@wandelbots/wandelbots-js-react-components 5.4.2 → 5.5.0

package/dist/components/jogging/PoseJointValues.js

@@ -0,0 +1,47 @@
+import { jsxs as s, jsx as r } from "react/jsx-runtime";
+import l from "@mui/material/Button";
+import p from "@mui/material/Stack";
+import { observer as m } from "mobx-react-lite";
+import { useState as c } from "react";
+import { externalizeComponent as d } from "../../externalizeComponent.js";
+import { CopyableText as f } from "../CopyableText.js";
+const j = d(
+  m(({ joints: i, showCopyButton: a = !1 }) => {
+    const [o, e] = c(null), t = `[${i.map((n) => parseFloat(n.toFixed(4))).join(", ")}]`;
+    return /* @__PURE__ */ s(
+      p,
+      {
+        direction: "row",
+        alignItems: "center",
+        spacing: 1,
+        sx: { flexGrow: 1, minWidth: 0, overflow: "hidden" },
+        "data-testid": "pose-joint-values",
+        children: [
+          /* @__PURE__ */ r(f, { value: t }),
+          a && /* @__PURE__ */ r(
+            l,
+            {
+              variant: "contained",
+              color: "secondary",
+              size: "small",
+              onClick: async () => {
+                try {
+                  await navigator.clipboard.writeText(t), e("Copied!"), setTimeout(() => e(null), 2e3);
+                } catch {
+                  e("Copy failed"), setTimeout(() => e(null), 2e3);
+                }
+              },
+              sx: { flexShrink: 0 },
+              children: o || "Copy"
+            }
+          )
+        ]
+      }
+    );
+  })
+);
+export {
+  j as PoseJointValues,
+  j as default
+};
+//# sourceMappingURL=PoseJointValues.js.map

package/dist/components/jogging/PoseJointValues.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"PoseJointValues.js","sources":["../../../src/components/jogging/PoseJointValues.tsx"],"sourcesContent":["import Button from \"@mui/material/Button\"\nimport Stack from \"@mui/material/Stack\"\nimport { observer } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { CopyableText } from \"../CopyableText\"\n\nexport type PoseJointValuesProps = {\n  joints: Array<number>\n  showCopyButton?: boolean\n}\n\nexport const PoseJointValues = externalizeComponent(\n  observer(({ joints, showCopyButton = false }: PoseJointValuesProps) => {\n    const [copyMessage, setCopyMessage] = useState<string | null>(null)\n    const poseString = `[${joints.map((j: number) => parseFloat(j.toFixed(4))).join(\", \")}]`\n\n    const handleCopy = async () => {\n      try {\n        await navigator.clipboard.writeText(poseString)\n        setCopyMessage(\"Copied!\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      } catch {\n        setCopyMessage(\"Copy failed\")\n        setTimeout(() => setCopyMessage(null), 2000)\n      }\n    }\n\n    return (\n      <Stack\n        direction=\"row\"\n        alignItems=\"center\"\n        spacing={1}\n        sx={{ flexGrow: 1, minWidth: 0, overflow: \"hidden\" }}\n        data-testid=\"pose-joint-values\"\n      >\n        <CopyableText value={poseString} />\n        {showCopyButton && (\n          <Button\n            variant=\"contained\"\n            color=\"secondary\"\n            size=\"small\"\n            onClick={handleCopy}\n            sx={{ flexShrink: 0 }}\n          >\n            {copyMessage ? copyMessage : \"Copy\"}\n          </Button>\n        )}\n      </Stack>\n    )\n  }),\n)\n\nexport default PoseJointValues\n"],"names":["PoseJointValues","externalizeComponent","observer","joints","showCopyButton","copyMessage","setCopyMessage","useState","poseString","j","jsxs","Stack","jsx","CopyableText","Button"],"mappings":";;;;;;;AAYO,MAAMA,IAAkBC;AAAA,EAC7BC,EAAS,CAAC,EAAE,QAAAC,GAAQ,gBAAAC,IAAiB,SAAkC;AACrE,UAAM,CAACC,GAAaC,CAAc,IAAIC,EAAwB,IAAI,GAC5DC,IAAa,IAAIL,EAAO,IAAI,CAACM,MAAc,WAAWA,EAAE,QAAQ,CAAC,CAAC,CAAC,EAAE,KAAK,IAAI,CAAC;AAarF,WACE,gBAAAC;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,WAAU;AAAA,QACV,YAAW;AAAA,QACX,SAAS;AAAA,QACT,IAAI,EAAE,UAAU,GAAG,UAAU,GAAG,UAAU,SAAA;AAAA,QAC1C,eAAY;AAAA,QAEZ,UAAA;AAAA,UAAA,gBAAAC,EAACC,GAAA,EAAa,OAAOL,EAAA,CAAY;AAAA,UAChCJ,KACC,gBAAAQ;AAAA,YAACE;AAAA,YAAA;AAAA,cACC,SAAQ;AAAA,cACR,OAAM;AAAA,cACN,MAAK;AAAA,cACL,SAzBW,YAAY;AAC7B,oBAAI;AACF,wBAAM,UAAU,UAAU,UAAUN,CAAU,GAC9CF,EAAe,SAAS,GACxB,WAAW,MAAMA,EAAe,IAAI,GAAG,GAAI;AAAA,gBAC7C,QAAQ;AACN,kBAAAA,EAAe,aAAa,GAC5B,WAAW,MAAMA,EAAe,IAAI,GAAG,GAAI;AAAA,gBAC7C;AAAA,cACF;AAAA,cAiBQ,IAAI,EAAE,YAAY,EAAA;AAAA,cAEjB,eAA4B;AAAA,YAAA;AAAA,UAAA;AAAA,QAC/B;AAAA,MAAA;AAAA,IAAA;AAAA,EAIR,CAAC;AACH;"}

package/dist/components/modal/NoMotionGroupModal.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const e=require("react/jsx-runtime"),r=require("@mui/material/Button"),i=require("@mui/material/Dialog"),a=require("@mui/material/DialogActions"),l=require("@mui/material/DialogContent"),s=require("@mui/material/DialogTitle"),c=require("@mui/material/Stack"),t=require("@mui/material/Typography");function u(){const o=window.location.href;return o.substring(0,o.indexOf("/",o.indexOf("//")+2))}function n({baseUrl:o=u(),...d}){return e.jsxs(i,{"aria-labelledby":"no-motion-group-modal-title",open:!0,fullWidth:!0,sx:{"& .MuiModal-backdrop":{backdropFilter:"blur(10px)"},"& .MuiDialog-paper":{"::before":{content:'""',height:"8px",width:"100%",background:"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"},background:"#101629"}},children:[e.jsx(s,{id:"no-motion-group-modal-title",children:"No motion group found"}),e.jsxs(l,{sx:{marginTop:"3rem",marginBottom:"1.5rem",textAlign:"center"},children:[e.jsx(t,{color:"#fff",children:"Found no devices to connect to."}),e.jsx(t,{color:"#fff",children:"Please ensure a motion group has been created."})]}),e.jsx(a,{children:e.jsxs(c,{width:"100%",maxWidth:"300px",margin:"auto",marginBottom:"2rem",children:[e.jsx(r,{href:`${o}/settings`,variant:"contained",sx:{borderRadius:"8px",width:"100%"},children:"Go to settings app"}),e.jsx(r,{href:`${o}`,variant:"text",sx:{marginTop:"1rem",color:"#fff",textDecoration:"underline",fontSize:"0.75rem"},children:"Back to Homescreen"})]})})]})}exports.NoMotionGroupModal=n;exports.default=n;
+//# sourceMappingURL=NoMotionGroupModal.cjs.map

package/dist/components/modal/NoMotionGroupModal.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"NoMotionGroupModal.cjs","sources":["../../../src/components/modal/NoMotionGroupModal.tsx"],"sourcesContent":["import Button from \"@mui/material/Button\"\nimport Dialog from \"@mui/material/Dialog\"\nimport DialogActions from \"@mui/material/DialogActions\"\nimport DialogContent from \"@mui/material/DialogContent\"\nimport DialogTitle from \"@mui/material/DialogTitle\"\nimport Stack from \"@mui/material/Stack\"\nimport Typography from \"@mui/material/Typography\"\nfunction getBaseUrl(): string {\n  const currentUrl = window.location.href\n  return currentUrl.substring(\n    0,\n    currentUrl.indexOf(\"/\", currentUrl.indexOf(\"//\") + 2),\n  )\n}\n\nexport type NoMotionGroupModalProps = {\n  baseUrl: string\n}\n\nexport function NoMotionGroupModal({\n  baseUrl = getBaseUrl(),\n  ...props\n}: NoMotionGroupModalProps) {\n  return (\n    <Dialog\n      aria-labelledby=\"no-motion-group-modal-title\"\n      open={true}\n      fullWidth\n      sx={{\n        \"& .MuiModal-backdrop\": {\n          backdropFilter: \"blur(10px)\",\n        },\n        \"& .MuiDialog-paper\": {\n          \"::before\": {\n            content: '\"\"',\n            height: \"8px\",\n            width: \"100%\",\n            background: \"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)\",\n          },\n          background: \"#101629\",\n        },\n      }}\n    >\n      <DialogTitle id=\"no-motion-group-modal-title\">\n        No motion group found\n      </DialogTitle>\n\n      <DialogContent\n        sx={{\n          marginTop: \"3rem\",\n          marginBottom: \"1.5rem\",\n          textAlign: \"center\",\n        }}\n      >\n        <Typography color=\"#fff\">Found no devices to connect to.</Typography>\n        <Typography color=\"#fff\">\n          Please ensure a motion group has been created.\n        </Typography>\n      </DialogContent>\n\n      <DialogActions>\n        <Stack width=\"100%\" maxWidth=\"300px\" margin=\"auto\" marginBottom=\"2rem\">\n          <Button\n            href={`${baseUrl}/settings`}\n            variant=\"contained\"\n            sx={{\n              borderRadius: \"8px\",\n              width: \"100%\",\n            }}\n          >\n            Go to settings app\n          </Button>\n          <Button\n            href={`${baseUrl}`}\n            variant=\"text\"\n            sx={{\n              marginTop: \"1rem\",\n              color: \"#fff\",\n              textDecoration: \"underline\",\n              fontSize: \"0.75rem\",\n            }}\n          >\n            Back to Homescreen\n          </Button>\n        </Stack>\n      </DialogActions>\n    </Dialog>\n  )\n}\n\nexport default NoMotionGroupModal\n"],"names":["getBaseUrl","currentUrl","NoMotionGroupModal","baseUrl","props","jsxs","Dialog","jsx","DialogTitle","DialogContent","Typography","DialogActions","Stack","Button"],"mappings":"qZAOA,SAASA,GAAqB,CAC5B,MAAMC,EAAa,OAAO,SAAS,KACnC,OAAOA,EAAW,UAChB,EACAA,EAAW,QAAQ,IAAKA,EAAW,QAAQ,IAAI,EAAI,CAAC,CAAA,CAExD,CAMO,SAASC,EAAmB,CACjC,QAAAC,EAAUH,EAAA,EACV,GAAGI,CACL,EAA4B,CAC1B,OACEC,EAAAA,KAACC,EAAA,CACC,kBAAgB,8BAChB,KAAM,GACN,UAAS,GACT,GAAI,CACF,uBAAwB,CACtB,eAAgB,YAAA,EAElB,qBAAsB,CACpB,WAAY,CACV,QAAS,KACT,OAAQ,MACR,MAAO,OACP,WAAY,kDAAA,EAEd,WAAY,SAAA,CACd,EAGF,SAAA,CAAAC,EAAAA,IAACC,EAAA,CAAY,GAAG,8BAA8B,SAAA,wBAE9C,EAEAH,EAAAA,KAACI,EAAA,CACC,GAAI,CACF,UAAW,OACX,aAAc,SACd,UAAW,QAAA,EAGb,SAAA,CAAAF,EAAAA,IAACG,EAAA,CAAW,MAAM,OAAO,SAAA,kCAA+B,EACxDH,EAAAA,IAACG,EAAA,CAAW,MAAM,OAAO,SAAA,gDAAA,CAEzB,CAAA,CAAA,CAAA,EAGFH,EAAAA,IAACI,EAAA,CACC,SAAAN,EAAAA,KAACO,EAAA,CAAM,MAAM,OAAO,SAAS,QAAQ,OAAO,OAAO,aAAa,OAC9D,SAAA,CAAAL,EAAAA,IAACM,EAAA,CACC,KAAM,GAAGV,CAAO,YAChB,QAAQ,YACR,GAAI,CACF,aAAc,MACd,MAAO,MAAA,EAEV,SAAA,oBAAA,CAAA,EAGDI,EAAAA,IAACM,EAAA,CACC,KAAM,GAAGV,CAAO,GAChB,QAAQ,OACR,GAAI,CACF,UAAW,OACX,MAAO,OACP,eAAgB,YAChB,SAAU,SAAA,EAEb,SAAA,oBAAA,CAAA,CAED,CAAA,CACF,CAAA,CACF,CAAA,CAAA,CAAA,CAGN"}

