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

package/dist/components/robots/GenericRobot.js

@@ -0,0 +1,91 @@
+import { jsx as i } from "react/jsx-runtime";
+import { useGLTF as m } from "@react-three/drei";
+import { useState as p, useEffect as g, useCallback as h } from "react";
+import { parseRobotModel as y, isFlange as b } from "./robotModelLogic.js";
+function v(t) {
+  return t.type === "Mesh";
+}
+function R({
+  url: t,
+  flangeRef: s,
+  postModelRender: e,
+  ...a
+}) {
+  const n = m(t), l = y(n, "robot.glb").gltf, o = h(
+    (r) => {
+      r && e && e();
+    },
+    [e]
+  );
+  function c(r) {
+    try {
+      return v(r) ? r.geometry ? /* @__PURE__ */ i(
+        "mesh",
+        {
+          name: r.name,
+          geometry: r.geometry,
+          material: r.material,
+          position: r.position,
+          rotation: r.rotation
+        },
+        r.uuid
+      ) : /* @__PURE__ */ i(
+        "group",
+        {
+          name: r.name,
+          position: r.position,
+          rotation: r.rotation
+        },
+        r.uuid
+      ) : /* @__PURE__ */ i(
+        "group",
+        {
+          name: r.name,
+          position: r.position,
+          rotation: r.rotation,
+          ref: b(r) ? s : void 0,
+          children: r.children.map(c)
+        },
+        r.uuid
+      );
+    } catch (f) {
+      return console.warn("Error rendering node", r.name, f), null;
+    }
+  }
+  return /* @__PURE__ */ i("group", { ...a, dispose: null, ref: o, children: c(l.scene) });
+}
+function E({
+  modelURL: t,
+  flangeRef: s,
+  postModelRender: e,
+  ...a
+}) {
+  const [n, u] = p(null);
+  return g(() => {
+    (async () => {
+      try {
+        if (typeof t == "string")
+          u(t);
+        else {
+          const o = await t;
+          u(o);
+        }
+      } catch (o) {
+        console.error("Failed to resolve model URL:", o);
+      }
+    })();
+  }, [t]), n ? /* @__PURE__ */ i(
+    R,
+    {
+      url: n,
+      flangeRef: s,
+      postModelRender: e,
+      ...a
+    }
+  ) : null;
+}
+export {
+  E as GenericRobot,
+  E as default
+};
+//# sourceMappingURL=GenericRobot.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"GenericRobot.js","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":";;;;AAiBA,SAASA,EAAOC,GAA8B;AAC5C,SAAOA,EAAK,SAAS;AACvB;AAGA,SAASC,EAAiB;AAAA,EACxB,KAAAC;AAAA,EACA,WAAAC;AAAA,EACA,iBAAAC;AAAA,EACA,GAAGC;AACL,GAI4B;AAC1B,QAAMC,IAAaC,EAAQL,CAAG,GAExBM,IADSC,EAAgBH,GAAY,WAAW,EAClC,MAEdI,IAAqCC;AAAA,IACzC,CAACC,MAAU;AACT,MAAIA,KAASR,KACXA,EAAA;AAAA,IAEJ;AAAA,IACA,CAACA,CAAe;AAAA,EAAA;AAGlB,WAASS,EAAWb,GAAiC;AACnD,QAAI;AACF,aAAID,EAAOC,CAAI,IAERA,EAAc,WAEf,gBAAAc;AAAA,QAAC;AAAA,QAAA;AAAA,UACC,MAAMd,EAAK;AAAA,UAEX,UAAWA,EAAc;AAAA,UACzB,UAAWA,EAAc;AAAA,UACzB,UAAUA,EAAK;AAAA,UACf,UAAUA,EAAK;AAAA,QAAA;AAAA,QAJVA,EAAK;AAAA,MAAA,IAUd,gBAAAc;AAAA,QAAC;AAAA,QAAA;AAAA,UACC,MAAMd,EAAK;AAAA,UAEX,UAAUA,EAAK;AAAA,UACf,UAAUA,EAAK;AAAA,QAAA;AAAA,QAFVA,EAAK;AAAA,MAAA,IAOZ,gBAAAc;AAAA,QAAC;AAAA,QAAA;AAAA,UACC,MAAMd,EAAK;AAAA,UAEX,UAAUA,EAAK;AAAA,UACf,UAAUA,EAAK;AAAA,UACf,KAAKe,EAASf,CAAI,IAAIG,IAAY;AAAA,UAEjC,UAAAH,EAAK,SAAS,IAAIa,CAAU;AAAA,QAAA;AAAA,QALxBb,EAAK;AAAA,MAAA;AAAA,IASlB,SAASgB,GAAG;AACV,qBAAQ,KAAK,wBAAwBhB,EAAK,MAAMgB,CAAC,GAC1C;AAAA,IACT;AAAA,EACF;AAEA,SACE,gBAAAF,EAAC,SAAA,EAAO,GAAGT,GAAO,SAAS,MAAM,KAAKK,GACnC,UAAAG,EAAWL,EAAK,KAAK,EAAA,CACxB;AAEJ;AAEO,SAASS,EAAa;AAAA,EAC3B,UAAAC;AAAA,EACA,WAAAf;AAAA,EACA,iBAAAC;AAAA,EACA,GAAGC;AACL,GAAoB;AAClB,QAAM,CAACc,GAAaC,CAAc,IAAIC,EAAwB,IAAI;AAoBlE,SAlBAC,EAAU,MAAM;AAcd,KAbmB,YAAY;AAC7B,UAAI;AACF,YAAI,OAAOJ,KAAa;AACtB,UAAAE,EAAeF,CAAQ;AAAA,aAClB;AACL,gBAAMhB,IAAM,MAAMgB;AAClB,UAAAE,EAAelB,CAAG;AAAA,QACpB;AAAA,MACF,SAASqB,GAAO;AACd,gBAAQ,MAAM,gCAAgCA,CAAK;AAAA,MACrD;AAAA,IACF,GAEA;AAAA,EACF,GAAG,CAACL,CAAQ,CAAC,GAGRC,IAKH,gBAAAL;AAAA,IAACb;AAAA,IAAA;AAAA,MACC,KAAKkB;AAAA,MACL,WAAAhB;AAAA,MACA,iBAAAC;AAAA,MACC,GAAGC;AAAA,IAAA;AAAA,EAAA,IARC;AAWX;"}

package/dist/components/robots/LinearAxis.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const i=require("react/jsx-runtime"),u=require("./DHLinearAxis.cjs"),l=require("./robotModelLogic.cjs"),h=require("./SupportedLinearAxis.cjs");function s({connectedMotionGroup:e,getModel:a=l.defaultGetModel,flangeRef:d,transparentColor:n,postModelRender:o,...t}){if(!e.dhParameters)return null;const r=e.modelFromController||"";return r&&a(r)?i.jsx(h.SupportedLinearAxis,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:r,dhParameters:e.dhParameters,getModel:a,flangeRef:d,transparentColor:n,postModelRender:o,...t}):i.jsx(u.DHLinearAxis,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,dhParameters:e.dhParameters,...t})}exports.defaultGetModel=l.defaultGetModel;exports.LinearAxis=s;exports.default=s;
+//# sourceMappingURL=LinearAxis.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"LinearAxis.cjs","sources":["../../../src/components/robots/LinearAxis.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\n\nimport type { Group } from \"three\"\nimport type { ConnectedMotionGroup } from \"../../lib/ConnectedMotionGroup\"\nimport { DHLinearAxis } from \"./DHLinearAxis\"\nimport { defaultGetModel } from \"./robotModelLogic\"\nimport { SupportedLinearAxis } from \"./SupportedLinearAxis\"\n\nexport type LinearAxisProps = {\n  connectedMotionGroup: ConnectedMotionGroup\n  getModel?: (modelFromController: string) => Promise<string>\n  flangeRef?: React.Ref<Group>\n  transparentColor?: string\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]\n\n/**\n * The LinearAxis component is a wrapper that renders SupportedLinearAxis if a model is available,\n * otherwise falls back to DHLinearAxis for usage with @wandelbots/nova-js ConnectedMotionGroup object.\n *\n * @param {LinearAxisProps} props - The properties for the LinearAxis component.\n * @param {ConnectedMotionGroup} props.connectedMotionGroup - The connected motion group containing motion state and parameters.\n * @param {Function} [props.getModel=defaultGetModel] - Optional function to get the model URL. Defaults to defaultGetModel.\n * @param {Object} props - Additional properties passed to the underlying component.\n *\n * @returns {JSX.Element} The rendered SupportedLinearAxis or DHLinearAxis component.\n */\nexport function LinearAxis({\n  connectedMotionGroup,\n  getModel = defaultGetModel,\n  flangeRef,\n  transparentColor,\n  postModelRender,\n  ...props\n}: LinearAxisProps) {\n  if (!connectedMotionGroup.dhParameters) {\n    return null\n  }\n\n  const modelFromController = connectedMotionGroup.modelFromController || \"\"\n  const hasModel = modelFromController && getModel(modelFromController)\n\n  // Use SupportedLinearAxis if model is available, otherwise fall back to DHLinearAxis\n  if (hasModel) {\n    return (\n      <SupportedLinearAxis\n        rapidlyChangingMotionState={\n          connectedMotionGroup.rapidlyChangingMotionState\n        }\n        modelFromController={modelFromController}\n        dhParameters={connectedMotionGroup.dhParameters}\n        getModel={getModel}\n        flangeRef={flangeRef}\n        transparentColor={transparentColor}\n        postModelRender={postModelRender}\n        {...props}\n      />\n    )\n  }\n\n  return (\n    <DHLinearAxis\n      rapidlyChangingMotionState={\n        connectedMotionGroup.rapidlyChangingMotionState\n      }\n      dhParameters={connectedMotionGroup.dhParameters}\n      {...props}\n    />\n  )\n}\n\nexport { defaultGetModel }\n\nexport default LinearAxis\n"],"names":["LinearAxis","connectedMotionGroup","getModel","defaultGetModel","flangeRef","transparentColor","postModelRender","props","modelFromController","jsx","SupportedLinearAxis","DHLinearAxis"],"mappings":"2PA2BO,SAASA,EAAW,CACzB,qBAAAC,EACA,SAAAC,EAAWC,EAAAA,gBACX,UAAAC,EACA,iBAAAC,EACA,gBAAAC,EACA,GAAGC,CACL,EAAoB,CAClB,GAAI,CAACN,EAAqB,aACxB,OAAO,KAGT,MAAMO,EAAsBP,EAAqB,qBAAuB,GAIxE,OAHiBO,GAAuBN,EAASM,CAAmB,EAKhEC,EAAAA,IAACC,EAAAA,oBAAA,CACC,2BACET,EAAqB,2BAEvB,oBAAAO,EACA,aAAcP,EAAqB,aACnC,SAAAC,EACA,UAAAE,EACA,iBAAAC,EACA,gBAAAC,EACC,GAAGC,CAAA,CAAA,EAMRE,EAAAA,IAACE,EAAAA,aAAA,CACC,2BACEV,EAAqB,2BAEvB,aAAcA,EAAqB,aAClC,GAAGM,CAAA,CAAA,CAGV"}

