@wandelbots/wandelbots-js-react-components 5.4.2 → 5.5.0-pr.fix-esm-extensions.590.0a9a3ff

package/src/test/consumer.test.ts

@@ -0,0 +1,257 @@
+/**
+ * Consumer import tests.
+ *
+ * These tests run against the built dist/ output, exercising the package's
+ * `exports` map the same way a real downstream consumer would. They check:
+ *
+ *   1. Every public subpath resolves via Node's `exports` resolver to a file
+ *      that actually exists on disk (ESM, CJS, and .d.ts).
+ *   2. The wildcard subpath export lets consumers deep-import any module
+ *      under src/ (including folder-based ones like Timer/CycleTimer that
+ *      have a sibling barrel).
+ *   3. Named exports remain importable AND the MUI-style default export is
+ *      also available and identical to the named one for primary components.
+ *
+ * Run via `pnpm test:consumer` (which builds first) or as part of
+ * `pnpm test:unit:run` once dist/ exists.
+ */
+import { execFileSync } from "node:child_process"
+import {
+  existsSync,
+  mkdirSync,
+  rmSync,
+  symlinkSync,
+  writeFileSync,
+} from "node:fs"
+import { createRequire } from "node:module"
+import { dirname, resolve } from "node:path"
+import { fileURLToPath } from "node:url"
+import { afterAll, beforeAll, describe, expect, it } from "vitest"
+
+const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../..")
+const distDir = resolve(repoRoot, "dist")
+const pkgName = "@wandelbots/wandelbots-js-react-components"
+
+// Create a scratch directory outside the repo with a node_modules symlink
+// pointing at the repo, so the Node resolver treats us as if we were
+// installed as a dependency.
+const sandbox = resolve(repoRoot, ".tmp-consumer-test")
+const sandboxReq = createRequire(resolve(sandbox, "consumer.cjs"))
+// A tiny .mjs helper that prints the ESM resolution of `process.argv[2]`.
+// We invoke it as a child Node process because Vite's SSR runtime (used by
+// vitest) strips `import.meta.resolve`, and we specifically want to verify
+// Node's own resolver honours our `exports` map.
+const esmResolverScript = resolve(sandbox, "resolve-esm.mjs")
+
+beforeAll(() => {
+  if (!existsSync(distDir)) {
+    throw new Error(
+      "dist/ not found. Run `pnpm build` before running the consumer tests.",
+    )
+  }
+  rmSync(sandbox, { recursive: true, force: true })
+  mkdirSync(resolve(sandbox, "node_modules/@wandelbots"), { recursive: true })
+  symlinkSync(repoRoot, resolve(sandbox, "node_modules", pkgName), "dir")
+  writeFileSync(
+    esmResolverScript,
+    'import { fileURLToPath } from "node:url"\n' +
+      "process.stdout.write(fileURLToPath(import.meta.resolve(process.argv[2])))\n",
+  )
+})
+
+afterAll(() => {
+  rmSync(sandbox, { recursive: true, force: true })
+})
+
+function resolveEsm(spec: string): string {
+  return execFileSync(process.execPath, [esmResolverScript, spec], {
+    encoding: "utf8",
+    cwd: sandbox,
+  })
+}
+
+function resolveCjs(spec: string): string {
+  return sandboxReq.resolve(spec)
+}
+
+// The exports map doesn't advertise a `types` condition, but TypeScript's
+// resolver uses the same path with a `.d.ts` extension. Probe the ESM path
+// and swap the extension.
+function typesFor(esmPath: string): string {
+  return esmPath.replace(/\.js$/, ".d.ts")
+}
+
+describe("package exports — aggregate entries", () => {
+  const entries = [
+    { spec: pkgName, esm: "dist/index.js", cjs: "dist/index.cjs" },
+    { spec: `${pkgName}/core`, esm: "dist/core.js", cjs: "dist/core.cjs" },
+    { spec: `${pkgName}/3d`, esm: "dist/3d.js", cjs: "dist/3d.cjs" },
+    {
+      spec: `${pkgName}/wb-icons`,
+      esm: "dist/wb-icons.js",
+      cjs: "dist/wb-icons.cjs",
+    },
+  ]
+
+  it.each(entries)("$spec resolves ESM, CJS, and types", ({
+    spec,
+    esm,
+    cjs,
+  }) => {
+    const esmPath = resolveEsm(spec)
+    const cjsPath = resolveCjs(spec)
+    expect(esmPath).toBe(resolve(repoRoot, esm))
+    expect(cjsPath).toBe(resolve(repoRoot, cjs))
+    expect(existsSync(esmPath)).toBe(true)
+    expect(existsSync(cjsPath)).toBe(true)
+    expect(existsSync(typesFor(esmPath))).toBe(true)
+  })
+})
+
+describe("package exports — deep component imports", () => {
+  const specs = [
+    // File-backed modules resolved via the "./*" wildcard.