package/dist/components/modal/NoMotionGroupModal.d.ts

@@ -2,4 +2,5 @@ export type NoMotionGroupModalProps = {
     baseUrl: string;
 };
 export declare function NoMotionGroupModal({ baseUrl, ...props }: NoMotionGroupModalProps): import("react/jsx-runtime").JSX.Element;
+export default NoMotionGroupModal;
 //# sourceMappingURL=NoMotionGroupModal.d.ts.map

package/dist/components/modal/NoMotionGroupModal.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"NoMotionGroupModal.d.ts","sourceRoot":"","sources":["../../../src/components/modal/NoMotionGroupModal.tsx"],"names":[],"mappings":"AAeA,MAAM,MAAM,uBAAuB,GAAG;IACpC,OAAO,EAAE,MAAM,CAAA;CAChB,CAAA;AAED,wBAAgB,kBAAkB,CAAC,EACjC,OAAsB,EACtB,GAAG,KAAK,EACT,EAAE,uBAAuB,2CAkEzB;AAED,eAAe,kBAAkB,CAAA"}

package/dist/components/modal/NoMotionGroupModal.js

@@ -0,0 +1,92 @@
+import { jsxs as t, jsx as r } from "react/jsx-runtime";
+import e from "@mui/material/Button";
+import n from "@mui/material/Dialog";
+import a from "@mui/material/DialogActions";
+import d from "@mui/material/DialogContent";
+import l from "@mui/material/DialogTitle";
+import m from "@mui/material/Stack";
+import i from "@mui/material/Typography";
+function c() {
+  const o = window.location.href;
+  return o.substring(
+    0,
+    o.indexOf("/", o.indexOf("//") + 2)
+  );
+}
+function k({
+  baseUrl: o = c(),
+  ...p
+}) {
+  return /* @__PURE__ */ t(
+    n,
+    {
+      "aria-labelledby": "no-motion-group-modal-title",
+      open: !0,
+      fullWidth: !0,
+      sx: {
+        "& .MuiModal-backdrop": {
+          backdropFilter: "blur(10px)"
+        },
+        "& .MuiDialog-paper": {
+          "::before": {
+            content: '""',
+            height: "8px",
+            width: "100%",
+            background: "linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"
+          },
+          background: "#101629"
+        }
+      },
+      children: [
+        /* @__PURE__ */ r(l, { id: "no-motion-group-modal-title", children: "No motion group found" }),
+        /* @__PURE__ */ t(
+          d,
+          {
+            sx: {
+              marginTop: "3rem",
+              marginBottom: "1.5rem",
+              textAlign: "center"
+            },
+            children: [
+              /* @__PURE__ */ r(i, { color: "#fff", children: "Found no devices to connect to." }),
+              /* @__PURE__ */ r(i, { color: "#fff", children: "Please ensure a motion group has been created." })
+            ]
+          }
+        ),
+        /* @__PURE__ */ r(a, { children: /* @__PURE__ */ t(m, { width: "100%", maxWidth: "300px", margin: "auto", marginBottom: "2rem", children: [
+          /* @__PURE__ */ r(
+            e,
+            {
+              href: `${o}/settings`,
+              variant: "contained",
+              sx: {
+                borderRadius: "8px",
+                width: "100%"
+              },
+              children: "Go to settings app"
+            }
+          ),
+          /* @__PURE__ */ r(
+            e,
+            {
+              href: `${o}`,
+              variant: "text",
+              sx: {
+                marginTop: "1rem",
+                color: "#fff",
+                textDecoration: "underline",
+                fontSize: "0.75rem"
+              },
+              children: "Back to Homescreen"
+            }
+          )
+        ] }) })
+      ]
+    }
+  );
+}
+export {
+  k as NoMotionGroupModal,
+  k as default
+};
+//# sourceMappingURL=NoMotionGroupModal.js.map

package/dist/components/modal/NoMotionGroupModal.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"NoMotionGroupModal.js","sources":["../../../src/components/modal/NoMotionGroupModal.tsx"],"sourcesContent":["import Button from \"@mui/material/Button\"\nimport Dialog from \"@mui/material/Dialog\"\nimport DialogActions from \"@mui/material/DialogActions\"\nimport DialogContent from \"@mui/material/DialogContent\"\nimport DialogTitle from \"@mui/material/DialogTitle\"\nimport Stack from \"@mui/material/Stack\"\nimport Typography from \"@mui/material/Typography\"\nfunction getBaseUrl(): string {\n  const currentUrl = window.location.href\n  return currentUrl.substring(\n    0,\n    currentUrl.indexOf(\"/\", currentUrl.indexOf(\"//\") + 2),\n  )\n}\n\nexport type NoMotionGroupModalProps = {\n  baseUrl: string\n}\n\nexport function NoMotionGroupModal({\n  baseUrl = getBaseUrl(),\n  ...props\n}: NoMotionGroupModalProps) {\n  return (\n    <Dialog\n      aria-labelledby=\"no-motion-group-modal-title\"\n      open={true}\n      fullWidth\n      sx={{\n        \"& .MuiModal-backdrop\": {\n          backdropFilter: \"blur(10px)\",\n        },\n        \"& .MuiDialog-paper\": {\n          \"::before\": {\n            content: '\"\"',\n            height: \"8px\",\n            width: \"100%\",\n            background: \"linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)\",\n          },\n          background: \"#101629\",\n        },\n      }}\n    >\n      <DialogTitle id=\"no-motion-group-modal-title\">\n        No motion group found\n      </DialogTitle>\n\n      <DialogContent\n        sx={{\n          marginTop: \"3rem\",\n          marginBottom: \"1.5rem\",\n          textAlign: \"center\",\n        }}\n      >\n        <Typography color=\"#fff\">Found no devices to connect to.</Typography>\n        <Typography color=\"#fff\">\n          Please ensure a motion group has been created.\n        </Typography>\n      </DialogContent>\n\n      <DialogActions>\n        <Stack width=\"100%\" maxWidth=\"300px\" margin=\"auto\" marginBottom=\"2rem\">\n          <Button\n            href={`${baseUrl}/settings`}\n            variant=\"contained\"\n            sx={{\n              borderRadius: \"8px\",\n              width: \"100%\",\n            }}\n          >\n            Go to settings app\n          </Button>\n          <Button\n            href={`${baseUrl}`}\n            variant=\"text\"\n            sx={{\n              marginTop: \"1rem\",\n              color: \"#fff\",\n              textDecoration: \"underline\",\n              fontSize: \"0.75rem\",\n            }}\n          >\n            Back to Homescreen\n          </Button>\n        </Stack>\n      </DialogActions>\n    </Dialog>\n  )\n}\n\nexport default NoMotionGroupModal\n"],"names":["getBaseUrl","currentUrl","NoMotionGroupModal","baseUrl","props","jsxs","Dialog","jsx","DialogTitle","DialogContent","Typography","DialogActions","Stack","Button"],"mappings":";;;;;;;;AAOA,SAASA,IAAqB;AAC5B,QAAMC,IAAa,OAAO,SAAS;AACnC,SAAOA,EAAW;AAAA,IAChB;AAAA,IACAA,EAAW,QAAQ,KAAKA,EAAW,QAAQ,IAAI,IAAI,CAAC;AAAA,EAAA;AAExD;AAMO,SAASC,EAAmB;AAAA,EACjC,SAAAC,IAAUH,EAAA;AAAA,EACV,GAAGI;AACL,GAA4B;AAC1B,SACE,gBAAAC;AAAA,IAACC;AAAA,IAAA;AAAA,MACC,mBAAgB;AAAA,MAChB,MAAM;AAAA,MACN,WAAS;AAAA,MACT,IAAI;AAAA,QACF,wBAAwB;AAAA,UACtB,gBAAgB;AAAA,QAAA;AAAA,QAElB,sBAAsB;AAAA,UACpB,YAAY;AAAA,YACV,SAAS;AAAA,YACT,QAAQ;AAAA,YACR,OAAO;AAAA,YACP,YAAY;AAAA,UAAA;AAAA,UAEd,YAAY;AAAA,QAAA;AAAA,MACd;AAAA,MAGF,UAAA;AAAA,QAAA,gBAAAC,EAACC,GAAA,EAAY,IAAG,+BAA8B,UAAA,yBAE9C;AAAA,QAEA,gBAAAH;AAAA,UAACI;AAAA,UAAA;AAAA,YACC,IAAI;AAAA,cACF,WAAW;AAAA,cACX,cAAc;AAAA,cACd,WAAW;AAAA,YAAA;AAAA,YAGb,UAAA;AAAA,cAAA,gBAAAF,EAACG,GAAA,EAAW,OAAM,QAAO,UAAA,mCAA+B;AAAA,cACxD,gBAAAH,EAACG,GAAA,EAAW,OAAM,QAAO,UAAA,iDAAA,CAEzB;AAAA,YAAA;AAAA,UAAA;AAAA,QAAA;AAAA,QAGF,gBAAAH,EAACI,GAAA,EACC,UAAA,gBAAAN,EAACO,GAAA,EAAM,OAAM,QAAO,UAAS,SAAQ,QAAO,QAAO,cAAa,QAC9D,UAAA;AAAA,UAAA,gBAAAL;AAAA,YAACM;AAAA,YAAA;AAAA,cACC,MAAM,GAAGV,CAAO;AAAA,cAChB,SAAQ;AAAA,cACR,IAAI;AAAA,gBACF,cAAc;AAAA,gBACd,OAAO;AAAA,cAAA;AAAA,cAEV,UAAA;AAAA,YAAA;AAAA,UAAA;AAAA,UAGD,gBAAAI;AAAA,YAACM;AAAA,YAAA;AAAA,cACC,MAAM,GAAGV,CAAO;AAAA,cAChB,SAAQ;AAAA,cACR,IAAI;AAAA,gBACF,WAAW;AAAA,gBACX,OAAO;AAAA,gBACP,gBAAgB;AAAA,gBAChB,UAAU;AAAA,cAAA;AAAA,cAEb,UAAA;AAAA,YAAA;AAAA,UAAA;AAAA,QAED,EAAA,CACF,EAAA,CACF;AAAA,MAAA;AAAA,IAAA;AAAA,EAAA;AAGN;"}