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

@@ -22,4 +22,5 @@ export type LinearAxisProps = {
  */
 export declare function LinearAxis({ connectedMotionGroup, getModel, flangeRef, transparentColor, postModelRender, ...props }: LinearAxisProps): import("react/jsx-runtime").JSX.Element | null;
 export { defaultGetModel };
+export default LinearAxis;
 //# sourceMappingURL=LinearAxis.d.ts.map

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

@@ -1 +1 @@
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package/dist/components/robots/LinearAxis.js

@@ -0,0 +1,42 @@
+import { jsx as i } from "react/jsx-runtime";
+import { DHLinearAxis as d } from "./DHLinearAxis.js";
+import { defaultGetModel as h } from "./robotModelLogic.js";
+import { SupportedLinearAxis as n } from "./SupportedLinearAxis.js";
+function P({
+  connectedMotionGroup: r,
+  getModel: t = h,
+  flangeRef: m,
+  transparentColor: l,
+  postModelRender: s,
+  ...e
+}) {
+  if (!r.dhParameters)
+    return null;
+  const a = r.modelFromController || "";
+  return a && t(a) ? /* @__PURE__ */ i(
+    n,
+    {
+      rapidlyChangingMotionState: r.rapidlyChangingMotionState,
+      modelFromController: a,
+      dhParameters: r.dhParameters,
+      getModel: t,
+      flangeRef: m,
+      transparentColor: l,
+      postModelRender: s,
+      ...e
+    }
+  ) : /* @__PURE__ */ i(
+    d,
+    {
+      rapidlyChangingMotionState: r.rapidlyChangingMotionState,
+      dhParameters: r.dhParameters,
+      ...e
+    }
+  );
+}
+export {
+  P as LinearAxis,
+  P as default,
+  h as defaultGetModel
+};
+//# sourceMappingURL=LinearAxis.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"LinearAxis.js","sources":["../../../src/components/robots/LinearAxis.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\n\nimport type { Group } from \"three\"\nimport type { ConnectedMotionGroup } from \"../../lib/ConnectedMotionGroup\"\nimport { DHLinearAxis } from \"./DHLinearAxis\"\nimport { defaultGetModel } from \"./robotModelLogic\"\nimport { SupportedLinearAxis } from \"./SupportedLinearAxis\"\n\nexport type LinearAxisProps = {\n  connectedMotionGroup: ConnectedMotionGroup\n  getModel?: (modelFromController: string) => Promise<string>\n  flangeRef?: React.Ref<Group>\n  transparentColor?: string\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]\n\n/**\n * The LinearAxis component is a wrapper that renders SupportedLinearAxis if a model is available,\n * otherwise falls back to DHLinearAxis for usage with @wandelbots/nova-js ConnectedMotionGroup object.\n *\n * @param {LinearAxisProps} props - The properties for the LinearAxis component.\n * @param {ConnectedMotionGroup} props.connectedMotionGroup - The connected motion group containing motion state and parameters.\n * @param {Function} [props.getModel=defaultGetModel] - Optional function to get the model URL. Defaults to defaultGetModel.\n * @param {Object} props - Additional properties passed to the underlying component.\n *\n * @returns {JSX.Element} The rendered SupportedLinearAxis or DHLinearAxis component.\n */\nexport function LinearAxis({\n  connectedMotionGroup,\n  getModel = defaultGetModel,\n  flangeRef,\n  transparentColor,\n  postModelRender,\n  ...props\n}: LinearAxisProps) {\n  if (!connectedMotionGroup.dhParameters) {\n    return null\n  }\n\n  const modelFromController = connectedMotionGroup.modelFromController || \"\"\n  const hasModel = modelFromController && getModel(modelFromController)\n\n  // Use SupportedLinearAxis if model is available, otherwise fall back to DHLinearAxis\n  if (hasModel) {\n    return (\n      <SupportedLinearAxis\n        rapidlyChangingMotionState={\n          connectedMotionGroup.rapidlyChangingMotionState\n        }\n        modelFromController={modelFromController}\n        dhParameters={connectedMotionGroup.dhParameters}\n        getModel={getModel}\n        flangeRef={flangeRef}\n        transparentColor={transparentColor}\n        postModelRender={postModelRender}\n        {...props}\n      />\n    )\n  }\n\n  return (\n    <DHLinearAxis\n      rapidlyChangingMotionState={\n        connectedMotionGroup.rapidlyChangingMotionState\n      }\n      dhParameters={connectedMotionGroup.dhParameters}\n      {...props}\n    />\n  )\n}\n\nexport { defaultGetModel }\n\nexport default LinearAxis\n"],"names":["LinearAxis","connectedMotionGroup","getModel","defaultGetModel","flangeRef","transparentColor","postModelRender","props","modelFromController","jsx","SupportedLinearAxis","DHLinearAxis"],"mappings":";;;;AA2BO,SAASA,EAAW;AAAA,EACzB,sBAAAC;AAAA,EACA,UAAAC,IAAWC;AAAA,EACX,WAAAC;AAAA,EACA,kBAAAC;AAAA,EACA,iBAAAC;AAAA,EACA,GAAGC;AACL,GAAoB;AAClB,MAAI,CAACN,EAAqB;AACxB,WAAO;AAGT,QAAMO,IAAsBP,EAAqB,uBAAuB;AAIxE,SAHiBO,KAAuBN,EAASM,CAAmB,IAKhE,gBAAAC;AAAA,IAACC;AAAA,IAAA;AAAA,MACC,4BACET,EAAqB;AAAA,MAEvB,qBAAAO;AAAA,MACA,cAAcP,EAAqB;AAAA,MACnC,UAAAC;AAAA,MACA,WAAAE;AAAA,MACA,kBAAAC;AAAA,MACA,iBAAAC;AAAA,MACC,GAAGC;AAAA,IAAA;AAAA,EAAA,IAMR,gBAAAE;AAAA,IAACE;AAAA,IAAA;AAAA,MACC,4BACEV,EAAqB;AAAA,MAEvB,cAAcA,EAAqB;AAAA,MAClC,GAAGM;AAAA,IAAA;AAAA,EAAA;AAGV;"}

