|
|
714
|
-
const D = () => {
|
|
715
|
-
if (j.current) {
|
|
716
|
-
const { offsetWidth: q, offsetHeight: Y } = j.current;
|
|
717
|
-
G(q > Y), Re({ width: q, height: Y });
|
|
718
|
-
}
|
|
719
|
-
};
|
|
720
|
-
D();
|
|
721
|
-
const N = new ResizeObserver(D);
|
|
722
|
-
return j.current && N.observe(j.current), () => {
|
|
723
|
-
N.disconnect();
|
|
724
|
-
};
|
|
725
|
-
}, []);
|
|
726
|
-
const W = T(() => {
|
|
727
|
-
ve((D) => D + 1);
|
|
728
|
-
}, []), P = T(() => {
|
|
729
|
-
!i || !u || (x(!0), u());
|
|
730
|
-
}, [i, u]), A = T(() => {
|
|
731
|
-
!i || !c || (x(!1), c());
|
|
732
|
-
}, [i, c]), $ = T(() => {
|
|
733
|
-
d && c && (x(!1), c());
|
|
734
|
-
}, [d, c]), _ = y ? S.width < 350 : S.height < 200, I = y ? S.height < 310 : S.height < 450;
|
|
735
|
-
return /* @__PURE__ */ e.jsx(
|
|
736
|
-
Ae,
|
|
737
|
-
{
|
|
738
|
-
ref: j,
|
|
739
|
-
className: m,
|
|
740
|
-
sx: {
|
|
741
|
-
width: "100%",
|
|
742
|
-
height: "100%",
|
|
743
|
-
display: "flex",
|
|
744
|
-
flexDirection: y ? "row" : "column",
|
|
745
|
-
position: "relative",
|
|
746
|
-
overflow: "hidden",
|
|
747
|
-
minWidth: { xs: 180, sm: 220, md: 250 },
|
|
748
|
-
minHeight: y ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
|
|
749
|
-
// Allow progressive hiding in portrait mode
|
|
750
|
-
border: `1px solid ${o.palette.divider}`,
|
|
751
|
-
borderRadius: "18px",
|
|
752
|
-
boxShadow: "none",
|
|
753
|
-
backgroundColor: ((H = o.palette.backgroundPaperElevation) == null ? void 0 : H[8]) || "#2A2A3F",
|
|
754
|
-
backgroundImage: "none"
|
|
755
|
-
// Override any gradient from elevation
|
|
756
|
-
},
|
|
757
|
-
children: y ? /* @__PURE__ */ e.jsxs(e.Fragment, { children: [
|
|
758
|
-
/* @__PURE__ */ e.jsx(
|
|
759
|
-
b,
|
|
760
|
-
{
|
|
761
|
-
sx: {
|
|
762
|
-
flex: "0 0 50%",
|
|
763
|
-
position: "relative",
|
|
764
|
-
height: "100%",
|
|
765
|
-
minHeight: "100%",
|
|
766
|
-
maxHeight: "100%",
|
|
767
|
-
borderRadius: 1,
|
|
768
|
-
m: { xs: 1.5, sm: 2, md: 3 },
|
|
769
|
-
mr: { xs: 0.75, sm: 1, md: 1.5 },
|
|
770
|
-
overflow: "hidden",
|
|
771
|
-
// Prevent content from affecting container size
|
|
772
|
-
display: _ ? "none" : "block"
|
|
773
|
-
},
|
|
774
|
-
children: !_ && /* @__PURE__ */ e.jsxs(
|
|
775
|
-
K,
|
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|
1117
|
-
const j = m[p] ?? 0, y = s[p], G = new w().makeRotationY(y.theta).multiply(
|
|
1118
|
-
new w().makeTranslation(
|
|
1119
|
-
y.a / 1e3,
|
|
1120
|
-
(y.d + j * (y.reverse_rotation_direction ? -1 : 1)) / 1e3,
|
|
1121
|
-
0
|
|
1122
|
-
)
|
|
1123
|
-
).multiply(new w().makeRotationX(y.alpha));
|
|
1124
|
-
a.multiply(G);
|
|
1125
|
-
}
|
|
1126
|
-
const l = new k(), d = new J(), x = new k();
|
|
1127
|
-
if (a.decompose(l, d, x), o = l, i.current && i.current.position.set(o.x, o.y, o.z), u.current) {
|
|
1128
|
-
const p = u.current.geometry;
|
|
1129
|
-
p && p.setPositions && p.setPositions([0, 0, 0, o.x, o.y, o.z]);
|
|
1130
|
-
}
|
|
1131
|
-
}
|
|
1132
|
-
return /* @__PURE__ */ e.jsx(e.Fragment, { children: /* @__PURE__ */ e.jsx(
|
|
1133
|
-
je,
|
|