package/dist/components/robots/AxisConfig.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const t=Array(6).fill(2*Math.PI);exports.defaultAxisConfig=t;
+//# sourceMappingURL=AxisConfig.cjs.map

package/dist/components/robots/AxisConfig.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"AxisConfig.cjs","sources":["../../../src/components/robots/AxisConfig.ts"],"sourcesContent":["export type AxisConfig = number[]\n\nexport const defaultAxisConfig: AxisConfig = Array(6).fill(2 * Math.PI)\n"],"names":["defaultAxisConfig"],"mappings":"gFAEO,MAAMA,EAAgC,MAAM,CAAC,EAAE,KAAK,EAAI,KAAK,EAAE"}

package/dist/components/robots/AxisConfig.js

@@ -0,0 +1,5 @@
+const t = Array(6).fill(2 * Math.PI);
+export {
+  t as defaultAxisConfig
+};
+//# sourceMappingURL=AxisConfig.js.map

package/dist/components/robots/AxisConfig.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"AxisConfig.js","sources":["../../../src/components/robots/AxisConfig.ts"],"sourcesContent":["export type AxisConfig = number[]\n\nexport const defaultAxisConfig: AxisConfig = Array(6).fill(2 * Math.PI)\n"],"names":["defaultAxisConfig"],"mappings":"AAEO,MAAMA,IAAgC,MAAM,CAAC,EAAE,KAAK,IAAI,KAAK,EAAE;"}

package/dist/components/robots/DHLinearAxis.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const o=require("react/jsx-runtime"),g=require("@react-three/drei"),j=require("react"),e=require("three"),V=require("./LinearAxisAnimator.cjs");function w({rapidlyChangingMotionState:d,dhParameters:s,...M}){const l=new e.Matrix4,u=j.useRef(null),p=j.useRef(null);function y(h){const a=new e.Matrix4;for(let r=0;r<s.length;r++){const t=s[r],x=h[r]??0,i=new e.Matrix4().makeRotationY(t.theta).multiply(new e.Matrix4().makeTranslation(t.a/1e3,(t.d+x*(t.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new e.Matrix4().makeRotationX(t.alpha));a.multiply(i)}const n=new e.Vector3,c=new e.Quaternion,m=new e.Vector3;return a.decompose(n,c,m),n}const f=y(d.joint_position);function R(h,a){l.identity();let n=new e.Vector3;for(let t=0;t<s.length;t++){const x=a[t]??0,i=s[t],T=new e.Matrix4().makeRotationY(i.theta).multiply(new e.Matrix4().makeTranslation(i.a/1e3,(i.d+x*(i.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new e.Matrix4().makeRotationX(i.alpha));l.multiply(T)}const c=new e.Vector3,m=new e.Quaternion,r=new e.Vector3;if(l.decompose(c,m,r),n=c,u.current&&u.current.position.set(n.x,n.y,n.z),p.current){const t=p.current.geometry;t!=null&&t.setPositions&&t.setPositions([0,0,0,n.x,n.y,n.z])}}return o.jsx(V.default,{rapidlyChangingMotionState:d,dhParameters:s,onTranslationChanged:R,children:o.jsxs("group",{...M,name:"Scene",children:[o.jsxs("mesh",{name:"Base",position:[0,0,0],children:[o.jsx("sphereGeometry",{args:[.02,32,32]}),o.jsx("meshStandardMaterial",{color:"green",depthTest:!0})]}),o.jsx(g.Line,{ref:p,points:[new e.Vector3(0,0,0),f],color:"White",lineWidth:5}),o.jsxs("mesh",{ref:u,name:"TCP",position:f,children:[o.jsx("sphereGeometry",{args:[.025,32,32]}),o.jsx("meshStandardMaterial",{color:"red",depthTest:!0})]})]})})}exports.DHLinearAxis=w;exports.default=w;
+//# sourceMappingURL=DHLinearAxis.cjs.map