package/dist/components/robots/LinearAxisAnimator.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const R=require("react/jsx-runtime"),f=require("@react-three/fiber"),n=require("react"),v=require("../utils/hooks.cjs"),V=require("../utils/interpolation.cjs"),_=require("./robotModelLogic.cjs");function J({rapidlyChangingMotionState:o,dhParameters:d,onTranslationChanged:c,children:j}){const m=n.useRef([]),i=n.useRef([]),r=n.useRef(null),{invalidate:l}=f.useThree();n.useEffect(()=>{const t=o.joint_position.filter(e=>e!==void 0);return r.current=new V.ValueInterpolator(t,{tension:120,friction:20,threshold:.001}),()=>{var e;(e=r.current)==null||e.destroy()}},[]),f.useFrame((t,e)=>{if(r.current){const s=r.current.update(e);a(),s||l()}});function p(t){t&&(i.current=_.collectJoints(t),a(),l())}function a(){var e;const t=((e=r.current)==null?void 0:e.getCurrentValues())||[];if(c)c(i.current,t);else for(const[s,b]of i.current.entries()){const q=d[s].reverse_rotation_direction?-1:1;b.position.y=q*(t[s]||0)/1e3}}const u=n.useCallback(()=>{const t=o.joint_position.filter(e=>e!==void 0);requestAnimationFrame(()=>{var e;m.current=t,(e=r.current)==null||e.setTarget(t)})},[o]);return n.useEffect(()=>{u()},[o,u]),v.useAutorun(()=>{u()}),R.jsx("group",{ref:p,children:j})}exports.default=J;
+//# sourceMappingURL=LinearAxisAnimator.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"LinearAxisAnimator.cjs","sources":["../../../src/components/robots/LinearAxisAnimator.tsx"],"sourcesContent":["import { useFrame, useThree } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport { useCallback, useEffect, useRef } from \"react\"\nimport type { Group, Object3D } from \"three\"\nimport { useAutorun } from \"../utils/hooks\"\nimport { ValueInterpolator } from \"../utils/interpolation\"\nimport { collectJoints } from \"./robotModelLogic\"\n\ntype LinearAxisAnimatorProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: DHParameter[]\n  onTranslationChanged?: (joints: Object3D[], jointValues: number[]) => void\n  children: React.ReactNode\n}\n\nexport default function LinearAxisAnimator({\n  rapidlyChangingMotionState,\n  dhParameters,\n  onTranslationChanged,\n  children,\n}: LinearAxisAnimatorProps) {\n  const jointValues = useRef<number[]>([])\n  const jointObjects = useRef<Object3D[]>([])\n  const interpolatorRef = useRef<ValueInterpolator | null>(null)\n  const { invalidate } = useThree()\n\n  // Initialize interpolator\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    interpolatorRef.current = new ValueInterpolator(initialJointValues, {\n      tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion\n      friction: 20, // Controls damping - higher values reduce oscillation and create smoother settling\n      threshold: 0.001,\n    })\n\n    return () => {\n      interpolatorRef.current?.destroy()\n    }\n  }, [])\n\n  // Animation loop that runs at the display's refresh rate\n  useFrame((state, delta) => {\n    if (interpolatorRef.current) {\n      const isComplete = interpolatorRef.current.update(delta)\n      setTranslation()\n\n      // Trigger a re-render only if the animation is still running\n      if (!isComplete) {\n        invalidate()\n      }\n    }\n  })\n\n  function setGroupRef(group: Group | null) {\n    if (!group) return\n\n    jointObjects.current = collectJoints(group)\n\n    // Set initial position\n    setTranslation()\n    invalidate()\n  }\n\n  function setTranslation() {\n    const updatedJointValues = interpolatorRef.current?.getCurrentValues() || []\n\n    if (onTranslationChanged) {\n      onTranslationChanged(jointObjects.current, updatedJointValues)\n    } else {\n      // For linear axes, we apply translation instead of rotation\n      for (const [index, object] of jointObjects.current.entries()) {\n        const dhParam = dhParameters[index]\n        const translationSign = dhParam.reverse_rotation_direction ? -1 : 1\n\n        // Apply linear translation along Y axis\n        // Convert from millimeters to meters\n        object.position.y =\n          (translationSign * (updatedJointValues[index] || 0)) / 1000\n      }\n    }\n  }\n\n  const updateJoints = useCallback(() => {\n    const newJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    requestAnimationFrame(() => {\n      jointValues.current = newJointValues\n      interpolatorRef.current?.setTarget(newJointValues)\n    })\n  }, [rapidlyChangingMotionState])\n\n  /**\n   * Fire an update joints call on every motion state change.\n   * requestAnimationFrame used to avoid blocking main thread\n   */\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    updateJoints()\n  }, [rapidlyChangingMotionState, updateJoints])\n\n  /**\n   * As some consumer applications (eg. storybook) deliver\n   * mobx observable for rapidlyChangingMotionState, we need to\n   * register the watcher to get the newest value updates\n   */\n  useAutorun(() => {\n    updateJoints()\n  })\n\n  return <group ref={setGroupRef}>{children}</group>\n}\n"],"names":["LinearAxisAnimator","rapidlyChangingMotionState","dhParameters","onTranslationChanged","children","jointValues","useRef","jointObjects","interpolatorRef","invalidate","useThree","useEffect","initialJointValues","item","ValueInterpolator","_a","useFrame","state","delta","isComplete","setTranslation","setGroupRef","group","collectJoints","updatedJointValues","index","object","translationSign","updateJoints","useCallback","newJointValues","useAutorun","jsx"],"mappings":"+SAgBA,SAAwBA,EAAmB,CACzC,2BAAAC,EACA,aAAAC,EACA,qBAAAC,EACA,SAAAC,CACF,EAA4B,CAC1B,MAAMC,EAAcC,EAAAA,OAAiB,EAAE,EACjCC,EAAeD,EAAAA,OAAmB,EAAE,EACpCE,EAAkBF,EAAAA,OAAiC,IAAI,EACvD,CAAE,WAAAG,CAAA,EAAeC,WAAA,EAIvBC,EAAAA,UAAU,IAAM,CACd,MAAMC,EAAqBX,EAA2B,eAAe,OAClEY,GAASA,IAAS,MAAA,EAGrB,OAAAL,EAAgB,QAAU,IAAIM,EAAAA,kBAAkBF,EAAoB,CAClE,QAAS,IACT,SAAU,GACV,UAAW,IAAA,CACZ,EAEM,IAAM,QACXG,EAAAP,EAAgB,UAAhB,MAAAO,EAAyB,SAC3B,CACF,EAAG,CAAA,CAAE,EAGLC,WAAS,CAACC,EAAOC,IAAU,CACzB,GAAIV,EAAgB,QAAS,CAC3B,MAAMW,EAAaX,EAAgB,QAAQ,OAAOU,CAAK,EACvDE,EAAA,EAGKD,GACHV,EAAA,CAEJ,CACF,CAAC,EAED,SAASY,EAAYC,EAAqB,CACnCA,IAELf,EAAa,QAAUgB,EAAAA,cAAcD,CAAK,EAG1CF,EAAA,EACAX,EAAA,EACF,CAEA,SAASW,GAAiB,OACxB,MAAMI,IAAqBT,EAAAP,EAAgB,UAAhB,YAAAO,EAAyB,qBAAsB,CAAA,EAE1E,GAAIZ,EACFA,EAAqBI,EAAa,QAASiB,CAAkB,MAG7D,UAAW,CAACC,EAAOC,CAAM,IAAKnB,EAAa,QAAQ,UAAW,CAE5D,MAAMoB,EADUzB,EAAauB,CAAK,EACF,2BAA6B,GAAK,EAIlEC,EAAO,SAAS,EACbC,GAAmBH,EAAmBC,CAAK,GAAK,GAAM,GAC3D,CAEJ,CAEA,MAAMG,EAAeC,EAAAA,YAAY,IAAM,CACrC,MAAMC,EAAiB7B,EAA2B,eAAe,OAC9DY,GAASA,IAAS,MAAA,EAGrB,sBAAsB,IAAM,OAC1BR,EAAY,QAAUyB,GACtBf,EAAAP,EAAgB,UAAhB,MAAAO,EAAyB,UAAUe,EACrC,CAAC,CACH,EAAG,CAAC7B,CAA0B,CAAC,EAO/BU,OAAAA,EAAAA,UAAU,IAAM,CACdiB,EAAA,CACF,EAAG,CAAC3B,EAA4B2B,CAAY,CAAC,EAO7CG,EAAAA,WAAW,IAAM,CACfH,EAAA,CACF,CAAC,EAEMI,EAAAA,IAAC,QAAA,CAAM,IAAKX,EAAc,SAAAjB,CAAA,CAAS,CAC5C"}

package/dist/components/robots/LinearAxisAnimator.js

@@ -0,0 +1,66 @@
+import { jsx as v } from "react/jsx-runtime";
+import { useThree as x, useFrame as A } from "@react-three/fiber";
+import { useRef as u, useEffect as l, useCallback as _ } from "react";
+import { useAutorun as b } from "../utils/hooks.js";
+import { ValueInterpolator as R } from "../utils/interpolation.js";
+import { collectJoints as w } from "./robotModelLogic.js";
+function G({
+  rapidlyChangingMotionState: o,
+  dhParameters: m,
+  onTranslationChanged: c,
+  children: p
+}) {
+  const d = u([]), i = u([]), r = u(null), { invalidate: f } = x();
+  l(() => {
+    const e = o.joint_position.filter(
+      (t) => t !== void 0
+    );
+    return r.current = new R(e, {
+      tension: 120,
+      // Controls spring stiffness - higher values create faster, more responsive motion
+      friction: 20,
+      // Controls damping - higher values reduce oscillation and create smoother settling
+      threshold: 1e-3
+    }), () => {
+      var t;
+      (t = r.current) == null || t.destroy();
+    };
+  }, []), A((e, t) => {
+    if (r.current) {
+      const n = r.current.update(t);
+      a(), n || f();
+    }
+  });
+  function j(e) {
+    e && (i.current = w(e), a(), f());
+  }
+  function a() {
+    var t;
+    const e = ((t = r.current) == null ? void 0 : t.getCurrentValues()) || [];
+    if (c)
+      c(i.current, e);
+    else
+      for (const [n, V] of i.current.entries()) {
+        const J = m[n].reverse_rotation_direction ? -1 : 1;
+        V.position.y = J * (e[n] || 0) / 1e3;
+      }
+  }
+  const s = _(() => {
+    const e = o.joint_position.filter(
+      (t) => t !== void 0
+    );
+    requestAnimationFrame(() => {
+      var t;
+      d.current = e, (t = r.current) == null || t.setTarget(e);
+    });
+  }, [o]);
+  return l(() => {
+    s();
+  }, [o, s]), b(() => {
+    s();
+  }), /* @__PURE__ */ v("group", { ref: j, children: p });
+}
+export {
+  G as default
+};
+//# sourceMappingURL=LinearAxisAnimator.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"LinearAxisAnimator.js","sources":["../../../src/components/robots/LinearAxisAnimator.tsx"],"sourcesContent":["import { useFrame, useThree } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport { useCallback, useEffect, useRef } from \"react\"\nimport type { Group, Object3D } from \"three\"\nimport { useAutorun } from \"../utils/hooks\"\nimport { ValueInterpolator } from \"../utils/interpolation\"\nimport { collectJoints } from \"./robotModelLogic\"\n\ntype LinearAxisAnimatorProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: DHParameter[]\n  onTranslationChanged?: (joints: Object3D[], jointValues: number[]) => void\n  children: React.ReactNode\n}\n\nexport default function LinearAxisAnimator({\n  rapidlyChangingMotionState,\n  dhParameters,\n  onTranslationChanged,\n  children,\n}: LinearAxisAnimatorProps) {\n  const jointValues = useRef<number[]>([])\n  const jointObjects = useRef<Object3D[]>([])\n  const interpolatorRef = useRef<ValueInterpolator | null>(null)\n  const { invalidate } = useThree()\n\n  // Initialize interpolator\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    interpolatorRef.current = new ValueInterpolator(initialJointValues, {\n      tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion\n      friction: 20, // Controls damping - higher values reduce oscillation and create smoother settling\n      threshold: 0.001,\n    })\n\n    return () => {\n      interpolatorRef.current?.destroy()\n    }\n  }, [])\n\n  // Animation loop that runs at the display's refresh rate\n  useFrame((state, delta) => {\n    if (interpolatorRef.current) {\n      const isComplete = interpolatorRef.current.update(delta)\n      setTranslation()\n\n      // Trigger a re-render only if the animation is still running\n      if (!isComplete) {\n        invalidate()\n      }\n    }\n  })\n\n  function setGroupRef(group: Group | null) {\n    if (!group) return\n\n    jointObjects.current = collectJoints(group)\n\n    // Set initial position\n    setTranslation()\n    invalidate()\n  }\n\n  function setTranslation() {\n    const updatedJointValues = interpolatorRef.current?.getCurrentValues() || []\n\n    if (onTranslationChanged) {\n      onTranslationChanged(jointObjects.current, updatedJointValues)\n    } else {\n      // For linear axes, we apply translation instead of rotation\n      for (const [index, object] of jointObjects.current.entries()) {\n        const dhParam = dhParameters[index]\n        const translationSign = dhParam.reverse_rotation_direction ? -1 : 1\n\n        // Apply linear translation along Y axis\n        // Convert from millimeters to meters\n        object.position.y =\n          (translationSign * (updatedJointValues[index] || 0)) / 1000\n      }\n    }\n  }\n\n  const updateJoints = useCallback(() => {\n    const newJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    requestAnimationFrame(() => {\n      jointValues.current = newJointValues\n      interpolatorRef.current?.setTarget(newJointValues)\n    })\n  }, [rapidlyChangingMotionState])\n\n  /**\n   * Fire an update joints call on every motion state change.\n   * requestAnimationFrame used to avoid blocking main thread\n   */\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    updateJoints()\n  }, [rapidlyChangingMotionState, updateJoints])\n\n  /**\n   * As some consumer applications (eg. storybook) deliver\n   * mobx observable for rapidlyChangingMotionState, we need to\n   * register the watcher to get the newest value updates\n   */\n  useAutorun(() => {\n    updateJoints()\n  })\n\n  return <group ref={setGroupRef}>{children}</group>\n}\n"],"names":["LinearAxisAnimator","rapidlyChangingMotionState","dhParameters","onTranslationChanged","children","jointValues","useRef","jointObjects","interpolatorRef","invalidate","useThree","useEffect","initialJointValues","item","ValueInterpolator","_a","useFrame","state","delta","isComplete","setTranslation","setGroupRef","group","collectJoints","updatedJointValues","index","object","translationSign","updateJoints","useCallback","newJointValues","useAutorun","jsx"],"mappings":";;;;;;AAgBA,SAAwBA,EAAmB;AAAA,EACzC,4BAAAC;AAAA,EACA,cAAAC;AAAA,EACA,sBAAAC;AAAA,EACA,UAAAC;AACF,GAA4B;AAC1B,QAAMC,IAAcC,EAAiB,EAAE,GACjCC,IAAeD,EAAmB,EAAE,GACpCE,IAAkBF,EAAiC,IAAI,GACvD,EAAE,YAAAG,EAAA,IAAeC,EAAA;AAIvB,EAAAC,EAAU,MAAM;AACd,UAAMC,IAAqBX,EAA2B,eAAe;AAAA,MACnE,CAACY,MAASA,MAAS;AAAA,IAAA;AAGrB,WAAAL,EAAgB,UAAU,IAAIM,EAAkBF,GAAoB;AAAA,MAClE,SAAS;AAAA;AAAA,MACT,UAAU;AAAA;AAAA,MACV,WAAW;AAAA,IAAA,CACZ,GAEM,MAAM;;AACX,OAAAG,IAAAP,EAAgB,YAAhB,QAAAO,EAAyB;AAAA,IAC3B;AAAA,EACF,GAAG,CAAA,CAAE,GAGLC,EAAS,CAACC,GAAOC,MAAU;AACzB,QAAIV,EAAgB,SAAS;AAC3B,YAAMW,IAAaX,EAAgB,QAAQ,OAAOU,CAAK;AACvD,MAAAE,EAAA,GAGKD,KACHV,EAAA;AAAA,IAEJ;AAAA,EACF,CAAC;AAED,WAASY,EAAYC,GAAqB;AACxC,IAAKA,MAELf,EAAa,UAAUgB,EAAcD,CAAK,GAG1CF,EAAA,GACAX,EAAA;AAAA,EACF;AAEA,WAASW,IAAiB;;AACxB,UAAMI,MAAqBT,IAAAP,EAAgB,YAAhB,gBAAAO,EAAyB,uBAAsB,CAAA;AAE1E,QAAIZ;AACF,MAAAA,EAAqBI,EAAa,SAASiB,CAAkB;AAAA;AAG7D,iBAAW,CAACC,GAAOC,CAAM,KAAKnB,EAAa,QAAQ,WAAW;AAE5D,cAAMoB,IADUzB,EAAauB,CAAK,EACF,6BAA6B,KAAK;AAIlE,QAAAC,EAAO,SAAS,IACbC,KAAmBH,EAAmBC,CAAK,KAAK,KAAM;AAAA,MAC3D;AAAA,EAEJ;AAEA,QAAMG,IAAeC,EAAY,MAAM;AACrC,UAAMC,IAAiB7B,EAA2B,eAAe;AAAA,MAC/D,CAACY,MAASA,MAAS;AAAA,IAAA;AAGrB,0BAAsB,MAAM;;AAC1B,MAAAR,EAAY,UAAUyB,IACtBf,IAAAP,EAAgB,YAAhB,QAAAO,EAAyB,UAAUe;AAAA,IACrC,CAAC;AAAA,EACH,GAAG,CAAC7B,CAA0B,CAAC;AAO/B,SAAAU,EAAU,MAAM;AACd,IAAAiB,EAAA;AAAA,EACF,GAAG,CAAC3B,GAA4B2B,CAAY,CAAC,GAO7CG,EAAW,MAAM;AACf,IAAAH,EAAA;AAAA,EACF,CAAC,GAEM,gBAAAI,EAAC,SAAA,EAAM,KAAKX,GAAc,UAAAjB,EAAA,CAAS;AAC5C;"}