+    "components/DataGrid",
+    "components/AppHeader",
+    "components/LogPanel",
+    "components/ProgramControl",
+    "components/RobotCard",
+    "components/TabBar",
+    "components/VelocitySlider",
+    "components/jogging/JoggingPanel",
+    "components/jogging/JoggingStore",
+    "components/jogging/JoggingCartesianAxisControl",
+    "components/safetyBar/SafetyBar",
+    "components/3d-viewport/SafetyZonesRenderer",
+    "components/3d-viewport/TrajectoryRenderer",
+    "components/robots/Robot",
+    "components/robots/MotionGroupVisualizer",
+    "components/modal/NoMotionGroupModal",
+    "lib/ConnectedMotionGroup",
+    "lib/JoggerConnection",
+    "lib/MotionStreamConnection",
+    "themes/createDarkTheme",
+    // Directory-backed modules that have a sibling barrel so the wildcard
+    // subpath still resolves. Regression test for copilot review comment.
+    "components/Timer",
+    "components/CycleTimer",
+  ]
+
+  it.each(specs)("%s resolves ESM, CJS, and types", (sub) => {
+    const spec = `${pkgName}/${sub}`
+    const esmPath = resolveEsm(spec)
+    const cjsPath = resolveCjs(spec)
+    expect(esmPath).toMatch(/\.js$/)
+    expect(cjsPath).toMatch(/\.cjs$/)
+    expect(existsSync(esmPath)).toBe(true)
+    expect(existsSync(cjsPath)).toBe(true)
+    expect(existsSync(typesFor(esmPath))).toBe(true)
+  })
+})
+
+describe("MUI-style default + named exports", () => {
+  // These modules are the primary public "one-component-per-file" entries
+  // that downstream apps will import directly. Each must expose both a
+  // named export (preserving the existing API) and a matching `default`
+  // export (the MUI-style convention introduced by this PR).
+  const cases = [
+    { sub: "components/DataGrid", name: "WandelbotsDataGrid" },
+    { sub: "components/AppHeader", name: "AppHeader" },
+    { sub: "components/TabBar", name: "TabBar" },
+    { sub: "components/ProgramControl", name: "ProgramControl" },
+    { sub: "components/RobotCard", name: "RobotCard" },
+    { sub: "components/VelocitySlider", name: "VelocitySlider" },
+    { sub: "components/jogging/JoggingPanel", name: "JoggingPanel" },
+    { sub: "components/jogging/JoggingStore", name: "JoggingStore" },
+    { sub: "components/safetyBar/SafetyBar", name: "SafetyBar" },
+    { sub: "components/Timer", name: "Timer" },
+    { sub: "components/CycleTimer", name: "CycleTimer" },
+    { sub: "lib/ConnectedMotionGroup", name: "ConnectedMotionGroup" },
+    { sub: "lib/JoggerConnection", name: "JoggerConnection" },
+    { sub: "lib/MotionStreamConnection", name: "MotionStreamConnection" },
+  ]
+
+  it.each(cases)("$sub exposes $name as both named and default", async ({
+    sub,
+    name,
+  }) => {
+    const mod = (await import(`${pkgName}/${sub}`)) as Record<string, unknown>
+    expect(mod[name], `missing named export ${name}`).toBeDefined()
+    expect(mod.default, "missing default export").toBeDefined()
+    expect(mod.default).toBe(mod[name])
+  })
+})
+
+describe("aggregate barrel preserves named exports", () => {
+  it("@wandelbots/.../core re-exports the same symbols as deep imports", async () => {
+    const core = await import(`${pkgName}/core`)
+    const deep = await import(`${pkgName}/components/DataGrid`)
+    expect(core.WandelbotsDataGrid).toBe(deep.WandelbotsDataGrid)
+  })
+
+  it("@wandelbots/.../3d re-exports the same symbols as deep imports", async () => {
+    const agg = await import(`${pkgName}/3d`)
+    const deep = await import(`${pkgName}/components/robots/Robot`)
+    expect(agg.Robot).toBe(deep.Robot)
+  })
+})
+
+describe("CJS interop", () => {
+  it("require() returns the same symbols as import", async () => {
+    const esm = (await import(`${pkgName}/components/DataGrid`)) as Record<
+      string,
+      unknown
+    >
+    const cjs = sandboxReq(`${pkgName}/components/DataGrid`) as Record<
+      string,
+      unknown
+    >
+    expect(cjs.default).toBe(cjs.WandelbotsDataGrid)
+    // Both resolvers must reach a real, loadable module (the identities
+    // naturally differ between ESM/CJS, so we compare by exported keys).