package/dist/components/robots/DHLinearAxis.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"DHLinearAxis.cjs","sources":["../../../src/components/robots/DHLinearAxis.tsx"],"sourcesContent":["/* biome-ignore-all lint/style/noNonNullAssertion: pre-biome code */\n/* biome-ignore-all lint/suspicious/noExplicitAny: pre-biome code */\n\nimport { Line } from \"@react-three/drei\"\nimport { useRef } from \"react\"\nimport type * as THREE from \"three\"\nimport { Matrix4, Quaternion, Vector3 } from \"three\"\nimport LinearAxisAnimator from \"./LinearAxisAnimator\"\nimport type { DHLinearAxisProps } from \"./SupportedLinearAxis\"\n\nexport function DHLinearAxis({\n  rapidlyChangingMotionState,\n  dhParameters,\n  ...props\n}: DHLinearAxisProps) {\n  // reused in every update\n  const accumulatedMatrix = new Matrix4()\n\n  const tcpMeshRef = useRef<THREE.Mesh | null>(null)\n  const tcpLineRef = useRef<any>(null)\n\n  // Calculate initial TCP position\n  function calculateTcpPosition(jointValues: number[]): Vector3 {\n    const tempMatrix = new Matrix4()\n\n    for (let i = 0; i < dhParameters.length; i++) {\n      const param = dhParameters[i]\n      const jointValue = jointValues[i] ?? 0\n\n      const matrix = new Matrix4()\n        .makeRotationY(param.theta!) // Base rotation (if any)\n        .multiply(\n          new Matrix4().makeTranslation(\n            param.a! / 1000,\n            (param.d! +\n              jointValue * (param.reverse_rotation_direction ? -1 : 1)) /\n              1000,\n            0,\n          ),\n        ) // Translate along X by a, and Y by d + joint_position\n        .multiply(new Matrix4().makeRotationX(param.alpha!)) // Rotate around X\n\n      tempMatrix.multiply(matrix)\n    }\n\n    const position = new Vector3()\n    const quaternion = new Quaternion()\n    const scale = new Vector3()\n    tempMatrix.decompose(position, quaternion, scale)\n    return position\n  }\n\n  // Calculate initial TCP position for rendering\n  const initialTcpPosition = calculateTcpPosition(\n    rapidlyChangingMotionState.joint_position,\n  )\n\n  function setTranslation(joints: THREE.Object3D[], jointValues: number[]) {\n    accumulatedMatrix.identity()\n\n    let tcpPosition = new Vector3()\n\n    // Process all joints based on dhParameters length, not joints array\n    // Since we're using DHLinearAxis directly without a model, we don't have joint objects\n    for (let jointIndex = 0; jointIndex < dhParameters.length; jointIndex++) {\n      const jointValue = jointValues[jointIndex] ?? 0\n      const param = dhParameters[jointIndex]\n\n      // Calculate and accumulate transformation\n      const matrix = new Matrix4()\n        .makeRotationY(param.theta!) // Base rotation (if any)\n        .multiply(\n          new Matrix4().makeTranslation(\n            param.a! / 1000,\n            (param.d! +\n              jointValue * (param.reverse_rotation_direction ? -1 : 1)) /\n              1000,\n            0,\n          ),\n        )\n        .multiply(new Matrix4().makeRotationX(param.alpha!))\n\n      accumulatedMatrix.multiply(matrix)\n    }\n\n    // Get final TCP position from accumulated matrix\n    const position = new Vector3()\n    const quaternion = new Quaternion()\n    const scale = new Vector3()\n    accumulatedMatrix.decompose(position, quaternion, scale)\n    tcpPosition = position\n\n    // Update TCP marker\n    if (tcpMeshRef.current) {\n      tcpMeshRef.current.position.set(\n        tcpPosition.x,\n        tcpPosition.y,\n        tcpPosition.z,\n      )\n    }\n\n    // Update TCP line\n    if (tcpLineRef.current) {\n      const lineGeometry = tcpLineRef.current.geometry\n      if (lineGeometry?.setPositions) {\n        lineGeometry.setPositions([\n          0,\n          0,\n          0,\n          tcpPosition.x,\n          tcpPosition.y,\n          tcpPosition.z,\n        ])\n      }\n    }\n  }\n\n  return (\n    <LinearAxisAnimator\n      rapidlyChangingMotionState={rapidlyChangingMotionState}\n      dhParameters={dhParameters}\n      onTranslationChanged={setTranslation}\n    >\n      <group {...props} name=\"Scene\">\n        {/* Base (origin) - Green sphere representing initial previous position */}\n        <mesh name=\"Base\" position={[0, 0, 0]}>\n          <sphereGeometry args={[0.02, 32, 32]} />\n          <meshStandardMaterial color={\"green\"} depthTest={true} />\n        </mesh>\n        {/* Line from Base to TCP */}\n        <Line\n          ref={tcpLineRef}\n          points={[new Vector3(0, 0, 0), initialTcpPosition]}\n          color={\"White\"}\n          lineWidth={5}\n        />\n        {/* TCP (Tool Center Point) - Red sphere that shows final position */}\n        <mesh ref={tcpMeshRef} name=\"TCP\" position={initialTcpPosition}>\n          <sphereGeometry args={[0.025, 32, 32]} />\n          <meshStandardMaterial color={\"red\"} depthTest={true} />\n        </mesh>\n      </group>\n    </LinearAxisAnimator>\n  )\n}\n\nexport default DHLinearAxis\n"],"names":["DHLinearAxis","rapidlyChangingMotionState","dhParameters","props","accumulatedMatrix","Matrix4","tcpMeshRef","useRef","tcpLineRef","calculateTcpPosition","jointValues","tempMatrix","i","param","jointValue","matrix","position","Vector3","quaternion","Quaternion","scale","initialTcpPosition","setTranslation","joints","tcpPosition","jointIndex","lineGeometry","jsx","LinearAxisAnimator","jsxs","Line"],"mappings":"4PAUO,SAASA,EAAa,CAC3B,2BAAAC,EACA,aAAAC,EACA,GAAGC,CACL,EAAsB,CAEpB,MAAMC,EAAoB,IAAIC,UAExBC,EAAaC,EAAAA,OAA0B,IAAI,EAC3CC,EAAaD,EAAAA,OAAY,IAAI,EAGnC,SAASE,EAAqBC,EAAgC,CAC5D,MAAMC,EAAa,IAAIN,UAEvB,QAASO,EAAI,EAAGA,EAAIV,EAAa,OAAQU,IAAK,CAC5C,MAAMC,EAAQX,EAAaU,CAAC,EACtBE,EAAaJ,EAAYE,CAAC,GAAK,EAE/BG,EAAS,IAAIV,UAAA,EAChB,cAAcQ,EAAM,KAAM,EAC1B,SACC,IAAIR,EAAAA,UAAU,gBACZQ,EAAM,EAAK,KACVA,EAAM,EACLC,GAAcD,EAAM,2BAA6B,GAAK,IACtD,IACF,CAAA,CACF,EAED,SAAS,IAAIR,EAAAA,QAAA,EAAU,cAAcQ,EAAM,KAAM,CAAC,EAErDF,EAAW,SAASI,CAAM,CAC5B,CAEA,MAAMC,EAAW,IAAIC,UACfC,EAAa,IAAIC,aACjBC,EAAQ,IAAIH,UAClB,OAAAN,EAAW,UAAUK,EAAUE,EAAYE,CAAK,EACzCJ,CACT,CAGA,MAAMK,EAAqBZ,EACzBR,EAA2B,cAAA,EAG7B,SAASqB,EAAeC,EAA0Bb,EAAuB,CACvEN,EAAkB,SAAA,EAElB,IAAIoB,EAAc,IAAIP,UAItB,QAASQ,EAAa,EAAGA,EAAavB,EAAa,OAAQuB,IAAc,CACvE,MAAMX,EAAaJ,EAAYe,CAAU,GAAK,EACxCZ,EAAQX,EAAauB,CAAU,EAG/BV,EAAS,IAAIV,UAAA,EAChB,cAAcQ,EAAM,KAAM,EAC1B,SACC,IAAIR,EAAAA,UAAU,gBACZQ,EAAM,EAAK,KACVA,EAAM,EACLC,GAAcD,EAAM,2BAA6B,GAAK,IACtD,IACF,CAAA,CACF,EAED,SAAS,IAAIR,EAAAA,QAAA,EAAU,cAAcQ,EAAM,KAAM,CAAC,EAErDT,EAAkB,SAASW,CAAM,CACnC,CAGA,MAAMC,EAAW,IAAIC,UACfC,EAAa,IAAIC,aACjBC,EAAQ,IAAIH,UAclB,GAbAb,EAAkB,UAAUY,EAAUE,EAAYE,CAAK,EACvDI,EAAcR,EAGVV,EAAW,SACbA,EAAW,QAAQ,SAAS,IAC1BkB,EAAY,EACZA,EAAY,EACZA,EAAY,CAAA,EAKZhB,EAAW,QAAS,CACtB,MAAMkB,EAAelB,EAAW,QAAQ,SACpCkB,GAAA,MAAAA,EAAc,cAChBA,EAAa,aAAa,CACxB,EACA,EACA,EACAF,EAAY,EACZA,EAAY,EACZA,EAAY,CAAA,CACb,CAEL,CACF,CAEA,OACEG,EAAAA,IAACC,EAAAA,QAAA,CACC,2BAAA3B,EACA,aAAAC,EACA,qBAAsBoB,EAEtB,SAAAO,EAAAA,KAAC,QAAA,CAAO,GAAG1B,EAAO,KAAK,QAErB,SAAA,CAAA0B,EAAAA,KAAC,OAAA,CAAK,KAAK,OAAO,SAAU,CAAC,EAAG,EAAG,CAAC,EAClC,SAAA,CAAAF,EAAAA,IAAC,kBAAe,KAAM,CAAC,IAAM,GAAI,EAAE,EAAG,EACtCA,EAAAA,IAAC,uBAAA,CAAqB,MAAO,QAAS,UAAW,EAAA,CAAM,CAAA,EACzD,EAEAA,EAAAA,IAACG,EAAAA,KAAA,CACC,IAAKtB,EACL,OAAQ,CAAC,IAAIS,UAAQ,EAAG,EAAG,CAAC,EAAGI,CAAkB,EACjD,MAAO,QACP,UAAW,CAAA,CAAA,SAGZ,OAAA,CAAK,IAAKf,EAAY,KAAK,MAAM,SAAUe,EAC1C,SAAA,CAAAM,EAAAA,IAAC,kBAAe,KAAM,CAAC,KAAO,GAAI,EAAE,EAAG,EACvCA,EAAAA,IAAC,uBAAA,CAAqB,MAAO,MAAO,UAAW,EAAA,CAAM,CAAA,CAAA,CACvD,CAAA,CAAA,CACF,CAAA,CAAA,CAGN"}

package/dist/components/robots/DHLinearAxis.d.ts

@@ -1,3 +1,4 @@
 import type { DHLinearAxisProps } from "./SupportedLinearAxis";
 export declare function DHLinearAxis({ rapidlyChangingMotionState, dhParameters, ...props }: DHLinearAxisProps): import("react/jsx-runtime").JSX.Element;
+export default DHLinearAxis;
 //# sourceMappingURL=DHLinearAxis.d.ts.map

package/dist/components/robots/DHLinearAxis.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"DHLinearAxis.d.ts","sourceRoot":"","sources":["../../../src/components/robots/DHLinearAxis.tsx"],"names":[],"mappings":"AAQA,OAAO,KAAK,EAAE,iBAAiB,EAAE,MAAM,uBAAuB,CAAA;AAE9D,wBAAgB,YAAY,CAAC,EAC3B,0BAA0B,EAC1B,YAAY,EACZ,GAAG,KAAK,EACT,EAAE,iBAAiB,2CAkInB;AAED,eAAe,YAAY,CAAA"}

package/dist/components/robots/DHLinearAxis.js

@@ -0,0 +1,92 @@
+import { jsx as r, jsxs as h } from "react/jsx-runtime";
+import { Line as _ } from "@react-three/drei";
+import { useRef as T } from "react";
+import { Matrix4 as n, Vector3 as s, Quaternion as j } from "three";
+import L from "./LinearAxisAnimator.js";
+function P({
+  rapidlyChangingMotionState: w,
+  dhParameters: a,
+  ...R
+}) {
+  const m = new n(), p = T(null), u = T(null);
+  function g(y) {
+    const c = new n();
+    for (let i = 0; i < a.length; i++) {
+      const t = a[i], d = y[i] ?? 0, o = new n().makeRotationY(t.theta).multiply(
+        new n().makeTranslation(
+          t.a / 1e3,
+          (t.d + d * (t.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          0
+        )
+      ).multiply(new n().makeRotationX(t.alpha));
+      c.multiply(o);
+    }
+    const e = new s(), l = new j(), f = new s();
+    return c.decompose(e, l, f), e;
+  }
+  const x = g(
+    w.joint_position
+  );
+  function k(y, c) {
+    m.identity();
+    let e = new s();
+    for (let t = 0; t < a.length; t++) {
+      const d = c[t] ?? 0, o = a[t], M = new n().makeRotationY(o.theta).multiply(
+        new n().makeTranslation(
+          o.a / 1e3,
+          (o.d + d * (o.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          0
+        )
+      ).multiply(new n().makeRotationX(o.alpha));
+      m.multiply(M);
+    }
+    const l = new s(), f = new j(), i = new s();
+    if (m.decompose(l, f, i), e = l, p.current && p.current.position.set(
+      e.x,
+      e.y,
+      e.z
+    ), u.current) {
+      const t = u.current.geometry;
+      t != null && t.setPositions && t.setPositions([
+        0,
+        0,
+        0,
+        e.x,
+        e.y,
+        e.z
+      ]);
+    }
+  }
+  return /* @__PURE__ */ r(
+    L,
+    {
+      rapidlyChangingMotionState: w,
+      dhParameters: a,
+      onTranslationChanged: k,
+      children: /* @__PURE__ */ h("group", { ...R, name: "Scene", children: [
+        /* @__PURE__ */ h("mesh", { name: "Base", position: [0, 0, 0], children: [
+          /* @__PURE__ */ r("sphereGeometry", { args: [0.02, 32, 32] }),
+          /* @__PURE__ */ r("meshStandardMaterial", { color: "green", depthTest: !0 })
+        ] }),
+        /* @__PURE__ */ r(
+          _,
+          {
+            ref: u,
+            points: [new s(0, 0, 0), x],
+            color: "White",
+            lineWidth: 5
+          }
+        ),
+        /* @__PURE__ */ h("mesh", { ref: p, name: "TCP", position: x, children: [
+          /* @__PURE__ */ r("sphereGeometry", { args: [0.025, 32, 32] }),
+          /* @__PURE__ */ r("meshStandardMaterial", { color: "red", depthTest: !0 })
+        ] })
+      ] })
+    }
+  );
+}
+export {
+  P as DHLinearAxis,
+  P as default
+};
+//# sourceMappingURL=DHLinearAxis.js.map