1134
|
-
{
|
|
1135
|
-
rapidlyChangingMotionState: t,
|
|
1136
|
-
dhParameters: s,
|
|
1137
|
-
onTranslationChanged: r,
|
|
1138
|
-
children: /* @__PURE__ */ e.jsxs("group", { ...n, name: "Scene", children: [
|
|
1139
|
-
/* @__PURE__ */ e.jsxs("mesh", { name: "Base", position: [0, 0, 0], children: [
|
|
1140
|
-
/* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.02, 32, 32] }),
|
|
1141
|
-
/* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "green", depthTest: !0 })
|
|
1142
|
-
] }),
|
|
1143
|
-
/* @__PURE__ */ e.jsx(
|
|
1144
|
-
B,
|
|
1145
|
-
{
|
|
1146
|
-
ref: u,
|
|
1147
|
-
points: [new k(0, 0, 0), f],
|
|
1148
|
-
color: "White",
|
|
1149
|
-
lineWidth: 5
|
|
1150
|
-
}
|
|
1151
|
-
),
|
|
1152
|
-
/* @__PURE__ */ e.jsxs("mesh", { ref: i, name: "TCP", position: f, children: [
|
|
1153
|
-
/* @__PURE__ */ e.jsx("sphereGeometry", { args: [0.025, 32, 32] }),
|
|
1154
|
-
/* @__PURE__ */ e.jsx("meshStandardMaterial", { color: "red", depthTest: !0 })
|
|
1155
|
-
] })
|
|
1156
|
-
] })
|
|
1157
|
-
}
|
|
1158
|
-
) });
|
|
1159
|
-
}
|
|
1160
|
-
const be = U(
|
|
1161
|
-
({
|
|
1162
|
-
rapidlyChangingMotionState: t,
|
|
1163
|
-
modelFromController: s,
|
|
1164
|
-
dhParameters: n,
|
|
1165
|
-
getModel: a = C,
|
|
1166
|
-
flangeRef: i,
|
|
1167
|
-
postModelRender: u,
|
|
1168
|
-
transparentColor: c,
|
|
1169
|
-
instanceUrl: f,
|
|
1170
|
-
...r
|
|
1171
|
-
}) => {
|
|
1172
|
-
const [h, m] = F(null), o = T((d) => {
|
|
1173
|
-
m(d);
|
|
1174
|
-
}, []);
|
|
1175
|
-
M(() => {
|
|
1176
|
-
h && (c ? xe(h, c) : ye(h));
|
|
1177
|
-
}, [h, c]);
|
|
1178
|
-
const l = /* @__PURE__ */ e.jsx(
|
|
1179
|
-
we,
|
|
1180
|
-
{
|
|
1181
|
-
rapidlyChangingMotionState: t,
|
|
1182
|
-
dhParameters: n,
|
|
1183
|
-
...r
|
|
1184
|
-
}
|
|
1185
|
-
);
|
|
1186
|
-
return /* @__PURE__ */ e.jsxs(
|
|
1187
|
-
ce,
|
|
1188
|
-
{
|
|
1189
|
-
fallback: l,
|
|
1190
|
-
onError: (d) => {
|
|
1191
|
-
console.warn(d);
|
|
1192
|
-
},
|
|
1193
|
-
children: [
|
|
1194
|
-
/* @__PURE__ */ e.jsx(ie, { fallback: l, children: /* @__PURE__ */ e.jsx("group", { ref: o, children: /* @__PURE__ */ e.jsx(
|
|
1195
|
-
je,
|
|
1196
|
-
{
|
|
1197
|
-
rapidlyChangingMotionState: t,
|
|
1198
|
-
dhParameters: n,
|
|
1199
|
-
children: /* @__PURE__ */ e.jsx(
|
|
1200
|
-
me,
|
|
1201
|
-
{
|
|
1202
|
-
modelURL: (() => {
|
|
1203
|
-
const d = a(s, f);
|
|
1204
|
-
if (!d) {
|
|
1205
|
-
const x = new Blob([], { type: "model/gltf-binary" }), p = new File([x], `${s}.glb`, { type: "model/gltf-binary" });
|
|
1206
|
-
return Promise.resolve(URL.createObjectURL(p));
|
|
1207
|
-
}
|
|
1208
|
-
return d;
|
|
1209
|
-
})(),
|
|
1210
|
-
postModelRender: u,
|
|
1211
|
-
flangeRef: i,
|
|
1212
|
-
...r
|
|
1213
|
-
}
|
|
1214
|
-
)
|
|
1215
|
-
}
|
|
1216
|
-
) }) }),
|
|
1217
|
-
/* @__PURE__ */ e.jsx(he, {})
|
|
1218
|
-
]
|
|
1219
|
-
}
|
|
1220
|
-
);
|
|
1221
|
-
}
|
|
1222
|
-
);
|
|
1223
|
-
function dt({
|
|
1224
|
-
connectedMotionGroup: t,
|
|
1225
|
-
getModel: s = C,
|
|
1226
|
-
flangeRef: n,
|
|
1227
|
-
transparentColor: a,
|
|
1228
|
-
postModelRender: i,
|