package/dist/components/robots/MotionGroupVisualizer.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const u=require("react/jsx-runtime"),r=require("@wandelbots/nova-js/v2"),o=require("react"),m=require("../../externalizeComponent.cjs"),d=require("./SupportedLinearAxis.cjs"),J=require("./SupportedRobot.cjs"),s=m.externalizeComponent(l=>{const{inverseSolver:e,dhParameters:t,...i}=l,[n,p]=o.useState(r.JointTypeEnum.RevoluteJoint);o.useEffect(()=>{t.length&&p(t[0].type??r.JointTypeEnum.RevoluteJoint)},[t]);const a=o.useMemo(()=>e===null&&n===r.JointTypeEnum.RevoluteJoint,[e,n]),c=o.useMemo(()=>e===null&&n===r.JointTypeEnum.PrismaticJoint,[e,n]);return o.useMemo(()=>!!e,[e])||a?u.jsx(J.SupportedRobot,{dhParameters:t,...i}):c?u.jsx(d.SupportedLinearAxis,{dhParameters:t,...i}):null});exports.MotionGroupVisualizer=s;exports.default=s;
+//# sourceMappingURL=MotionGroupVisualizer.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"MotionGroupVisualizer.cjs","sources":["../../../src/components/robots/MotionGroupVisualizer.tsx"],"sourcesContent":["import { JointTypeEnum } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport { useEffect, useMemo, useState } from \"react\"\n\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport {\n  SupportedLinearAxis,\n  type SupportedLinearAxisProps,\n} from \"./SupportedLinearAxis\"\nimport { SupportedRobot, type SupportedRobotProps } from \"./SupportedRobot\"\n\nexport type MotionGroupVisualizerProps = {\n  instanceUrl: string\n  inverseSolver?: string | null\n} & (SupportedRobotProps | SupportedLinearAxisProps)\n\nexport const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps> =\n  externalizeComponent((props: MotionGroupVisualizerProps) => {\n    const { inverseSolver, dhParameters, ...rest } = props\n\n    /**\n     * Joint type to find out - in combination with inverseSolver - whether the\n     * active robot is a turn table\n     */\n    const [jointType, setJointType] = useState<JointTypeEnum>(\n      JointTypeEnum.RevoluteJoint,\n    )\n\n    /**\n     * Sets the joint type according to delivered dh parameter type\n     */\n    useEffect(() => {\n      if (dhParameters.length) {\n        setJointType(dhParameters[0].type ?? JointTypeEnum.RevoluteJoint)\n      }\n    }, [dhParameters])\n\n    /**\n     * The turntable models return inverseSolver = null - however these models\n     * should be rendered with SupportedRobot instead of SupportedLinearAxis\n     */\n    const isTurnTable = useMemo(() => {\n      return inverseSolver === null && jointType === JointTypeEnum.RevoluteJoint\n    }, [inverseSolver, jointType])\n\n    /**\n     * Linear axis check\n     */\n    const isLinearAxis = useMemo(() => {\n      return (\n        inverseSolver === null && jointType === JointTypeEnum.PrismaticJoint\n      )\n    }, [inverseSolver, jointType])\n\n    /**\n     * Robot differentiation for readability reasons\n     */\n    const isRobot = useMemo(() => {\n      return !!inverseSolver\n    }, [inverseSolver])\n\n    if (isRobot || isTurnTable) {\n      return <SupportedRobot dhParameters={dhParameters} {...rest} />\n    }\n\n    if (isLinearAxis) {\n      return <SupportedLinearAxis dhParameters={dhParameters} {...rest} />\n    }\n\n    return null\n  })\n\nexport default MotionGroupVisualizer\n"],"names":["MotionGroupVisualizer","externalizeComponent","props","inverseSolver","dhParameters","rest","jointType","setJointType","useState","JointTypeEnum","useEffect","isTurnTable","useMemo","isLinearAxis","jsx","SupportedRobot","SupportedLinearAxis"],"mappings":"6TAgBaA,EACXC,EAAAA,qBAAsBC,GAAsC,CAC1D,KAAM,CAAE,cAAAC,EAAe,aAAAC,EAAc,GAAGC,GAASH,EAM3C,CAACI,EAAWC,CAAY,EAAIC,EAAAA,SAChCC,gBAAc,aAAA,EAMhBC,EAAAA,UAAU,IAAM,CACVN,EAAa,QACfG,EAAaH,EAAa,CAAC,EAAE,MAAQK,EAAAA,cAAc,aAAa,CAEpE,EAAG,CAACL,CAAY,CAAC,EAMjB,MAAMO,EAAcC,EAAAA,QAAQ,IACnBT,IAAkB,MAAQG,IAAcG,EAAAA,cAAc,cAC5D,CAACN,EAAeG,CAAS,CAAC,EAKvBO,EAAeD,EAAAA,QAAQ,IAEzBT,IAAkB,MAAQG,IAAcG,EAAAA,cAAc,eAEvD,CAACN,EAAeG,CAAS,CAAC,EAS7B,OAJgBM,EAAAA,QAAQ,IACf,CAAC,CAACT,EACR,CAACA,CAAa,CAAC,GAEHQ,EACNG,EAAAA,IAACC,EAAAA,eAAA,CAAe,aAAAX,EAA6B,GAAGC,CAAA,CAAM,EAG3DQ,EACKC,EAAAA,IAACE,EAAAA,oBAAA,CAAoB,aAAAZ,EAA6B,GAAGC,CAAA,CAAM,EAG7D,IACT,CAAC"}