package/dist/components/robots/DHLinearAxis.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"DHLinearAxis.js","sources":["../../../src/components/robots/DHLinearAxis.tsx"],"sourcesContent":["/* biome-ignore-all lint/style/noNonNullAssertion: pre-biome code */\n/* biome-ignore-all lint/suspicious/noExplicitAny: pre-biome code */\n\nimport { Line } from \"@react-three/drei\"\nimport { useRef } from \"react\"\nimport type * as THREE from \"three\"\nimport { Matrix4, Quaternion, Vector3 } from \"three\"\nimport LinearAxisAnimator from \"./LinearAxisAnimator\"\nimport type { DHLinearAxisProps } from \"./SupportedLinearAxis\"\n\nexport function DHLinearAxis({\n  rapidlyChangingMotionState,\n  dhParameters,\n  ...props\n}: DHLinearAxisProps) {\n  // reused in every update\n  const accumulatedMatrix = new Matrix4()\n\n  const tcpMeshRef = useRef<THREE.Mesh | null>(null)\n  const tcpLineRef = useRef<any>(null)\n\n  // Calculate initial TCP position\n  function calculateTcpPosition(jointValues: number[]): Vector3 {\n    const tempMatrix = new Matrix4()\n\n    for (let i = 0; i < dhParameters.length; i++) {\n      const param = dhParameters[i]\n      const jointValue = jointValues[i] ?? 0\n\n      const matrix = new Matrix4()\n        .makeRotationY(param.theta!) // Base rotation (if any)\n        .multiply(\n          new Matrix4().makeTranslation(\n            param.a! / 1000,\n            (param.d! +\n              jointValue * (param.reverse_rotation_direction ? -1 : 1)) /\n              1000,\n            0,\n          ),\n        ) // Translate along X by a, and Y by d + joint_position\n        .multiply(new Matrix4().makeRotationX(param.alpha!)) // Rotate around X\n\n      tempMatrix.multiply(matrix)\n    }\n\n    const position = new Vector3()\n    const quaternion = new Quaternion()\n    const scale = new Vector3()\n    tempMatrix.decompose(position, quaternion, scale)\n    return position\n  }\n\n  // Calculate initial TCP position for rendering\n  const initialTcpPosition = calculateTcpPosition(\n    rapidlyChangingMotionState.joint_position,\n  )\n\n  function setTranslation(joints: THREE.Object3D[], jointValues: number[]) {\n    accumulatedMatrix.identity()\n\n    let tcpPosition = new Vector3()\n\n    // Process all joints based on dhParameters length, not joints array\n    // Since we're using DHLinearAxis directly without a model, we don't have joint objects\n    for (let jointIndex = 0; jointIndex < dhParameters.length; jointIndex++) {\n      const jointValue = jointValues[jointIndex] ?? 0\n      const param = dhParameters[jointIndex]\n\n      // Calculate and accumulate transformation\n      const matrix = new Matrix4()\n        .makeRotationY(param.theta!) // Base rotation (if any)\n        .multiply(\n          new Matrix4().makeTranslation(\n            param.a! / 1000,\n            (param.d! +\n              jointValue * (param.reverse_rotation_direction ? -1 : 1)) /\n              1000,\n            0,\n          ),\n        )\n        .multiply(new Matrix4().makeRotationX(param.alpha!))\n\n      accumulatedMatrix.multiply(matrix)\n    }\n\n    // Get final TCP position from accumulated matrix\n    const position = new Vector3()\n    const quaternion = new Quaternion()\n    const scale = new Vector3()\n    accumulatedMatrix.decompose(position, quaternion, scale)\n    tcpPosition = position\n\n    // Update TCP marker\n    if (tcpMeshRef.current) {\n      tcpMeshRef.current.position.set(\n        tcpPosition.x,\n        tcpPosition.y,\n        tcpPosition.z,\n      )\n    }\n\n    // Update TCP line\n    if (tcpLineRef.current) {\n      const lineGeometry = tcpLineRef.current.geometry\n      if (lineGeometry?.setPositions) {\n        lineGeometry.setPositions([\n          0,\n          0,\n          0,\n          tcpPosition.x,\n          tcpPosition.y,\n          tcpPosition.z,\n        ])\n      }\n    }\n  }\n\n  return (\n    <LinearAxisAnimator\n      rapidlyChangingMotionState={rapidlyChangingMotionState}\n      dhParameters={dhParameters}\n      onTranslationChanged={setTranslation}\n    >\n      <group {...props} name=\"Scene\">\n        {/* Base (origin) - Green sphere representing initial previous position */}\n        <mesh name=\"Base\" position={[0, 0, 0]}>\n          <sphereGeometry args={[0.02, 32, 32]} />\n          <meshStandardMaterial color={\"green\"} depthTest={true} />\n        </mesh>\n        {/* Line from Base to TCP */}\n        <Line\n          ref={tcpLineRef}\n          points={[new Vector3(0, 0, 0), initialTcpPosition]}\n          color={\"White\"}\n          lineWidth={5}\n        />\n        {/* TCP (Tool Center Point) - Red sphere that shows final position */}\n        <mesh ref={tcpMeshRef} name=\"TCP\" position={initialTcpPosition}>\n          <sphereGeometry args={[0.025, 32, 32]} />\n          <meshStandardMaterial color={\"red\"} depthTest={true} />\n        </mesh>\n      </group>\n    </LinearAxisAnimator>\n  )\n}\n\nexport default DHLinearAxis\n"],"names":["DHLinearAxis","rapidlyChangingMotionState","dhParameters","props","accumulatedMatrix","Matrix4","tcpMeshRef","useRef","tcpLineRef","calculateTcpPosition","jointValues","tempMatrix","param","jointValue","matrix","position","Vector3","quaternion","Quaternion","scale","initialTcpPosition","setTranslation","joints","tcpPosition","jointIndex","lineGeometry","jsx","LinearAxisAnimator","jsxs","Line"],"mappings":";;;;;AAUO,SAASA,EAAa;AAAA,EAC3B,4BAAAC;AAAA,EACA,cAAAC;AAAA,EACA,GAAGC;AACL,GAAsB;AAEpB,QAAMC,IAAoB,IAAIC,EAAA,GAExBC,IAAaC,EAA0B,IAAI,GAC3CC,IAAaD,EAAY,IAAI;AAGnC,WAASE,EAAqBC,GAAgC;AAC5D,UAAMC,IAAa,IAAIN,EAAA;AAEvB,aAAS,IAAI,GAAG,IAAIH,EAAa,QAAQ,KAAK;AAC5C,YAAMU,IAAQV,EAAa,CAAC,GACtBW,IAAaH,EAAY,CAAC,KAAK,GAE/BI,IAAS,IAAIT,EAAA,EAChB,cAAcO,EAAM,KAAM,EAC1B;AAAA,QACC,IAAIP,IAAU;AAAA,UACZO,EAAM,IAAK;AAAA,WACVA,EAAM,IACLC,KAAcD,EAAM,6BAA6B,KAAK,MACtD;AAAA,UACF;AAAA,QAAA;AAAA,MACF,EAED,SAAS,IAAIP,EAAA,EAAU,cAAcO,EAAM,KAAM,CAAC;AAErD,MAAAD,EAAW,SAASG,CAAM;AAAA,IAC5B;AAEA,UAAMC,IAAW,IAAIC,EAAA,GACfC,IAAa,IAAIC,EAAA,GACjBC,IAAQ,IAAIH,EAAA;AAClB,WAAAL,EAAW,UAAUI,GAAUE,GAAYE,CAAK,GACzCJ;AAAA,EACT;AAGA,QAAMK,IAAqBX;AAAA,IACzBR,EAA2B;AAAA,EAAA;AAG7B,WAASoB,EAAeC,GAA0BZ,GAAuB;AACvE,IAAAN,EAAkB,SAAA;AAElB,QAAImB,IAAc,IAAIP,EAAA;AAItB,aAASQ,IAAa,GAAGA,IAAatB,EAAa,QAAQsB,KAAc;AACvE,YAAMX,IAAaH,EAAYc,CAAU,KAAK,GACxCZ,IAAQV,EAAasB,CAAU,GAG/BV,IAAS,IAAIT,EAAA,EAChB,cAAcO,EAAM,KAAM,EAC1B;AAAA,QACC,IAAIP,IAAU;AAAA,UACZO,EAAM,IAAK;AAAA,WACVA,EAAM,IACLC,KAAcD,EAAM,6BAA6B,KAAK,MACtD;AAAA,UACF;AAAA,QAAA;AAAA,MACF,EAED,SAAS,IAAIP,EAAA,EAAU,cAAcO,EAAM,KAAM,CAAC;AAErD,MAAAR,EAAkB,SAASU,CAAM;AAAA,IACnC;AAGA,UAAMC,IAAW,IAAIC,EAAA,GACfC,IAAa,IAAIC,EAAA,GACjBC,IAAQ,IAAIH,EAAA;AAclB,QAbAZ,EAAkB,UAAUW,GAAUE,GAAYE,CAAK,GACvDI,IAAcR,GAGVT,EAAW,WACbA,EAAW,QAAQ,SAAS;AAAA,MAC1BiB,EAAY;AAAA,MACZA,EAAY;AAAA,MACZA,EAAY;AAAA,IAAA,GAKZf,EAAW,SAAS;AACtB,YAAMiB,IAAejB,EAAW,QAAQ;AACxC,MAAIiB,KAAA,QAAAA,EAAc,gBAChBA,EAAa,aAAa;AAAA,QACxB;AAAA,QACA;AAAA,QACA;AAAA,QACAF,EAAY;AAAA,QACZA,EAAY;AAAA,QACZA,EAAY;AAAA,MAAA,CACb;AAAA,IAEL;AAAA,EACF;AAEA,SACE,gBAAAG;AAAA,IAACC;AAAA,IAAA;AAAA,MACC,4BAAA1B;AAAA,MACA,cAAAC;AAAA,MACA,sBAAsBmB;AAAA,MAEtB,UAAA,gBAAAO,EAAC,SAAA,EAAO,GAAGzB,GAAO,MAAK,SAErB,UAAA;AAAA,QAAA,gBAAAyB,EAAC,QAAA,EAAK,MAAK,QAAO,UAAU,CAAC,GAAG,GAAG,CAAC,GAClC,UAAA;AAAA,UAAA,gBAAAF,EAAC,oBAAe,MAAM,CAAC,MAAM,IAAI,EAAE,GAAG;AAAA,UACtC,gBAAAA,EAAC,wBAAA,EAAqB,OAAO,SAAS,WAAW,GAAA,CAAM;AAAA,QAAA,GACzD;AAAA,QAEA,gBAAAA;AAAA,UAACG;AAAA,UAAA;AAAA,YACC,KAAKrB;AAAA,YACL,QAAQ,CAAC,IAAIQ,EAAQ,GAAG,GAAG,CAAC,GAAGI,CAAkB;AAAA,YACjD,OAAO;AAAA,YACP,WAAW;AAAA,UAAA;AAAA,QAAA;AAAA,0BAGZ,QAAA,EAAK,KAAKd,GAAY,MAAK,OAAM,UAAUc,GAC1C,UAAA;AAAA,UAAA,gBAAAM,EAAC,oBAAe,MAAM,CAAC,OAAO,IAAI,EAAE,GAAG;AAAA,UACvC,gBAAAA,EAAC,wBAAA,EAAqB,OAAO,OAAO,WAAW,GAAA,CAAM;AAAA,QAAA,EAAA,CACvD;AAAA,MAAA,EAAA,CACF;AAAA,IAAA;AAAA,EAAA;AAGN;"}