|
1229
|
-
...u
|
|
1230
|
-
}) {
|
|
1231
|
-
if (!t.dhParameters)
|
|
1232
|
-
return null;
|
|
1233
|
-
const c = t.modelFromController || "";
|
|
1234
|
-
return c && s(c) ? /* @__PURE__ */ e.jsx(
|
|
1235
|
-
be,
|
|
1236
|
-
{
|
|
1237
|
-
rapidlyChangingMotionState: t.rapidlyChangingMotionState,
|
|
1238
|
-
modelFromController: c,
|
|
1239
|
-
dhParameters: t.dhParameters,
|
|
1240
|
-
getModel: s,
|
|
1241
|
-
flangeRef: n,
|
|
1242
|
-
transparentColor: a,
|
|
1243
|
-
postModelRender: i,
|
|
1244
|
-
...u
|
|
1245
|
-
}
|
|
1246
|
-
) : /* @__PURE__ */ e.jsx(
|
|
1247
|
-
we,
|
|
1248
|
-
{
|
|
1249
|
-
rapidlyChangingMotionState: t.rapidlyChangingMotionState,
|
|
1250
|
-
dhParameters: t.dhParameters,
|
|
1251
|
-
...u
|
|
1252
|
-
}
|
|
1253
|
-
);
|
|
1254
|
-
}
|
|
1255
|
-
const ne = {
|
|
1256
|
-
[v.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
|
|
1257
|
-
[v.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
|
|
1258
|
-
[v.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
|
|
1259
|
-
[v.Kuka]: [
|
|
1260
|
-
0,
|
|
1261
|
-
-Math.PI / 2,
|
|
1262
|
-
Math.PI / 2,
|
|
1263
|
-
0,
|
|
1264
|
-
Math.PI / 2,
|
|
1265
|
-
0,
|
|
1266
|
-
0
|
|
1267
|
-
],
|
|
1268
|
-
[v.Universalrobots]: [
|
|
1269
|
-
0,
|
|
1270
|
-
-Math.PI / 2,
|
|
1271
|
-
-Math.PI / 2,
|
|
1272
|
-
-Math.PI / 2,
|
|
1273
|
-
Math.PI / 2,
|
|
1274
|
-
-Math.PI / 2,
|
|
1275
|
-
0
|
|
1276
|
-
]
|
|
1277
|
-
};
|
|
1278
|
-
function Ye(t) {
|
|
1279
|
-
const [s] = t.split("_");
|
|
1280
|
-
switch (s) {
|
|
1281
|
-
case "ABB":
|
|
1282
|
-
return v.Abb;
|
|
1283
|
-
case "FANUC":
|
|
1284
|
-
return v.Fanuc;
|
|
1285
|
-
case "YASKAWA":
|
|
1286
|
-
return v.Yaskawa;
|
|
1287
|
-
case "KUKA":
|
|
1288
|
-
return v.Kuka;
|
|
1289
|
-
case "UniversalRobots":
|
|
1290
|
-
return v.Universalrobots;
|
|
1291
|
-
default:
|
|
1292
|
-
return null;
|
|
1293
|
-
}
|
|
1294
|
-
}
|
|
1295
|
-
function pt(t, s) {
|
|
1296
|
-
const n = Ye(t);
|
|
1297
|
-
return n && n in ne ? ne[n] : s || null;
|
|
1298
|
-
}
|
|
1299
|
-
const ft = U((t) => {
|
|
1300
|
-
const {
|
|
1301
|
-
inverseSolver: s,
|
|
1302
|
-
dhParameters: n,
|
|
1303
|
-
...a
|
|
1304
|
-
} = t, [i, u] = F(O.RevoluteJoint);
|
|
1305
|
-
M(() => {
|
|
1306
|
-
n.length && u(n[0].type ?? O.RevoluteJoint);
|
|
1307
|
-
}, [n]);
|
|
1308
|
-
const c = V(() => s === null && i === O.RevoluteJoint, [s, i]), f = V(() => s === null && i === O.PrismaticJoint, [s, i]);
|
|
1309
|
-
return V(() => !!s, [s]) || c ? /* @__PURE__ */ e.jsx(ge, { dhParameters: n, ...a }) : f ? /* @__PURE__ */ e.jsx(be, { dhParameters: n, ...a }) : /* @__PURE__ */ e.jsx(e.Fragment, {});
|
|
1310
|
-
});
|
|
1311
|
-
export {
|
|
1312
|
-
it as C,
|
|
1313
|
-
dt as L,
|
|
1314
|
-
ne as M,
|
|
1315
|
-
te as P,
|
|
1316
|
-
ct as R,
|
|
1317
|
-
at as S,
|
|
1318
|
-
lt as T,
|
|
1319
|
-
ut as a,
|
|
1320
|
-
qe as b,
|
|
1321
|
-
be as c,
|
|
1322
|
-
C as d,
|
|
1323
|
-
Ye as e,
|
|
1324
|
-
ge as f,
|
|
1325
|
-
pt as g,
|
|
1326
|
-
ft as h
|
|
1327
|
-
};
|
|
1328
|
-
//# sourceMappingURL=MotionGroupVisualizer-1twp8wG6.js.map
|