+    expect(Object.keys(cjs).sort()).toEqual(Object.keys(esm).sort())
+  })
+
+  // Regression test: Vitest's `await import()` goes through Vite's lenient
+  // resolver, which happily accepts extensionless ESM specifiers like
+  // `lodash-es/throttle`. Real downstream consumers hit Node's strict ESM
+  // resolver, which requires `.js`. Spawn a real Node process so the whole
+  // dependency graph (including transitive imports from dist/) is exercised
+  // under strict resolution.
+  it.each([
+    "components/DataGrid",
+    "components/VelocitySlider",
+    "components/jogging/JoggingPanel",
+    "components/jogging/JoggingJointValueControl",
+    "components/jogging/JoggingJointLimitDetector",
+    "components/jogging/JoggingStore",
+  ])("Node strict ESM can import %s and its transitive deps", (sub) => {
+    // Redirect stderr to stdout so the assertion message surfaces any
+    // "Cannot find module" errors from the child process.
+    execFileSync(
+      process.execPath,
+      [
+        "--input-type=module",
+        "-e",
+        `await import(${JSON.stringify(`${pkgName}/${sub}`)})`,
+      ],
+      { cwd: sandbox, stdio: "pipe", encoding: "utf8" },
+    )
+  })
+
+  it('Node can load the CJS output under `"type": "module"`', () => {
+    // Sanity check that `.cjs` extension was emitted (not `.cjs.js`) so
+    // that Node's CJS loader accepts it despite the package being ESM.
+    const output = execFileSync(
+      process.execPath,
+      [
+        "-e",
+        "const m = require(process.argv[1]); " +
+          "console.log(typeof m.WandelbotsDataGrid);",
+        resolve(repoRoot, "dist/components/DataGrid.cjs"),
+      ],
+      { encoding: "utf8" },
+    ).trim()
+    expect(output).toBe("function")
+  })
+})

package/dist/3d.cjs.js

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./MotionGroupVisualizer-B-e22qXF.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;
-//# sourceMappingURL=3d.cjs.js.map

package/dist/3d.cjs.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"3d.cjs.js","sources":[],"sourcesContent":[],"names":[],"mappings":""}

package/dist/3d.es.js

@@ -1,19 +0,0 @@
-import { C as o, L as r, M as s, h as t, P as n, b as i, R as d, S as f, c as u, f as R, T as l, a as C, d as p, e as M, g as S } from "./MotionGroupVisualizer-CIASsBC6.js";
-export {
-  o as CollisionSceneRenderer,
-  r as LinearAxis,
-  s as MANUFACTURER_HOME_CONFIGS,
-  t as MotionGroupVisualizer,
-  n as PresetEnvironment,
-  i as Robot,
-  d as RobotCard,
-  f as SafetyZonesRenderer,
-  u as SupportedLinearAxis,
-  R as SupportedRobot,
-  l as TrajectoryRenderer,
-  C as defaultAxisConfig,
-  p as defaultGetModel,
-  M as extractManufacturer,
-  S as getDefaultHomeConfig
-};
-//# sourceMappingURL=3d.es.js.map

package/dist/3d.es.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"3d.es.js","sources":[],"sourcesContent":[],"names":[],"mappings":";"}

package/dist/MotionGroupVisualizer-B-e22qXF.cjs

@@ -1,2 +0,0 @@
-"use strict";const e=require("./interpolation-BIB6FC35.cjs"),R=require("three"),A=require("three-stdlib"),p=require("react"),b=require("@react-three/drei"),T=require("@react-three/fiber"),ue=require("mobx-react-lite"),ce=require("react-i18next"),w=require("prop-types"),W=require("react-error-boundary");function $(t){const r=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(t){for(const s in t)if(s!