package/dist/components/robots/DHRobot.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const s=require("react/jsx-runtime"),b=require("@react-three/drei"),p=require("react"),c=require("three"),w=require("./RobotAnimator.cjs"),M="line",_="mesh";function y({rapidlyChangingMotionState:x,dhParameters:r,...R}){const a=new c.Matrix4,f=p.useRef([]),m=p.useRef([]);p.useEffect(()=>{f.current=new Array(r.length).fill(null),m.current=new Array(r.length).fill(null)},[r.length]);function h(n,e){const t=new c.Vector3,i=new c.Quaternion,o=new c.Vector3;a.decompose(t,i,o);const l=t.clone(),u=new c.Matrix4().makeRotationY(n.theta+e*(n.reverse_rotation_direction?-1:1)).multiply(new c.Matrix4().makeTranslation(0,n.d/1e3,0)).multiply(new c.Matrix4().makeTranslation(n.a/1e3,0,0)).multiply(new c.Matrix4().makeRotationX(n.alpha));return a.multiply(u),a.decompose(t,i,o),{a:l,b:t}}function j(n,e,t,i){if(!r)return;const o=r[n];if(!o)return;const{a:l,b:u}=h(o,i);e.geometry.setPositions([l.toArray(),u.toArray()].flat()),t.position.set(u.x,u.y,u.z)}function g(n,e){a.identity();for(let t=0;t<Math.min(n.length,e.length);t++){const i=f.current[t],o=m.current[t];i&&o&&j(t,i,o,e[t])}}return s.jsx(w.default,{rapidlyChangingMotionState:x,dhParameters:r,onRotationChanged:g,children:s.jsxs("group",{...R,name:"Scene",children:[s.jsxs("mesh",{children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),r==null?void 0:r.map((n,e)=>{const{a:t,b:i}=h(n,x.joint_position[e]??0),o=`dhrobot_J0${e}`;return s.jsxs("group",{name:o,children:[s.jsx(b.Line,{ref:l=>{f.current[e]=l},name:M,points:[t,i],color:"white",lineWidth:5}),s.jsxs("mesh",{ref:l=>{m.current[e]=l},name:_,position:i,children:[s.jsx("sphereGeometry",{args:[.01,32,32]}),s.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},`mesh_${e}`)]},o)})]})})}exports.DHRobot=y;exports.default=y;
+//# sourceMappingURL=DHRobot.cjs.map

package/dist/components/robots/DHRobot.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"DHRobot.cjs","sources":["../../../src/components/robots/DHRobot.tsx"],"sourcesContent":["/* biome-ignore-all lint/style/noNonNullAssertion: pre-biome code */\n/* biome-ignore-all lint/suspicious/noExplicitAny: pre-biome code */\n\nimport { Line } from \"@react-three/drei\"\nimport type { DHParameter } from \"@wandelbots/nova-js/v2\"\nimport React, { useRef } from \"react\"\nimport type * as THREE from \"three\"\nimport { Matrix4, Quaternion, Vector3 } from \"three\"\nimport type { LineGeometry } from \"three/examples/jsm/lines/LineGeometry.js\"\nimport RobotAnimator from \"./RobotAnimator\"\nimport type { DHRobotProps } from \"./SupportedRobot\"\n\nconst CHILD_LINE = \"line\"\nconst CHILD_MESH = \"mesh\"\n\nexport function DHRobot({\n  rapidlyChangingMotionState,\n  dhParameters,\n  ...props\n}: DHRobotProps) {\n  // reused in every update\n  const accumulatedMatrix = new Matrix4()\n\n  // Store direct references to avoid searching by name\n  const lineRefs = useRef<any[]>([])\n  const meshRefs = useRef<(THREE.Mesh | null)[]>([])\n\n  // Initialize refs array when dhParameters change\n  React.useEffect(() => {\n    lineRefs.current = new Array(dhParameters.length).fill(null)\n    meshRefs.current = new Array(dhParameters.length).fill(null)\n  }, [dhParameters.length])\n\n  // Updates accumulatedMatrix with every execution\n  // Reset the matrix to identity if you start a new position update\n  function getLinePoints(\n    dhParameter: DHParameter,\n    jointRotation: number,\n  ): {\n    a: THREE.Vector3\n    b: THREE.Vector3\n  } {\n    const position = new Vector3()\n    const quaternion = new Quaternion()\n    const scale = new Vector3()\n    accumulatedMatrix.decompose(position, quaternion, scale)\n    const prevPosition = position.clone() // Update the previous position\n\n    const matrix = new Matrix4()\n      .makeRotationY(\n        dhParameter.theta! +\n          jointRotation * (dhParameter.reverse_rotation_direction ? -1 : 1),\n      ) // Rotate around Z\n      .multiply(new Matrix4().makeTranslation(0, dhParameter.d! / 1000, 0)) // Translate along Z\n      .multiply(new Matrix4().makeTranslation(dhParameter.a! / 1000, 0, 0)) // Translate along X\n      .multiply(new Matrix4().makeRotationX(dhParameter.alpha!)) // Rotate around X\n\n    // Accumulate transformations\n    accumulatedMatrix.multiply(matrix)\n    accumulatedMatrix.decompose(position, quaternion, scale)\n    return { a: prevPosition, b: position }\n  }\n\n  function setJointLineRotation(\n    jointIndex: number,\n    line: any, // Use any for drei Line component\n    mesh: THREE.Mesh,\n    jointValue: number,\n  ) {\n    if (!dhParameters) {\n      return\n    }\n\n    const dh_parameter = dhParameters[jointIndex]\n    if (!dh_parameter) {\n      return\n    }\n\n    const { a, b } = getLinePoints(dh_parameter, jointValue)\n    const lineGeometry = line.geometry as LineGeometry\n    lineGeometry.setPositions([a.toArray(), b.toArray()].flat())\n\n    mesh.position.set(b.x, b.y, b.z)\n  }\n\n  function setRotation(joints: THREE.Object3D[], jointValues: number[]) {\n    accumulatedMatrix.identity()\n\n    // Use direct refs instead of searching by name\n    for (\n      let jointIndex = 0;\n      jointIndex < Math.min(joints.length, jointValues.length);\n      jointIndex++\n    ) {\n      const line = lineRefs.current[jointIndex]\n      const mesh = meshRefs.current[jointIndex]\n\n      if (line && mesh) {\n        setJointLineRotation(jointIndex, line, mesh, jointValues[jointIndex]!)\n      }\n    }\n  }\n\n  return (\n    <RobotAnimator\n      rapidlyChangingMotionState={rapidlyChangingMotionState}\n      dhParameters={dhParameters}\n      onRotationChanged={setRotation}\n    >\n      <group {...props} name=\"Scene\">\n        <mesh>\n          <sphereGeometry args={[0.01, 32, 32]} />\n          <meshStandardMaterial color={\"black\"} depthTest={true} />\n        </mesh>\n        {dhParameters?.map((param, index) => {\n          const { a, b } = getLinePoints(\n            param,\n            rapidlyChangingMotionState.joint_position[index] ?? 0,\n          )\n          const jointName = `dhrobot_J0${index}`\n          return (\n            <group name={jointName} key={jointName}>\n              <Line\n                ref={(ref) => {\n                  lineRefs.current[index] = ref\n                }}\n                name={CHILD_LINE}\n                points={[a, b]}\n                color={\"white\"}\n                lineWidth={5}\n              />\n              <mesh\n                ref={(ref) => {\n                  meshRefs.current[index] = ref\n                }}\n                name={CHILD_MESH}\n                // biome-ignore lint/suspicious/noArrayIndexKey: pre-biome code\n                key={`mesh_${index}`}\n                position={b}\n              >\n                <sphereGeometry args={[0.01, 32, 32]} />\n                <meshStandardMaterial color={\"black\"} depthTest={true} />\n              </mesh>\n            </group>\n          )\n        })}\n      </group>\n    </RobotAnimator>\n  )\n}\n\nexport default DHRobot\n"],"names":["CHILD_LINE","CHILD_MESH","DHRobot","rapidlyChangingMotionState","dhParameters","props","accumulatedMatrix","Matrix4","lineRefs","useRef","meshRefs","React","getLinePoints","dhParameter","jointRotation","position","Vector3","quaternion","Quaternion","scale","prevPosition","matrix","setJointLineRotation","jointIndex","line","mesh","jointValue","dh_parameter","a","b","setRotation","joints","jointValues","jsx","RobotAnimator","jsxs","param","index","jointName","Line","ref"],"mappings":"uPAYMA,EAAa,OACbC,EAAa,OAEZ,SAASC,EAAQ,CACtB,2BAAAC,EACA,aAAAC,EACA,GAAGC,CACL,EAAiB,CAEf,MAAMC,EAAoB,IAAIC,UAGxBC,EAAWC,EAAAA,OAAc,EAAE,EAC3BC,EAAWD,EAAAA,OAA8B,EAAE,EAGjDE,EAAM,UAAU,IAAM,CACpBH,EAAS,QAAU,IAAI,MAAMJ,EAAa,MAAM,EAAE,KAAK,IAAI,EAC3DM,EAAS,QAAU,IAAI,MAAMN,EAAa,MAAM,EAAE,KAAK,IAAI,CAC7D,EAAG,CAACA,EAAa,MAAM,CAAC,EAIxB,SAASQ,EACPC,EACAC,EAIA,CACA,MAAMC,EAAW,IAAIC,UACfC,EAAa,IAAIC,aACjBC,EAAQ,IAAIH,UAClBV,EAAkB,UAAUS,EAAUE,EAAYE,CAAK,EACvD,MAAMC,EAAeL,EAAS,MAAA,EAExBM,EAAS,IAAId,EAAAA,QAAA,EAChB,cACCM,EAAY,MACVC,GAAiBD,EAAY,2BAA6B,GAAK,EAAA,EAElE,SAAS,IAAIN,EAAAA,UAAU,gBAAgB,EAAGM,EAAY,EAAK,IAAM,CAAC,CAAC,EACnE,SAAS,IAAIN,EAAAA,QAAA,EAAU,gBAAgBM,EAAY,EAAK,IAAM,EAAG,CAAC,CAAC,EACnE,SAAS,IAAIN,EAAAA,QAAA,EAAU,cAAcM,EAAY,KAAM,CAAC,EAG3D,OAAAP,EAAkB,SAASe,CAAM,EACjCf,EAAkB,UAAUS,EAAUE,EAAYE,CAAK,EAChD,CAAE,EAAGC,EAAc,EAAGL,CAAA,CAC/B,CAEA,SAASO,EACPC,EACAC,EACAC,EACAC,EACA,CACA,GAAI,CAACtB,EACH,OAGF,MAAMuB,EAAevB,EAAamB,CAAU,EAC5C,GAAI,CAACI,EACH,OAGF,KAAM,CAAE,EAAAC,EAAG,EAAAC,CAAA,EAAMjB,EAAce,EAAcD,CAAU,EAClCF,EAAK,SACb,aAAa,CAACI,EAAE,QAAA,EAAWC,EAAE,QAAA,CAAS,EAAE,MAAM,EAE3DJ,EAAK,SAAS,IAAII,EAAE,EAAGA,EAAE,EAAGA,EAAE,CAAC,CACjC,CAEA,SAASC,EAAYC,EAA0BC,EAAuB,CACpE1B,EAAkB,SAAA,EAGlB,QACMiB,EAAa,EACjBA,EAAa,KAAK,IAAIQ,EAAO,OAAQC,EAAY,MAAM,EACvDT,IACA,CACA,MAAMC,EAAOhB,EAAS,QAAQe,CAAU,EAClCE,EAAOf,EAAS,QAAQa,CAAU,EAEpCC,GAAQC,GACVH,EAAqBC,EAAYC,EAAMC,EAAMO,EAAYT,CAAU,CAAE,CAEzE,CACF,CAEA,OACEU,EAAAA,IAACC,EAAAA,QAAA,CACC,2BAAA/B,EACA,aAAAC,EACA,kBAAmB0B,EAEnB,SAAAK,EAAAA,KAAC,QAAA,CAAO,GAAG9B,EAAO,KAAK,QACrB,SAAA,CAAA8B,OAAC,OAAA,CACC,SAAA,CAAAF,EAAAA,IAAC,kBAAe,KAAM,CAAC,IAAM,GAAI,EAAE,EAAG,EACtCA,EAAAA,IAAC,uBAAA,CAAqB,MAAO,QAAS,UAAW,EAAA,CAAM,CAAA,EACzD,EACC7B,GAAA,YAAAA,EAAc,IAAI,CAACgC,EAAOC,IAAU,CACnC,KAAM,CAAE,EAAAT,EAAG,EAAAC,CAAA,EAAMjB,EACfwB,EACAjC,EAA2B,eAAekC,CAAK,GAAK,CAAA,EAEhDC,EAAY,aAAaD,CAAK,GACpC,OACEF,EAAAA,KAAC,QAAA,CAAM,KAAMG,EACX,SAAA,CAAAL,EAAAA,IAACM,EAAAA,KAAA,CACC,IAAMC,GAAQ,CACZhC,EAAS,QAAQ6B,CAAK,EAAIG,CAC5B,EACA,KAAMxC,EACN,OAAQ,CAAC4B,EAAGC,CAAC,EACb,MAAO,QACP,UAAW,CAAA,CAAA,EAEbM,EAAAA,KAAC,OAAA,CACC,IAAMK,GAAQ,CACZ9B,EAAS,QAAQ2B,CAAK,EAAIG,CAC5B,EACA,KAAMvC,EAGN,SAAU4B,EAEV,SAAA,CAAAI,EAAAA,IAAC,kBAAe,KAAM,CAAC,IAAM,GAAI,EAAE,EAAG,EACtCA,EAAAA,IAAC,uBAAA,CAAqB,MAAO,QAAS,UAAW,EAAA,CAAM,CAAA,CAAA,EAJlD,QAAQI,CAAK,EAAA,CAKpB,CAAA,EArB2BC,CAsB7B,CAEJ,EAAC,CAAA,CACH,CAAA,CAAA,CAGN"}