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

@@ -6,4 +6,5 @@ export type MotionGroupVisualizerProps = {
     inverseSolver?: string | null;
 } & (SupportedRobotProps | SupportedLinearAxisProps);
 export declare const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps>;
+export default MotionGroupVisualizer;
 //# sourceMappingURL=MotionGroupVisualizer.d.ts.map

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

@@ -1 +1 @@
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package/dist/components/robots/MotionGroupVisualizer.js

@@ -0,0 +1,21 @@
+import { jsx as s } from "react/jsx-runtime";
+import { JointTypeEnum as r } from "@wandelbots/nova-js/v2";
+import { useState as f, useEffect as a, useMemo as n } from "react";
+import { externalizeComponent as c } from "../../externalizeComponent.js";
+import { SupportedLinearAxis as J } from "./SupportedLinearAxis.js";
+import { SupportedRobot as R } from "./SupportedRobot.js";
+const h = c((u) => {
+  const { inverseSolver: t, dhParameters: o, ...i } = u, [e, m] = f(
+    r.RevoluteJoint
+  );
+  a(() => {
+    o.length && m(o[0].type ?? r.RevoluteJoint);
+  }, [o]);
+  const p = n(() => t === null && e === r.RevoluteJoint, [t, e]), l = n(() => t === null && e === r.PrismaticJoint, [t, e]);
+  return n(() => !!t, [t]) || p ? /* @__PURE__ */ s(R, { dhParameters: o, ...i }) : l ? /* @__PURE__ */ s(J, { dhParameters: o, ...i }) : null;
+});
+export {
+  h as MotionGroupVisualizer,
+  h as default
+};
+//# sourceMappingURL=MotionGroupVisualizer.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"MotionGroupVisualizer.js","sources":["../../../src/components/robots/MotionGroupVisualizer.tsx"],"sourcesContent":["import { JointTypeEnum } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport { useEffect, useMemo, useState } from \"react\"\n\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport {\n  SupportedLinearAxis,\n  type SupportedLinearAxisProps,\n} from \"./SupportedLinearAxis\"\nimport { SupportedRobot, type SupportedRobotProps } from \"./SupportedRobot\"\n\nexport type MotionGroupVisualizerProps = {\n  instanceUrl: string\n  inverseSolver?: string | null\n} & (SupportedRobotProps | SupportedLinearAxisProps)\n\nexport const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps> =\n  externalizeComponent((props: MotionGroupVisualizerProps) => {\n    const { inverseSolver, dhParameters, ...rest } = props\n\n    /**\n     * Joint type to find out - in combination with inverseSolver - whether the\n     * active robot is a turn table\n     */\n    const [jointType, setJointType] = useState<JointTypeEnum>(\n      JointTypeEnum.RevoluteJoint,\n    )\n\n    /**\n     * Sets the joint type according to delivered dh parameter type\n     */\n    useEffect(() => {\n      if (dhParameters.length) {\n        setJointType(dhParameters[0].type ?? JointTypeEnum.RevoluteJoint)\n      }\n    }, [dhParameters])\n\n    /**\n     * The turntable models return inverseSolver = null - however these models\n     * should be rendered with SupportedRobot instead of SupportedLinearAxis\n     */\n    const isTurnTable = useMemo(() => {\n      return inverseSolver === null && jointType === JointTypeEnum.RevoluteJoint\n    }, [inverseSolver, jointType])\n\n    /**\n     * Linear axis check\n     */\n    const isLinearAxis = useMemo(() => {\n      return (\n        inverseSolver === null && jointType === JointTypeEnum.PrismaticJoint\n      )\n    }, [inverseSolver, jointType])\n\n    /**\n     * Robot differentiation for readability reasons\n     */\n    const isRobot = useMemo(() => {\n      return !!inverseSolver\n    }, [inverseSolver])\n\n    if (isRobot || isTurnTable) {\n      return <SupportedRobot dhParameters={dhParameters} {...rest} />\n    }\n\n    if (isLinearAxis) {\n      return <SupportedLinearAxis dhParameters={dhParameters} {...rest} />\n    }\n\n    return null\n  })\n\nexport default MotionGroupVisualizer\n"],"names":["MotionGroupVisualizer","externalizeComponent","props","inverseSolver","dhParameters","rest","jointType","setJointType","useState","JointTypeEnum","useEffect","isTurnTable","useMemo","isLinearAxis","jsx","SupportedRobot","SupportedLinearAxis"],"mappings":";;;;;;AAgBO,MAAMA,IACXC,EAAqB,CAACC,MAAsC;AAC1D,QAAM,EAAE,eAAAC,GAAe,cAAAC,GAAc,GAAGC,MAASH,GAM3C,CAACI,GAAWC,CAAY,IAAIC;AAAA,IAChCC,EAAc;AAAA,EAAA;AAMhB,EAAAC,EAAU,MAAM;AACd,IAAIN,EAAa,UACfG,EAAaH,EAAa,CAAC,EAAE,QAAQK,EAAc,aAAa;AAAA,EAEpE,GAAG,CAACL,CAAY,CAAC;AAMjB,QAAMO,IAAcC,EAAQ,MACnBT,MAAkB,QAAQG,MAAcG,EAAc,eAC5D,CAACN,GAAeG,CAAS,CAAC,GAKvBO,IAAeD,EAAQ,MAEzBT,MAAkB,QAAQG,MAAcG,EAAc,gBAEvD,CAACN,GAAeG,CAAS,CAAC;AAS7B,SAJgBM,EAAQ,MACf,CAAC,CAACT,GACR,CAACA,CAAa,CAAC,KAEHQ,IACN,gBAAAG,EAACC,GAAA,EAAe,cAAAX,GAA6B,GAAGC,EAAA,CAAM,IAG3DQ,IACK,gBAAAC,EAACE,GAAA,EAAoB,cAAAZ,GAA6B,GAAGC,EAAA,CAAM,IAG7D;AACT,CAAC;"}

package/dist/components/robots/Robot.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const i=require("react/jsx-runtime"),t=require("./robotModelLogic.cjs"),s=require("./SupportedRobot.cjs");function r({connectedMotionGroup:e,getModel:o=t.defaultGetModel,flangeRef:l,transparentColor:a,postModelRender:d,...u}){return e.dhParameters?i.jsx(s.SupportedRobot,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:e.modelFromController||"",dhParameters:e.dhParameters,getModel:o,flangeRef:l,transparentColor:a,postModelRender:d,...u}):null}exports.defaultGetModel=t.defaultGetModel;exports.Robot=r;exports.default=r;
+//# sourceMappingURL=Robot.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"Robot.cjs","sources":["../../../src/components/robots/Robot.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\n\nimport type { Group } from \"three\"\nimport type { ConnectedMotionGroup } from \"../../lib/ConnectedMotionGroup\"\nimport { defaultGetModel } from \"./robotModelLogic\"\nimport { SupportedRobot } from \"./SupportedRobot\"\n\nexport type RobotProps = {\n  connectedMotionGroup: ConnectedMotionGroup\n  getModel?: (modelFromController: string) => Promise<string>\n  flangeRef?: React.Ref<Group>\n  transparentColor?: string\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]\n\n/**\n * The Robot component is a wrapper around the SupportedRobot component\n * for usage with @wandelbots/nova-js ConnectedMotionGroup object.\n *\n * @param {RobotProps} props - The properties for the Robot component.\n * @param {ConnectedMotionGroup} props.connectedMotionGroup - The connected motion group containing motion state and parameters.\n * @param {Function} [props.getModel=defaultGetModel] - Optional function to get the model URL. Defaults to defaultGetModel.\n * @param {Object} props - Additional properties passed to the SupportedRobot component.\n *\n * @returns {JSX.Element} The rendered SupportedRobot component.\n */\nexport function Robot({\n  connectedMotionGroup,\n  getModel = defaultGetModel,\n  flangeRef,\n  transparentColor,\n  postModelRender,\n  ...props\n}: RobotProps) {\n  if (!connectedMotionGroup.dhParameters) {\n    return null\n  }\n\n  return (\n    <SupportedRobot\n      rapidlyChangingMotionState={\n        connectedMotionGroup.rapidlyChangingMotionState\n      }\n      modelFromController={connectedMotionGroup.modelFromController || \"\"}\n      dhParameters={connectedMotionGroup.dhParameters}\n      getModel={getModel}\n      flangeRef={flangeRef}\n      transparentColor={transparentColor}\n      postModelRender={postModelRender}\n      {...props}\n    />\n  )\n}\n\nexport { defaultGetModel }\n\nexport default Robot\n"],"names":["Robot","connectedMotionGroup","getModel","defaultGetModel","flangeRef","transparentColor","postModelRender","props","jsx","SupportedRobot"],"mappings":"sNA0BO,SAASA,EAAM,CACpB,qBAAAC,EACA,SAAAC,EAAWC,EAAAA,gBACX,UAAAC,EACA,iBAAAC,EACA,gBAAAC,EACA,GAAGC,CACL,EAAe,CACb,OAAKN,EAAqB,aAKxBO,EAAAA,IAACC,EAAAA,eAAA,CACC,2BACER,EAAqB,2BAEvB,oBAAqBA,EAAqB,qBAAuB,GACjE,aAAcA,EAAqB,aACnC,SAAAC,EACA,UAAAE,EACA,iBAAAC,EACA,gBAAAC,EACC,GAAGC,CAAA,CAAA,EAdC,IAiBX"}

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

@@ -22,4 +22,5 @@ export type RobotProps = {
  */
 export declare function Robot({ connectedMotionGroup, getModel, flangeRef, transparentColor, postModelRender, ...props }: RobotProps): import("react/jsx-runtime").JSX.Element | null;
 export { defaultGetModel };
+export default Robot;
 //# sourceMappingURL=Robot.d.ts.map

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

@@ -1 +1 @@
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package/dist/components/robots/Robot.js