=="default"){const i=Object.getOwnPropertyDescriptor(t,s);Object.defineProperty(r,s,i.get?i:{enumerable:!0,get:()=>t[s]})}}return r.default=t,Object.freeze(r)}const E=$(R),le=$(p);function xe(t){switch(t.shape_type){case"convex_hull":return new A.ConvexGeometry(t.vertices.map(s=>new E.Vector3(s[0]/1e3,s[1]/1e3,s[2]/1e3)));case"box":return new E.BoxGeometry(t.size_x/1e3,t.size_y/1e3,t.size_z/1e3);case"sphere":return new E.SphereGeometry(t.radius/1e3);case"capsule":return new E.CapsuleGeometry(t.radius/1e3,t.cylinder_height/1e3);case"cylinder":return new E.CylinderGeometry(t.radius/1e3,t.radius/1e3,t.height/1e3);case"rectangle":return new E.BoxGeometry(t.size_x/1e3,t.size_y/1e3,0);default:return console.warn(`${t.shape_type} is not supported`),new E.BufferGeometry}}function pe({name:t,collider:r,children:s}){var x,l;const i=((x=r.pose)==null?void 0:x.position)??[0,0,0],o=((l=r.pose)==null?void 0:l.orientation)??[0,0,0];return r.margin&&console.warn(`${t} margin is not supported`),e.jsxRuntimeExports.jsx("mesh",{name:t,position:new E.Vector3(i[0],i[1],i[2]).divideScalar(1e3),rotation:new E.Euler(o[0],o[1],o[2],"XYZ"),geometry:xe(r.shape),children:s})}function me({name:t,colliders:r,meshChildrenProvider:s,...i}){return e.jsxRuntimeExports.jsx("group",{name:t,...i,children:Object.entries(r).map(([o,x])=>e.jsxRuntimeExports.jsx(pe,{name:o,collider:x,children:s(o,x)},o))})}function fe({scene:t,meshChildrenProvider:r}){const s=t.colliders;return e.jsxRuntimeExports.jsx("group",{children:s&&e.jsxRuntimeExports.jsx(me,{meshChildrenProvider:r,colliders:s})})}function F(){return e.jsxRuntimeExports.jsx(b.Environment,{children:e.jsxRuntimeExports.jsx(de,{})})}function de({positions:t=[2,0,2,0,2,0,2,0]}){return e.jsxRuntimeExports.jsxs(e.jsxRuntimeExports.Fragment,{children:[e.jsxRuntimeExports.jsx(b.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(b.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[r,4,s*4],scale:[3,1,1]},s))})}),e.jsxRuntimeExports.jsx(b.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),e.jsxRuntimeExports.jsx(b.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),e.jsxRuntimeExports.jsx(b.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),e.jsxRuntimeExports.jsx(b.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),e.jsxRuntimeExports.jsx(b.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}function he({safetyZones:t,dhParameters:r,...s}){const i={attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0},o=e.dhParametersToPlaneSize(r??[]),x=(d,u)=>{var f,j;if(!((f=u==null?void 0:u.pose)!=null&&f.position)||!((j=u==null?void 0:u.pose)!=null&&j.orientation))return null;const a=new E.Vector3(u.pose.position[0]/1e3,u.pose.position[1]/1e3,u.pose.position[2]/1e3),h=new E.Vector3(u.pose.orientation[0],u.pose.orientation[1],u.pose.orientation[2]);let n;const c=u.shape.shape_type==="plane"?{...i,side:E.DoubleSide}:{...i,side:E.FrontSide};switch(u.shape.shape_type){case"plane":n=e.jsxRuntimeExports.jsx("planeGeometry",{args:[o,o]});break;case"sphere":{const m=(u==null?void 0:u.shape).radius/1e3;n=e.jsxRuntimeExports.jsx("sphereGeometry",{args:[m]});break}case"capsule":{const m=(u==null?void 0:u.shape).radius/1e3,g=(u==null?void 0:u.shape).cylinder_height/1e3;n=e.jsxRuntimeExports.jsx("capsuleGeometry",{args:[m,g]});break}case"convex_hull":{const m=(u==null?void 0:u.shape).vertices.map(y=>new E.Vector3(y[0]/1e3,y[1]/1e3,y[2]/1e3)),g=e.verticesToCoplanarity(m);if(g.isCoplanar&&g.normal){const v=new E.Vector3().addVectors(m[0],g.normal.multiplyScalar(1e-4));m.push(v)}try{n=e.jsxRuntimeExports.jsx("primitive",{object:new A.ConvexGeometry(m),attach:"geometry"})}catch(y){return console.log("Error creating ConvexGeometry:",y),null}break}case"rectangular_capsule":{const