package/dist/components/robots/DHRobot.d.ts

@@ -1,3 +1,4 @@
 import type { DHRobotProps } from "./SupportedRobot";
 export declare function DHRobot({ rapidlyChangingMotionState, dhParameters, ...props }: DHRobotProps): import("react/jsx-runtime").JSX.Element;
+export default DHRobot;
 //# sourceMappingURL=DHRobot.d.ts.map

package/dist/components/robots/DHRobot.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"DHRobot.d.ts","sourceRoot":"","sources":["../../../src/components/robots/DHRobot.tsx"],"names":[],"mappings":"AAUA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAA;AAKpD,wBAAgB,OAAO,CAAC,EACtB,0BAA0B,EAC1B,YAAY,EACZ,GAAG,KAAK,EACT,EAAE,YAAY,2CAkId;AAED,eAAe,OAAO,CAAA"}

package/dist/components/robots/DHRobot.js

@@ -0,0 +1,94 @@
+import { jsx as s, jsxs as a } from "react/jsx-runtime";
+import { Line as k } from "@react-three/drei";
+import L, { useRef as w } from "react";
+import { Matrix4 as u, Vector3 as R, Quaternion as d } from "three";
+import A from "./RobotAnimator.js";
+const M = "line", j = "mesh";
+function E({
+  rapidlyChangingMotionState: h,
+  dhParameters: r,
+  ...g
+}) {
+  const m = new u(), p = w([]), f = w([]);
+  L.useEffect(() => {
+    p.current = new Array(r.length).fill(null), f.current = new Array(r.length).fill(null);
+  }, [r.length]);
+  function y(o, n) {
+    const t = new R(), i = new d(), e = new R();
+    m.decompose(t, i, e);
+    const c = t.clone(), l = new u().makeRotationY(
+      o.theta + n * (o.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new u().makeTranslation(0, o.d / 1e3, 0)).multiply(new u().makeTranslation(o.a / 1e3, 0, 0)).multiply(new u().makeRotationX(o.alpha));
+    return m.multiply(l), m.decompose(t, i, e), { a: c, b: t };
+  }
+  function _(o, n, t, i) {
+    if (!r)
+      return;
+    const e = r[o];
+    if (!e)
+      return;
+    const { a: c, b: l } = y(e, i);
+    n.geometry.setPositions([c.toArray(), l.toArray()].flat()), t.position.set(l.x, l.y, l.z);
+  }
+  function b(o, n) {
+    m.identity();
+    for (let t = 0; t < Math.min(o.length, n.length); t++) {
+      const i = p.current[t], e = f.current[t];
+      i && e && _(t, i, e, n[t]);
+    }
+  }
+  return /* @__PURE__ */ s(
+    A,
+    {
+      rapidlyChangingMotionState: h,
+      dhParameters: r,
+      onRotationChanged: b,
+      children: /* @__PURE__ */ a("group", { ...g, name: "Scene", children: [
+        /* @__PURE__ */ a("mesh", { children: [
+          /* @__PURE__ */ s("sphereGeometry", { args: [0.01, 32, 32] }),
+          /* @__PURE__ */ s("meshStandardMaterial", { color: "black", depthTest: !0 })
+        ] }),
+        r == null ? void 0 : r.map((o, n) => {
+          const { a: t, b: i } = y(
+            o,
+            h.joint_position[n] ?? 0
+          ), e = `dhrobot_J0${n}`;
+          return /* @__PURE__ */ a("group", { name: e, children: [
+            /* @__PURE__ */ s(
+              k,
+              {
+                ref: (c) => {
+                  p.current[n] = c;
+                },
+                name: M,
+                points: [t, i],
+                color: "white",
+                lineWidth: 5
+              }
+            ),
+            /* @__PURE__ */ a(
+              "mesh",
+              {
+                ref: (c) => {
+                  f.current[n] = c;
+                },
+                name: j,
+                position: i,
+                children: [
+                  /* @__PURE__ */ s("sphereGeometry", { args: [0.01, 32, 32] }),
+                  /* @__PURE__ */ s("meshStandardMaterial", { color: "black", depthTest: !0 })
+                ]
+              },
+              `mesh_${n}`
+            )
+          ] }, e);
+        })
+      ] })
+    }
+  );
+}
+export {
+  E as DHRobot,
+  E as default
+};
+//# sourceMappingURL=DHRobot.js.map

package/dist/components/robots/DHRobot.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"DHRobot.js","sources":["../../../src/components/robots/DHRobot.tsx"],"sourcesContent":["/* biome-ignore-all lint/style/noNonNullAssertion: pre-biome code */\n/* biome-ignore-all lint/suspicious/noExplicitAny: pre-biome code */\n\nimport { Line } from \"@react-three/drei\"\nimport type { DHParameter } from \"@wandelbots/nova-js/v2\"\nimport React, { useRef } from \"react\"\nimport type * as THREE from \"three\"\nimport { Matrix4, Quaternion, Vector3 } from \"three\"\nimport type { LineGeometry } from \"three/examples/jsm/lines/LineGeometry.js\"\nimport RobotAnimator from \"./RobotAnimator\"\nimport type { DHRobotProps } from \"./SupportedRobot\"\n\nconst CHILD_LINE = \"line\"\nconst CHILD_MESH = \"mesh\"\n\nexport function DHRobot({\n  rapidlyChangingMotionState,\n  dhParameters,\n  ...props\n}: DHRobotProps) {\n  // reused in every update\n  const accumulatedMatrix = new Matrix4()\n\n  // Store direct references to avoid searching by name\n  const lineRefs = useRef<any[]>([])\n  const meshRefs = useRef<(THREE.Mesh | null)[]>([])\n\n  // Initialize refs array when dhParameters change\n  React.useEffect(() => {\n    lineRefs.current = new Array(dhParameters.length).fill(null)\n    meshRefs.current = new Array(dhParameters.length).fill(null)\n  }, [dhParameters.length])\n\n  // Updates accumulatedMatrix with every execution\n  // Reset the matrix to identity if you start a new position update\n  function getLinePoints(\n    dhParameter: DHParameter,\n    jointRotation: number,\n  ): {\n    a: THREE.Vector3\n    b: THREE.Vector3\n  } {\n    const position = new Vector3()\n    const quaternion = new Quaternion()\n    const scale = new Vector3()\n    accumulatedMatrix.decompose(position, quaternion, scale)\n    const prevPosition = position.clone() // Update the previous position\n\n    const matrix = new Matrix4()\n      .makeRotationY(\n        dhParameter.theta! +\n          jointRotation * (dhParameter.reverse_rotation_direction ? -1 : 1),\n      ) // Rotate around Z\n      .multiply(new Matrix4().makeTranslation(0, dhParameter.d! / 1000, 0)) // Translate along Z\n      .multiply(new Matrix4().makeTranslation(dhParameter.a! / 1000, 0, 0)) // Translate along X\n      .multiply(new Matrix4().makeRotationX(dhParameter.alpha!)) // Rotate around X\n\n    // Accumulate transformations\n    accumulatedMatrix.multiply(matrix)\n    accumulatedMatrix.decompose(position, quaternion, scale)\n    return { a: prevPosition, b: position }\n  }\n\n  function setJointLineRotation(\n    jointIndex: number,\n    line: any, // Use any for drei Line component\n    mesh: THREE.Mesh,\n    jointValue: number,\n  ) {\n    if (!dhParameters) {\n      return\n    }\n\n    const dh_parameter = dhParameters[jointIndex]\n    if (!dh_parameter) {\n      return\n    }\n\n    const { a, b } = getLinePoints(dh_parameter, jointValue)\n    const lineGeometry = line.geometry as LineGeometry\n    lineGeometry.setPositions([a.toArray(), b.toArray()].flat())\n\n    mesh.position.set(b.x, b.y, b.z)\n  }\n\n  function setRotation(joints: THREE.Object3D[], jointValues: number[]) {\n    accumulatedMatrix.identity()\n\n    // Use direct refs instead of searching by name\n    for (\n      let jointIndex = 0;\n      jointIndex < Math.min(joints.length, jointValues.length);\n      jointIndex++\n    ) {\n      const line = lineRefs.current[jointIndex]\n      const mesh = meshRefs.current[jointIndex]\n\n      if (line && mesh) {\n        setJointLineRotation(jointIndex, line, mesh, jointValues[jointIndex]!)\n      }\n    }\n  }\n\n  return (\n    <RobotAnimator\n      rapidlyChangingMotionState={rapidlyChangingMotionState}\n      dhParameters={dhParameters}\n      onRotationChanged={setRotation}\n    >\n      <group {...props} name=\"Scene\">\n        <mesh>\n          <sphereGeometry args={[0.01, 32, 32]} />\n          <meshStandardMaterial color={\"black\"} depthTest={true} />\n        </mesh>\n        {dhParameters?.map((param, index) => {\n          const { a, b } = getLinePoints(\n            param,\n            rapidlyChangingMotionState.joint_position[index] ?? 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package/dist/components/robots/GenericRobot.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const i=require("react/jsx-runtime"),b=require("@react-three/drei"),l=require("react"),g=require("./robotModelLogic.cjs");function y(r){return r.type==="Mesh"}function R({url:r,flangeRef:n,postModelRender:t,...u}){const s=b.useGLTF(r),c=g.parseRobotModel(s,"robot.glb").gltf,o=l.useCallback(e=>{e&&t&&t()},[t]);function f(e){try{return y(e)?e.geometry?i.jsx("mesh",{name:e.name,geometry:e.geometry,material:e.material,position:e.position,rotation:e.rotation},e.uuid):i.jsx("group",{name:e.name,position:e.position,rotation:e.rotation},e.uuid):i.jsx("group",{name:e.name,position:e.position,rotation:e.rotation,ref:g.isFlange(e)?n:void 0,children:e.children.map(f)},e.uuid)}catch(m){return console.warn("Error rendering node",e.name,m),null}}return i.jsx("group",{...u,dispose:null,ref:o,children:f(c.scene)})}function p({modelURL:r,flangeRef:n,postModelRender:t,...u}){const[s,a]=l.useState(null);return l.useEffect(()=>{(async()=>{try{if(typeof r=="string")a(r);else{const o=await r;a(o)}}catch(o){console.error("Failed to resolve model URL:",o)}})()},[r]),s?i.jsx(R,{url:s,flangeRef:n,postModelRender:t,...u}):null}exports.GenericRobot=p;exports.default=p;
+//# sourceMappingURL=GenericRobot.cjs.map