@@ -0,0 +1,31 @@
+import { jsx as m } from "react/jsx-runtime";
+import { defaultGetModel as d } from "./robotModelLogic.js";
+import { SupportedRobot as i } from "./SupportedRobot.js";
+function s({
+  connectedMotionGroup: r,
+  getModel: t = d,
+  flangeRef: a,
+  transparentColor: e,
+  postModelRender: o,
+  ...l
+}) {
+  return r.dhParameters ? /* @__PURE__ */ m(
+    i,
+    {
+      rapidlyChangingMotionState: r.rapidlyChangingMotionState,
+      modelFromController: r.modelFromController || "",
+      dhParameters: r.dhParameters,
+      getModel: t,
+      flangeRef: a,
+      transparentColor: e,
+      postModelRender: o,
+      ...l
+    }
+  ) : null;
+}
+export {
+  s as Robot,
+  s as default,
+  d as defaultGetModel
+};
+//# sourceMappingURL=Robot.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"Robot.js","sources":["../../../src/components/robots/Robot.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\n\nimport type { Group } from \"three\"\nimport type { ConnectedMotionGroup } from \"../../lib/ConnectedMotionGroup\"\nimport { defaultGetModel } from \"./robotModelLogic\"\nimport { SupportedRobot } from \"./SupportedRobot\"\n\nexport type RobotProps = {\n  connectedMotionGroup: ConnectedMotionGroup\n  getModel?: (modelFromController: string) => Promise<string>\n  flangeRef?: React.Ref<Group>\n  transparentColor?: string\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]\n\n/**\n * The Robot component is a wrapper around the SupportedRobot component\n * for usage with @wandelbots/nova-js ConnectedMotionGroup object.\n *\n * @param {RobotProps} props - The properties for the Robot component.\n * @param {ConnectedMotionGroup} props.connectedMotionGroup - The connected motion group containing motion state and parameters.\n * @param {Function} [props.getModel=defaultGetModel] - Optional function to get the model URL. Defaults to defaultGetModel.\n * @param {Object} props - Additional properties passed to the SupportedRobot component.\n *\n * @returns {JSX.Element} The rendered SupportedRobot component.\n */\nexport function Robot({\n  connectedMotionGroup,\n  getModel = defaultGetModel,\n  flangeRef,\n  transparentColor,\n  postModelRender,\n  ...props\n}: RobotProps) {\n  if (!connectedMotionGroup.dhParameters) {\n    return null\n  }\n\n  return (\n    <SupportedRobot\n      rapidlyChangingMotionState={\n        connectedMotionGroup.rapidlyChangingMotionState\n      }\n      modelFromController={connectedMotionGroup.modelFromController || \"\"}\n      dhParameters={connectedMotionGroup.dhParameters}\n      getModel={getModel}\n      flangeRef={flangeRef}\n      transparentColor={transparentColor}\n      postModelRender={postModelRender}\n      {...props}\n    />\n  )\n}\n\nexport { defaultGetModel }\n\nexport default Robot\n"],"names":["Robot","connectedMotionGroup","getModel","defaultGetModel","flangeRef","transparentColor","postModelRender","props","jsx","SupportedRobot"],"mappings":";;;AA0BO,SAASA,EAAM;AAAA,EACpB,sBAAAC;AAAA,EACA,UAAAC,IAAWC;AAAA,EACX,WAAAC;AAAA,EACA,kBAAAC;AAAA,EACA,iBAAAC;AAAA,EACA,GAAGC;AACL,GAAe;AACb,SAAKN,EAAqB,eAKxB,gBAAAO;AAAA,IAACC;AAAA,IAAA;AAAA,MACC,4BACER,EAAqB;AAAA,MAEvB,qBAAqBA,EAAqB,uBAAuB;AAAA,MACjE,cAAcA,EAAqB;AAAA,MACnC,UAAAC;AAAA,MACA,WAAAE;AAAA,MACA,kBAAAC;AAAA,MACA,iBAAAC;AAAA,MACC,GAAGC;AAAA,IAAA;AAAA,EAAA,IAdC;AAiBX;"}

package/dist/components/robots/RobotAnimator.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const V=require("react/jsx-runtime"),d=require("@react-three/fiber"),o=require("react"),_=require("../utils/hooks.cjs"),J=require("../utils/interpolation.cjs"),x=require("./robotModelLogic.cjs");function A({rapidlyChangingMotionState:n,dhParameters:j,onRotationChanged:c,children:b}){const m=o.useRef([]),u=o.useRef([]),r=o.useRef(null),{invalidate:f}=d.useThree();o.useEffect(()=>{const t=n.joint_position.filter(e=>e!==void 0);return r.current=new J.ValueInterpolator(t,{tension:120,friction:20,threshold:.001}),()=>{var e;(e=r.current)==null||e.destroy()}},[]),d.useFrame((t,e)=>{if(r.current){const s=r.current.update(e);l(),s||f()}});function p(t){t&&(u.current=x.collectJoints(t),l(),f())}function l(){var e;const t=((e=r.current)==null?void 0:e.getCurrentValues())||[];if(c)c(u.current,t);else for(const[s,R]of u.current.entries()){const a=j[s],q=a.theta||0,v=a.reverse_rotation_direction?-1:1;R.rotation.y=v*(t[s]||0)+q}}const i=o.useCallback(()=>{const t=n.joint_position.filter(e=>e!==void 0);requestAnimationFrame(()=>{var e;m.current=t,(e=r.current)==null||e.setTarget(t)})},[n]);return o.useEffect(()=>{i()},[n,i]),_.useAutorun(()=>{i()}),V.jsx("group",{ref:p,children:b})}exports.default=A;
+//# sourceMappingURL=RobotAnimator.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"RobotAnimator.cjs","sources":["../../../src/components/robots/RobotAnimator.tsx"],"sourcesContent":["import { useFrame, useThree } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport { useCallback, useEffect, useRef } from \"react\"\nimport type { Group, Object3D } from \"three\"\nimport { useAutorun } from \"../utils/hooks\"\nimport { ValueInterpolator } from \"../utils/interpolation\"\nimport { collectJoints } from \"./robotModelLogic\"\n\ntype RobotAnimatorProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: DHParameter[]\n  onRotationChanged?: (joints: Object3D[], jointValues: number[]) => void\n  children: React.ReactNode\n}\n\nexport default function RobotAnimator({\n  rapidlyChangingMotionState,\n  dhParameters,\n  onRotationChanged,\n  children,\n}: RobotAnimatorProps) {\n  const jointValues = useRef<number[]>([])\n  const jointObjects = useRef<Object3D[]>([])\n  const interpolatorRef = useRef<ValueInterpolator | null>(null)\n  const { invalidate } = useThree()\n\n  // Initialize interpolator\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    interpolatorRef.current = new ValueInterpolator(initialJointValues, {\n      tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion\n      friction: 20, // Controls damping - higher values reduce oscillation and create smoother settling\n      threshold: 0.001,\n    })\n\n    return () => {\n      interpolatorRef.current?.destroy()\n    }\n  }, [])\n\n  // Animation loop that runs at the display's refresh rate\n  useFrame((state, delta) => {\n    if (interpolatorRef.current) {\n      const isComplete = interpolatorRef.current.update(delta)\n      setRotation()\n\n      // Trigger a re-render only if the animation is still running\n      if (!isComplete) {\n        invalidate()\n      }\n    }\n  })\n\n  function setGroupRef(group: Group | null) {\n    if (!group) return\n\n    jointObjects.current = collectJoints(group)\n\n    // Set initial position\n    setRotation()\n    invalidate()\n  }\n\n  function setRotation() {\n    const updatedJointValues = interpolatorRef.current?.getCurrentValues() || []\n\n    if (onRotationChanged) {\n      onRotationChanged(jointObjects.current, updatedJointValues)\n    } else {\n      for (const [index, object] of jointObjects.current.entries()) {\n        const dhParam = dhParameters[index]\n        const rotationOffset = dhParam.theta || 0\n        const rotationSign = dhParam.reverse_rotation_direction ? -1 : 1\n\n        object.rotation.y =\n          rotationSign * (updatedJointValues[index] || 0) + rotationOffset\n      }\n    }\n  }\n\n  const updateJoints = useCallback(() => {\n    const newJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    requestAnimationFrame(() => {\n      jointValues.current = newJointValues\n      interpolatorRef.current?.setTarget(newJointValues)\n    })\n  }, [rapidlyChangingMotionState])\n\n  /**\n   * Fire an update joints call on every motion state change.\n   * requestAnimationFrame used to avoid blocking main thread\n   */\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    updateJoints()\n  }, [rapidlyChangingMotionState, updateJoints])\n\n  /**\n   * As some consumer applications (eg. storybook) deliver\n   * mobx observable for rapidlyChangingMotionState, we need to\n   * register the watcher to get the newest value updates\n   */\n  useAutorun(() => {\n    updateJoints()\n  })\n\n  return <group ref={setGroupRef}>{children}</group>\n}\n"],"names":["RobotAnimator","rapidlyChangingMotionState","dhParameters","onRotationChanged","children","jointValues","useRef","jointObjects","interpolatorRef","invalidate","useThree","useEffect","initialJointValues","item","ValueInterpolator","_a","useFrame","state","delta","isComplete","setRotation","setGroupRef","group","collectJoints","updatedJointValues","index","object","dhParam","rotationOffset","rotationSign","updateJoints","useCallback","newJointValues","useAutorun","jsx"],"mappings":"+SAgBA,SAAwBA,EAAc,CACpC,2BAAAC,EACA,aAAAC,EACA,kBAAAC,EACA,SAAAC,CACF,EAAuB,CACrB,MAAMC,EAAcC,EAAAA,OAAiB,EAAE,EACjCC,EAAeD,EAAAA,OAAmB,EAAE,EACpCE,EAAkBF,EAAAA,OAAiC,IAAI,EACvD,CAAE,WAAAG,CAAA,EAAeC,WAAA,EAIvBC,EAAAA,UAAU,IAAM,CACd,MAAMC,EAAqBX,EAA2B,eAAe,OAClEY,GAASA,IAAS,MAAA,EAGrB,OAAAL,EAAgB,QAAU,IAAIM,EAAAA,kBAAkBF,EAAoB,CAClE,QAAS,IACT,SAAU,GACV,UAAW,IAAA,CACZ,EAEM,IAAM,QACXG,EAAAP,EAAgB,UAAhB,MAAAO,EAAyB,SAC3B,CACF,EAAG,CAAA,CAAE,EAGLC,WAAS,CAACC,EAAOC,IAAU,CACzB,GAAIV,EAAgB,QAAS,CAC3B,MAAMW,EAAaX,EAAgB,QAAQ,OAAOU,CAAK,EACvDE,EAAA,EAGKD,GACHV,EAAA,CAEJ,CACF,CAAC,EAED,SAASY,EAAYC,EAAqB,CACnCA,IAELf,EAAa,QAAUgB,EAAAA,cAAcD,CAAK,EAG1CF,EAAA,EACAX,EAAA,EACF,CAEA,SAASW,GAAc,OACrB,MAAMI,IAAqBT,EAAAP,EAAgB,UAAhB,YAAAO,EAAyB,qBAAsB,CAAA,EAE1E,GAAIZ,EACFA,EAAkBI,EAAa,QAASiB,CAAkB,MAE1D,UAAW,CAACC,EAAOC,CAAM,IAAKnB,EAAa,QAAQ,UAAW,CAC5D,MAAMoB,EAAUzB,EAAauB,CAAK,EAC5BG,EAAiBD,EAAQ,OAAS,EAClCE,EAAeF,EAAQ,2BAA6B,GAAK,EAE/DD,EAAO,SAAS,EACdG,GAAgBL,EAAmBC,CAAK,GAAK,GAAKG,CACtD,CAEJ,CAEA,MAAME,EAAeC,EAAAA,YAAY,IAAM,CACrC,MAAMC,EAAiB/B,EAA2B,eAAe,OAC9DY,GAASA,IAAS,MAAA,EAGrB,sBAAsB,IAAM,OAC1BR,EAAY,QAAU2B,GACtBjB,EAAAP,EAAgB,UAAhB,MAAAO,EAAyB,UAAUiB,EACrC,CAAC,CACH,EAAG,CAAC/B,CAA0B,CAAC,EAO/BU,OAAAA,EAAAA,UAAU,IAAM,CACdmB,EAAA,CACF,EAAG,CAAC7B,EAA4B6B,CAAY,CAAC,EAO7CG,EAAAA,WAAW,IAAM,CACfH,EAAA,CACF,CAAC,EAEMI,EAAAA,IAAC,QAAA,CAAM,IAAKb,EAAc,SAAAjB,CAAA,CAAS,CAC5C"}