m=u.shape,g=m.radius/1e3,y=m.sphere_center_distance_x/1e3,v=m.sphere_center_distance_y/1e3,_=g*2;n=e.jsxRuntimeExports.jsx("primitive",{object:new A.RoundedBoxGeometry(y,v,_,2,g),attach:"geometry"});break}default:console.warn("Unsupported safety zone shape type:",u.shape.shape_type),n=null}return e.jsxRuntimeExports.jsxs("mesh",{renderOrder:d,position:a,quaternion:e.orientationToQuaternion(h),children:[n,e.jsxRuntimeExports.jsx("meshStandardMaterial",{...c,polygonOffsetFactor:-d})]},`safety-zone-${u.shape.shape_type}-${d}`)},l=p.useMemo(()=>Object.values(t??{}).map((d,u)=>x(u,d)),[t,o]);return e.jsxRuntimeExports.jsx("group",{...s,children:l})}function je({trajectory:t,...r}){const s=(t==null?void 0:t.map(i=>{if(i.position&&i.position.length>=3){const[o,x,l]=i.position;if(Number.isFinite(o)&&Number.isFinite(x)&&Number.isFinite(l))return new E.Vector3(o/1e3,l/1e3,-x/1e3)}return null}).filter(i=>i!==null))||[];return e.jsxRuntimeExports.jsx("group",{...r,children:s.length>0&&e.jsxRuntimeExports.jsx(b.Line,{points:s,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}function Re(t){return e.generateUtilityClass("MuiCard",t)}e.generateUtilityClasses("MuiCard",["root"]);const ye=t=>{const{classes:r}=t,s={root:["root"]};return e.composeClasses(s,Re,r)},Ee=e.styled(e.Paper,{name:"MuiCard",slot:"Root"})({overflow:"hidden"}),H=le.forwardRef(function(r,s){const i=e.useDefaultProps({props:r,name:"MuiCard"}),{className:o,raised:x=!1,...l}=i,d={...i,raised:x},u=ye(d);return e.jsxRuntimeExports.jsx(Ee,{className:e.clsx(u.root,o),elevation:x?8:void 0,ref:s,ownerState:d,...l})});process.env.NODE_ENV!=="production"&&(H.propTypes={children:w.node,classes:w.object,className:w.string,raised:e.chainPropTypes(w.bool,t=>t.raised&&t.variant==="outlined"?new Error('MUI: Combining `raised={true}` with `variant="outlined"` has no effect.'):null),sx:w.oneOfType([w.arrayOf(w.oneOfType([w.func,w.object,w.bool])),w.func,w.object])});const P=new Map;async function S(t,r){if(P.has(t))return P.get(t);const s=(async()=>{var l;const i=r||"",o=new e.NovaClient({instanceUrl:i}),x=o.api.motionGroupModels;(l=x.axios)!=null&&l.interceptors&&x.axios.interceptors.request.use(d=>{var u;return(u=d.url)!=null&&u.includes("/glb")&&(d.responseType="blob"),d});try{const d=await o.api.motionGroupModels.getMotionGroupGlbModel(t);return URL.createObjectURL(d)}catch(d){throw console.error("Failed to fetch model:",d),d}})();return P.set(t,s),s}function Y(t){function r(s){return s.children.length===0?[s]:[s,...s.children.flatMap(i=>r(i))]}return r(t).filter(s=>X(s))}function Q(t){return t.name.endsWith("_FLG")}function X(t){return/_J[0-9]+$/.test(t.name)}function ge(t,r){let s;function i(o){if(Q(o)){if(s)throw Error(`Found multiple flange groups in robot model ${r}; first ${s.name} then ${o.name}. 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re({rapidlyChangingMotionState:t,dhParameters:r,onTranslationChanged:s,children:i}){const o=p.useRef([]),x=p.useRef([]),l=p.useRef(null),{invalidate:d}=T.useThree();p.useEffect(()=>{const n=t.joint_position.filter(c=>c!==void 0);return l.current=new e.ValueInterpolator(n,{tension:120,friction:20,threshold:.001}),()=>{var c;(c=l.current)==null||c.destroy()}},[]),T.useFrame((n,c)=>{if(l.current){const f=l.current.update(c);a(),f||d()}});function u(n){n&&(x.current=Y(n),a(),d())}function a(){var c;const n=((c=l.current)==null?void 0:c.getCurrentValues())||[];if(s)s(x.current,n);else for(const[f,j]of x.current.entries()){const g=r[f].reverse_rotation_direction?-1:1;j.position.y=g*(n[f]||0)/1e3}}const h=p.useCallback(()=>{const n=t.joint_position.filter(c=>c!