package/dist/components/robots/GenericRobot.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"GenericRobot.cjs","sources":["../../../src/components/robots/GenericRobot.tsx"],"sourcesContent":["import { useGLTF } from \"@react-three/drei\"\nimport type { ThreeElements } from \"@react-three/fiber\"\nimport type React from \"react\"\nimport { useCallback, useEffect, useState } from \"react\"\nimport type { Group, Mesh, Object3D } from \"three\"\nimport { isFlange, parseRobotModel } from \"./robotModelLogic\"\n\nexport type RobotModelProps = {\n  modelURL: string | Promise<string>\n  /**\n   * Called after a robot model has been loaded and\n   * rendered into the threejs scene\n   */\n  postModelRender?: () => void\n  flangeRef?: React.Ref<Group>\n} & ThreeElements[\"group\"]\n\nfunction isMesh(node: Object3D): node is Mesh {\n  return node.type === \"Mesh\"\n}\n\n// Separate component that only renders when we have a valid URL\nfunction LoadedRobotModel({\n  url,\n  flangeRef,\n  postModelRender,\n  ...props\n}: {\n  url: string\n  flangeRef?: React.Ref<Group>\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]) {\n  const gltfResult = useGLTF(url)\n  const parsed = parseRobotModel(gltfResult, \"robot.glb\")\n  const gltf = parsed.gltf\n\n  const groupRef: React.RefCallback<Group> = useCallback(\n    (group) => {\n      if (group && postModelRender) {\n        postModelRender()\n      }\n    },\n    [postModelRender],\n  )\n\n  function renderNode(node: Object3D): React.ReactNode {\n    try {\n      if (isMesh(node)) {\n        // Defensive: only render mesh if geometry exists\n        if ((node as Mesh).geometry) {\n          return (\n            <mesh\n              name={node.name}\n              key={node.uuid}\n              geometry={(node as Mesh).geometry}\n              material={(node as Mesh).material}\n              position={node.position}\n              rotation={node.rotation}\n            />\n          )\n        }\n        // Fallback to empty group if geometry is missing\n        return (\n          <group\n            name={node.name}\n            key={node.uuid}\n            position={node.position}\n            rotation={node.rotation}\n          />\n        )\n      } else {\n        return (\n          <group\n            name={node.name}\n            key={node.uuid}\n            position={node.position}\n            rotation={node.rotation}\n            ref={isFlange(node) ? flangeRef : undefined}\n          >\n            {node.children.map(renderNode)}\n          </group>\n        )\n      }\n    } catch (e) {\n      console.warn(\"Error rendering node\", node.name, e)\n      return null\n    }\n  }\n\n  return (\n    <group {...props} dispose={null} ref={groupRef}>\n      {renderNode(gltf.scene)}\n    </group>\n  )\n}\n\nexport function GenericRobot({\n  modelURL,\n  flangeRef,\n  postModelRender,\n  ...props\n}: RobotModelProps) {\n  const [resolvedURL, setResolvedURL] = useState<string | null>(null)\n\n  useEffect(() => {\n    const resolveURL = async () => {\n      try {\n        if (typeof modelURL === \"string\") {\n          setResolvedURL(modelURL)\n        } else {\n          const url = await modelURL\n          setResolvedURL(url)\n        }\n      } catch (error) {\n        console.error(\"Failed to resolve model URL:\", error)\n      }\n    }\n\n    resolveURL()\n  }, [modelURL])\n\n  // Don't render until we have a resolved URL\n  if (!resolvedURL) {\n    return null // Loading state\n  }\n\n  return (\n    <LoadedRobotModel\n      url={resolvedURL}\n      flangeRef={flangeRef}\n      postModelRender={postModelRender}\n      {...props}\n    />\n  )\n}\n\nexport default GenericRobot\n"],"names":["isMesh","node","LoadedRobotModel","url","flangeRef","postModelRender","props","gltfResult","useGLTF","gltf","parseRobotModel","groupRef","useCallback","group","renderNode","jsx","isFlange","e","GenericRobot","modelURL","resolvedURL","setResolvedURL","useState","useEffect","error"],"mappings":"sOAiBA,SAASA,EAAOC,EAA8B,CAC5C,OAAOA,EAAK,OAAS,MACvB,CAGA,SAASC,EAAiB,CACxB,IAAAC,EACA,UAAAC,EACA,gBAAAC,EACA,GAAGC,CACL,EAI4B,CAC1B,MAAMC,EAAaC,EAAAA,QAAQL,CAAG,EAExBM,EADSC,EAAAA,gBAAgBH,EAAY,WAAW,EAClC,KAEdI,EAAqCC,EAAAA,YACxCC,GAAU,CACLA,GAASR,GACXA,EAAA,CAEJ,EACA,CAACA,CAAe,CAAA,EAGlB,SAASS,EAAWb,EAAiC,CACnD,GAAI,CACF,OAAID,EAAOC,CAAI,EAERA,EAAc,SAEfc,EAAAA,IAAC,OAAA,CACC,KAAMd,EAAK,KAEX,SAAWA,EAAc,SACzB,SAAWA,EAAc,SACzB,SAAUA,EAAK,SACf,SAAUA,EAAK,QAAA,EAJVA,EAAK,IAAA,EAUdc,EAAAA,IAAC,QAAA,CACC,KAAMd,EAAK,KAEX,SAAUA,EAAK,SACf,SAAUA,EAAK,QAAA,EAFVA,EAAK,IAAA,EAOZc,EAAAA,IAAC,QAAA,CACC,KAAMd,EAAK,KAEX,SAAUA,EAAK,SACf,SAAUA,EAAK,SACf,IAAKe,EAAAA,SAASf,CAAI,EAAIG,EAAY,OAEjC,SAAAH,EAAK,SAAS,IAAIa,CAAU,CAAA,EALxBb,EAAK,IAAA,CASlB,OAASgB,EAAG,CACV,eAAQ,KAAK,uBAAwBhB,EAAK,KAAMgB,CAAC,EAC1C,IACT,CACF,CAEA,OACEF,EAAAA,IAAC,QAAA,CAAO,GAAGT,EAAO,QAAS,KAAM,IAAKK,EACnC,SAAAG,EAAWL,EAAK,KAAK,CAAA,CACxB,CAEJ,CAEO,SAASS,EAAa,CAC3B,SAAAC,EACA,UAAAf,EACA,gBAAAC,EACA,GAAGC,CACL,EAAoB,CAClB,KAAM,CAACc,EAAaC,CAAc,EAAIC,EAAAA,SAAwB,IAAI,EAoBlE,OAlBAC,EAAAA,UAAU,IAAM,EACK,SAAY,CAC7B,GAAI,CACF,GAAI,OAAOJ,GAAa,SACtBE,EAAeF,CAAQ,MAClB,CACL,MAAMhB,EAAM,MAAMgB,EAClBE,EAAelB,CAAG,CACpB,CACF,OAASqB,EAAO,CACd,QAAQ,MAAM,+BAAgCA,CAAK,CACrD,CACF,GAEA,CACF,EAAG,CAACL,CAAQ,CAAC,EAGRC,EAKHL,EAAAA,IAACb,EAAA,CACC,IAAKkB,EACL,UAAAhB,EACA,gBAAAC,EACC,GAAGC,CAAA,CAAA,EARC,IAWX"}

package/dist/components/robots/GenericRobot.d.ts

@@ -11,4 +11,5 @@ export type RobotModelProps = {
     flangeRef?: React.Ref<Group>;
 } & ThreeElements["group"];
 export declare function GenericRobot({ modelURL, flangeRef, postModelRender, ...props }: RobotModelProps): import("react/jsx-runtime").JSX.Element | null;
+export default GenericRobot;
 //# sourceMappingURL=GenericRobot.d.ts.map

package/dist/components/robots/GenericRobot.d.ts.map

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