package/dist/components/robots/RobotAnimator.js

@@ -0,0 +1,66 @@
+import { jsx as R } from "react/jsx-runtime";
+import { useThree as _, useFrame as x } from "@react-three/fiber";
+import { useRef as u, useEffect as m, useCallback as A } from "react";
+import { useAutorun as w } from "../utils/hooks.js";
+import { ValueInterpolator as F } from "../utils/interpolation.js";
+import { collectJoints as O } from "./robotModelLogic.js";
+function I({
+  rapidlyChangingMotionState: o,
+  dhParameters: p,
+  onRotationChanged: c,
+  children: d
+}) {
+  const j = u([]), s = u([]), r = u(null), { invalidate: f } = _();
+  m(() => {
+    const e = o.joint_position.filter(
+      (t) => t !== void 0
+    );
+    return r.current = new F(e, {
+      tension: 120,
+      // Controls spring stiffness - higher values create faster, more responsive motion
+      friction: 20,
+      // Controls damping - higher values reduce oscillation and create smoother settling
+      threshold: 1e-3
+    }), () => {
+      var t;
+      (t = r.current) == null || t.destroy();
+    };
+  }, []), x((e, t) => {
+    if (r.current) {
+      const n = r.current.update(t);
+      a(), n || f();
+    }
+  });
+  function V(e) {
+    e && (s.current = O(e), a(), f());
+  }
+  function a() {
+    var t;
+    const e = ((t = r.current) == null ? void 0 : t.getCurrentValues()) || [];
+    if (c)
+      c(s.current, e);
+    else
+      for (const [n, J] of s.current.entries()) {
+        const l = p[n], b = l.theta || 0, v = l.reverse_rotation_direction ? -1 : 1;
+        J.rotation.y = v * (e[n] || 0) + b;
+      }
+  }
+  const i = A(() => {
+    const e = o.joint_position.filter(
+      (t) => t !== void 0
+    );
+    requestAnimationFrame(() => {
+      var t;
+      j.current = e, (t = r.current) == null || t.setTarget(e);
+    });
+  }, [o]);
+  return m(() => {
+    i();
+  }, [o, i]), w(() => {
+    i();
+  }), /* @__PURE__ */ R("group", { ref: V, children: d });
+}
+export {
+  I as default
+};
+//# sourceMappingURL=RobotAnimator.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"RobotAnimator.js","sources":["../../../src/components/robots/RobotAnimator.tsx"],"sourcesContent":["import { useFrame, useThree } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport { useCallback, useEffect, useRef } from \"react\"\nimport type { Group, Object3D } from \"three\"\nimport { useAutorun } from \"../utils/hooks\"\nimport { ValueInterpolator } from \"../utils/interpolation\"\nimport { collectJoints } from \"./robotModelLogic\"\n\ntype RobotAnimatorProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: DHParameter[]\n  onRotationChanged?: (joints: Object3D[], jointValues: number[]) => void\n  children: React.ReactNode\n}\n\nexport default function RobotAnimator({\n  rapidlyChangingMotionState,\n  dhParameters,\n  onRotationChanged,\n  children,\n}: RobotAnimatorProps) {\n  const jointValues = useRef<number[]>([])\n  const jointObjects = useRef<Object3D[]>([])\n  const interpolatorRef = useRef<ValueInterpolator | null>(null)\n  const { invalidate } = useThree()\n\n  // Initialize interpolator\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    interpolatorRef.current = new ValueInterpolator(initialJointValues, {\n      tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion\n      friction: 20, // Controls damping - higher values reduce oscillation and create smoother settling\n      threshold: 0.001,\n    })\n\n    return () => {\n      interpolatorRef.current?.destroy()\n    }\n  }, [])\n\n  // Animation loop that runs at the display's refresh rate\n  useFrame((state, delta) => {\n    if (interpolatorRef.current) {\n      const isComplete = interpolatorRef.current.update(delta)\n      setRotation()\n\n      // Trigger a re-render only if the animation is still running\n      if (!isComplete) {\n        invalidate()\n      }\n    }\n  })\n\n  function setGroupRef(group: Group | null) {\n    if (!group) return\n\n    jointObjects.current = collectJoints(group)\n\n    // Set initial position\n    setRotation()\n    invalidate()\n  }\n\n  function setRotation() {\n    const updatedJointValues = interpolatorRef.current?.getCurrentValues() || []\n\n    if (onRotationChanged) {\n      onRotationChanged(jointObjects.current, updatedJointValues)\n    } else {\n      for (const [index, object] of jointObjects.current.entries()) {\n        const dhParam = dhParameters[index]\n        const rotationOffset = dhParam.theta || 0\n        const rotationSign = dhParam.reverse_rotation_direction ? -1 : 1\n\n        object.rotation.y =\n          rotationSign * (updatedJointValues[index] || 0) + rotationOffset\n      }\n    }\n  }\n\n  const updateJoints = useCallback(() => {\n    const newJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    requestAnimationFrame(() => {\n      jointValues.current = newJointValues\n      interpolatorRef.current?.setTarget(newJointValues)\n    })\n  }, [rapidlyChangingMotionState])\n\n  /**\n   * Fire an update joints call on every motion state change.\n   * requestAnimationFrame used to avoid blocking main thread\n   */\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    updateJoints()\n  }, [rapidlyChangingMotionState, updateJoints])\n\n  /**\n   * As some consumer applications (eg. storybook) deliver\n   * mobx observable for rapidlyChangingMotionState, we need to\n   * register the watcher to get the newest value updates\n   */\n  useAutorun(() => {\n    updateJoints()\n  })\n\n  return <group ref={setGroupRef}>{children}</group>\n}\n"],"names":["RobotAnimator","rapidlyChangingMotionState","dhParameters","onRotationChanged","children","jointValues","useRef","jointObjects","interpolatorRef","invalidate","useThree","useEffect","initialJointValues","item","ValueInterpolator","_a","useFrame","state","delta","isComplete","setRotation","setGroupRef","group","collectJoints","updatedJointValues","index","object","dhParam","rotationOffset","rotationSign","updateJoints","useCallback","newJointValues","useAutorun","jsx"],"mappings":";;;;;;AAgBA,SAAwBA,EAAc;AAAA,EACpC,4BAAAC;AAAA,EACA,cAAAC;AAAA,EACA,mBAAAC;AAAA,EACA,UAAAC;AACF,GAAuB;AACrB,QAAMC,IAAcC,EAAiB,EAAE,GACjCC,IAAeD,EAAmB,EAAE,GACpCE,IAAkBF,EAAiC,IAAI,GACvD,EAAE,YAAAG,EAAA,IAAeC,EAAA;AAIvB,EAAAC,EAAU,MAAM;AACd,UAAMC,IAAqBX,EAA2B,eAAe;AAAA,MACnE,CAACY,MAASA,MAAS;AAAA,IAAA;AAGrB,WAAAL,EAAgB,UAAU,IAAIM,EAAkBF,GAAoB;AAAA,MAClE,SAAS;AAAA;AAAA,MACT,UAAU;AAAA;AAAA,MACV,WAAW;AAAA,IAAA,CACZ,GAEM,MAAM;;AACX,OAAAG,IAAAP,EAAgB,YAAhB,QAAAO,EAAyB;AAAA,IAC3B;AAAA,EACF,GAAG,CAAA,CAAE,GAGLC,EAAS,CAACC,GAAOC,MAAU;AACzB,QAAIV,EAAgB,SAAS;AAC3B,YAAMW,IAAaX,EAAgB,QAAQ,OAAOU,CAAK;AACvD,MAAAE,EAAA,GAGKD,KACHV,EAAA;AAAA,IAEJ;AAAA,EACF,CAAC;AAED,WAASY,EAAYC,GAAqB;AACxC,IAAKA,MAELf,EAAa,UAAUgB,EAAcD,CAAK,GAG1CF,EAAA,GACAX,EAAA;AAAA,EACF;AAEA,WAASW,IAAc;;AACrB,UAAMI,MAAqBT,IAAAP,EAAgB,YAAhB,gBAAAO,EAAyB,uBAAsB,CAAA;AAE1E,QAAIZ;AACF,MAAAA,EAAkBI,EAAa,SAASiB,CAAkB;AAAA;AAE1D,iBAAW,CAACC,GAAOC,CAAM,KAAKnB,EAAa,QAAQ,WAAW;AAC5D,cAAMoB,IAAUzB,EAAauB,CAAK,GAC5BG,IAAiBD,EAAQ,SAAS,GAClCE,IAAeF,EAAQ,6BAA6B,KAAK;AAE/D,QAAAD,EAAO,SAAS,IACdG,KAAgBL,EAAmBC,CAAK,KAAK,KAAKG;AAAA,MACtD;AAAA,EAEJ;AAEA,QAAME,IAAeC,EAAY,MAAM;AACrC,UAAMC,IAAiB/B,EAA2B,eAAe;AAAA,MAC/D,CAACY,MAASA,MAAS;AAAA,IAAA;AAGrB,0BAAsB,MAAM;;AAC1B,MAAAR,EAAY,UAAU2B,IACtBjB,IAAAP,EAAgB,YAAhB,QAAAO,EAAyB,UAAUiB;AAAA,IACrC,CAAC;AAAA,EACH,GAAG,CAAC/B,CAA0B,CAAC;AAO/B,SAAAU,EAAU,MAAM;AACd,IAAAmB,EAAA;AAAA,EACF,GAAG,CAAC7B,GAA4B6B,CAAY,CAAC,GAO7CG,EAAW,MAAM;AACf,IAAAH,EAAA;AAAA,EACF,CAAC,GAEM,gBAAAI,EAAC,SAAA,EAAM,KAAKb,GAAc,UAAAjB,EAAA,CAAS;AAC5C;"}