==void 0);requestAnimationFrame(()=>{var c;o.current=n,(c=l.current)==null||c.setTarget(n)})},[t]);return p.useEffect(()=>{h()},[t,h]),e.useAutorun(()=>{h()}),e.jsxRuntimeExports.jsx("group",{ref:u,children:i})}function ne({rapidlyChangingMotionState:t,dhParameters:r,...s}){const i=new R.Matrix4,o=p.useRef(null),x=p.useRef(null);function l(a){const h=new R.Matrix4;for(let j=0;j<r.length;j++){const m=r[j],g=a[j]??0,y=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(y)}const n=new R.Vector3,c=new R.Quaternion,f=new R.Vector3;return h.decompose(n,c,f),n}const d=l(t.joint_position);function u(a,h){i.identity();let n=new R.Vector3;for(let m=0;m<r.length;m++){const g=h[m]??0,y=r[m],v=new R.Matrix4().makeRotationY(y.theta).multiply(new R.Matrix4().makeTranslation(y.a/1e3,(y.d+g*(y.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new R.Matrix4().makeRotationX(y.alpha));i.multiply(v)}const c=new R.Vector3,f=new R.Quaternion,j=new R.Vector3;if(i.decompose(c,f,j),n=c,o.current&&o.current.position.set(n.x,n.y,n.z),x.current){const 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V=e.externalizeComponent(({rapidlyChangingMotionState:t,modelFromController:r,dhParameters:s,getModel:i=S,flangeRef:o,postModelRender:x,transparentColor:l,instanceUrl:d,...u})=>{const[a,h]=p.useState(null),n=p.useCallback(f=>{h(f)},[]);p.useEffect(()=>{a&&(l?ee(a,l):te(a))},[a,l]);const c=e.jsxRuntimeExports.jsx(ne,{rapidlyChangingMotionState:t,dhParameters:s,...u});return e.jsxRuntimeExports.jsxs(W.ErrorBoundary,{fallback:c,onError:f=>{console.warn(f)},children:[e.jsxRuntimeExports.jsx(p.Suspense,{fallback:c,children:e.jsxRuntimeExports.jsx("group",{ref:n,children:e.jsxRuntimeExports.jsx(re,{rapidlyChangingMotionState:t,dhParameters:s,children:e.jsxRuntimeExports.jsx(z,{modelURL:(()=>{const f=i(r,d);if(!f){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 f})(),postModelRender:x,flangeRef:o,...u})})})}),e.jsxRuntimeExports.jsx(K,{})]})});function ke({connectedMotionGroup:t,getModel:r=S,flangeRef:s,transparentColor:i,postModelRender:o,...x}){if(!t.dhParameters)return null;const l=t.modelFromController||"";return l&&r(l)?e.jsxRuntimeExports.jsx(V,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,modelFromController:l,dhParameters:t.dhParameters,getModel:r,flangeRef:s,transparentColor:i,postModelRender:o,...x}):e.jsxRuntimeExports.jsx(ne,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,dhParameters:t.dhParameters,...x})}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 oe(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 Le(t,r){const s=oe(t);return s&&s in I?I[s]:r||null}const Ge=e.externalizeComponent(t=>{const{inverseSolver:r,dhParameters:s,...i}=t,[o,x]=p.useState(e.JointTypeEnum.RevoluteJoint);p.useEffect(()=>{s.length&&x(s[0].type??e.JointTypeEnum.RevoluteJoint)},[s]);const l=p.useMemo(()=>r===null&&o===e.JointTypeEnum.RevoluteJoint,[r,o]),d=p.useMemo(()=>r===null&&o===e.JointTypeEnum.PrismaticJoint,[r,o]);return p.useMemo(()=>!!r,[r])||l?e.jsxRuntimeExports.jsx(O,{dhParameters:s,...i}):d?e.jsxRuntimeExports.jsx(V,{dhParameters:s,...i}):null});exports.CollisionSceneRenderer=fe;exports.LinearAxis=ke;exports.MANUFACTURER_HOME_CONFIGS=I;exports.MotionGroupVisualizer=Ge;exports.PresetEnvironment=F;exports.Robot=se;exports.RobotCard=Se;exports.SafetyZonesRenderer=he;exports.SupportedLinearAxis=V;exports.SupportedRobot=O;exports.TrajectoryRenderer=je;exports.defaultAxisConfig=Ce;exports.defaultGetModel=S;exports.extractManufacturer=oe;exports.getDefaultHomeConfig=Le;
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