package/dist/components/robots/SupportedLinearAxis.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const e=require("react/jsx-runtime"),t=require("react"),R=require("react-error-boundary"),m=require("../../externalizeComponent.cjs"),S=require("../ConsoleFilter.cjs"),A=require("./DHLinearAxis.cjs"),G=require("./GenericRobot.cjs"),g=require("./LinearAxisAnimator.cjs"),a=require("./ghostStyle.cjs"),h=require("./robotModelLogic.cjs"),d=m.externalizeComponent(({rapidlyChangingMotionState:n,modelFromController:i,dhParameters:l,getModel:b=h.defaultGetModel,flangeRef:f,postModelRender:x,transparentColor:s,instanceUrl:j,...u})=>{const[o,p]=t.useState(null),q=t.useCallback(r=>{p(r)},[]);t.useEffect(()=>{o&&(s?a.applyGhostStyle(o,s):a.removeGhostStyle(o))},[o,s]);const c=e.jsx(A.DHLinearAxis,{rapidlyChangingMotionState:n,dhParameters:l,...u});return e.jsxs(R.ErrorBoundary,{fallback:c,onError:r=>{console.warn(r)},children:[e.jsx(t.Suspense,{fallback:c,children:e.jsx("group",{ref:q,children:e.jsx(g.default,{rapidlyChangingMotionState:n,dhParameters:l,children:e.jsx(G.GenericRobot,{modelURL:(()=>{const r=b(i,j);if(!r){const y=new Blob([],{type:"model/gltf-binary"}),L=new File([y],`${i}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(L))}return r})(),postModelRender:x,flangeRef:f,...u})})})}),e.jsx(S.default,{})]})});exports.SupportedLinearAxis=d;exports.default=d;
+//# sourceMappingURL=SupportedLinearAxis.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"SupportedLinearAxis.cjs","sources":["../../../src/components/robots/SupportedLinearAxis.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport { Suspense, useCallback, useEffect, useState } from \"react\"\nimport { ErrorBoundary } from \"react-error-boundary\"\nimport type * as THREE from \"three\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport ConsoleFilter from \"../ConsoleFilter\"\nimport { DHLinearAxis } from \"./DHLinearAxis\"\nimport { GenericRobot } from \"./GenericRobot\"\nimport LinearAxisAnimator from \"./LinearAxisAnimator\"\nimport { applyGhostStyle, removeGhostStyle } from \"./ghostStyle\"\nimport { defaultGetModel } from \"./robotModelLogic\"\n\nexport type DHLinearAxisProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: Array<DHParameter>\n} & ThreeElements[\"group\"]\n\nexport type SupportedLinearAxisProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  modelFromController: string\n  dhParameters: DHParameter[]\n  flangeRef?: React.Ref<THREE.Group>\n  instanceUrl?: string\n  getModel?: (\n    modelFromController: string,\n    instanceUrl?: string,\n  ) => Promise<string> | undefined\n  postModelRender?: () => void\n  transparentColor?: string\n} & ThreeElements[\"group\"]\n\nexport const SupportedLinearAxis = externalizeComponent(\n  ({\n    rapidlyChangingMotionState,\n    modelFromController,\n    dhParameters,\n    getModel = defaultGetModel,\n    flangeRef,\n    postModelRender,\n    transparentColor,\n    instanceUrl,\n    ...props\n  }: SupportedLinearAxisProps) => {\n    const [robotGroup, setRobotGroup] = useState<THREE.Group | null>(null)\n\n    const setRobotRef = useCallback((instance: THREE.Group | null) => {\n      setRobotGroup(instance)\n    }, [])\n\n    useEffect(() => {\n      if (!robotGroup) return\n\n      if (transparentColor) {\n        applyGhostStyle(robotGroup, transparentColor)\n      } else {\n        removeGhostStyle(robotGroup)\n      }\n    }, [robotGroup, transparentColor])\n\n    const dhLinearAxis = (\n      <DHLinearAxis\n        rapidlyChangingMotionState={rapidlyChangingMotionState}\n        dhParameters={dhParameters}\n        {...props}\n      />\n    )\n\n    return (\n      <ErrorBoundary\n        fallback={dhLinearAxis}\n        onError={(err) => {\n          // Missing model; show the fallback for now\n          console.warn(err)\n        }}\n      >\n        <Suspense fallback={dhLinearAxis}>\n          <group ref={setRobotRef}>\n            <LinearAxisAnimator\n              rapidlyChangingMotionState={rapidlyChangingMotionState}\n              dhParameters={dhParameters}\n            >\n              <GenericRobot\n                modelURL={(() => {\n                  const result = getModel(modelFromController, instanceUrl)\n                  if (!result) {\n                    const mockBlob = new Blob([], { type: \"model/gltf-binary\" })\n                    const mockFile = new File(\n                      [mockBlob],\n                      `${modelFromController}.glb`,\n                      { type: \"model/gltf-binary\" },\n                    )\n                    return Promise.resolve(URL.createObjectURL(mockFile))\n                  }\n                  return result\n                })()}\n                postModelRender={postModelRender}\n                flangeRef={flangeRef}\n                {...props}\n              />\n            </LinearAxisAnimator>\n          </group>\n        </Suspense>\n        <ConsoleFilter />\n      </ErrorBoundary>\n    )\n  },\n)\n\nexport default SupportedLinearAxis\n"],"names":["SupportedLinearAxis","externalizeComponent","rapidlyChangingMotionState","modelFromController","dhParameters","getModel","defaultGetModel","flangeRef","postModelRender","transparentColor","instanceUrl","props","robotGroup","setRobotGroup","useState","setRobotRef","useCallback","instance","useEffect","applyGhostStyle","removeGhostStyle","dhLinearAxis","jsx","DHLinearAxis","jsxs","ErrorBoundary","err","Suspense","LinearAxisAnimator","GenericRobot","result","mockBlob","mockFile","ConsoleFilter"],"mappings":"2bAgCaA,EAAsBC,EAAAA,qBACjC,CAAC,CACC,2BAAAC,EACA,oBAAAC,EACA,aAAAC,EACA,SAAAC,EAAWC,EAAAA,gBACX,UAAAC,EACA,gBAAAC,EACA,iBAAAC,EACA,YAAAC,EACA,GAAGC,CAAA,IAC2B,CAC9B,KAAM,CAACC,EAAYC,CAAa,EAAIC,EAAAA,SAA6B,IAAI,EAE/DC,EAAcC,cAAaC,GAAiC,CAChEJ,EAAcI,CAAQ,CACxB,EAAG,CAAA,CAAE,EAELC,EAAAA,UAAU,IAAM,CACTN,IAEDH,EACFU,EAAAA,gBAAgBP,EAAYH,CAAgB,EAE5CW,EAAAA,iBAAiBR,CAAU,EAE/B,EAAG,CAACA,EAAYH,CAAgB,CAAC,EAEjC,MAAMY,EACJC,EAAAA,IAACC,EAAAA,aAAA,CACC,2BAAArB,EACA,aAAAE,EACC,GAAGO,CAAA,CAAA,EAIR,OACEa,EAAAA,KAACC,EAAAA,cAAA,CACC,SAAUJ,EACV,QAAUK,GAAQ,CAEhB,QAAQ,KAAKA,CAAG,CAClB,EAEA,SAAA,CAAAJ,EAAAA,IAACK,EAAAA,UAAS,SAAUN,EAClB,SAAAC,MAAC,QAAA,CAAM,IAAKP,EACV,SAAAO,EAAAA,IAACM,EAAAA,QAAA,CACC,2BAAA1B,EACA,aAAAE,EAEA,SAAAkB,EAAAA,IAACO,EAAAA,aAAA,CACC,UAAW,IAAM,CACf,MAAMC,EAASzB,EAASF,EAAqBO,CAAW,EACxD,GAAI,CAACoB,EAAQ,CACX,MAAMC,EAAW,IAAI,KAAK,CAAA,EAAI,CAAE,KAAM,oBAAqB,EACrDC,EAAW,IAAI,KACnB,CAACD,CAAQ,EACT,GAAG5B,CAAmB,OACtB,CAAE,KAAM,mBAAA,CAAoB,EAE9B,OAAO,QAAQ,QAAQ,IAAI,gBAAgB6B,CAAQ,CAAC,CACtD,CACA,OAAOF,CACT,GAAA,EACA,gBAAAtB,EACA,UAAAD,EACC,GAAGI,CAAA,CAAA,CACN,CAAA,EAEJ,CAAA,CACF,QACCsB,EAAAA,QAAA,CAAA,CAAc,CAAA,CAAA,CAAA,CAGrB,CACF"}

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

@@ -16,4 +16,5 @@ export type SupportedLinearAxisProps = {
     transparentColor?: string;
 } & ThreeElements["group"];
 export declare const SupportedLinearAxis: ({ rapidlyChangingMotionState, modelFromController, dhParameters, getModel, flangeRef, postModelRender, transparentColor, instanceUrl, ...props }: SupportedLinearAxisProps) => import("react/jsx-runtime").JSX.Element;
+export default SupportedLinearAxis;
 //# sourceMappingURL=SupportedLinearAxis.d.ts.map

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