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

package/dist/components/robots/SupportedLinearAxis.js

@@ -0,0 +1,82 @@
+import { jsx as o, jsxs as y } from "react/jsx-runtime";
+import { useState as L, useCallback as R, useEffect as G, Suspense as h } from "react";
+import { ErrorBoundary as k } from "react-error-boundary";
+import { externalizeComponent as A } from "../../externalizeComponent.js";
+import S from "../ConsoleFilter.js";
+import { DHLinearAxis as j } from "./DHLinearAxis.js";
+import { GenericRobot as w } from "./GenericRobot.js";
+import B from "./LinearAxisAnimator.js";
+import { applyGhostStyle as E, removeGhostStyle as U } from "./ghostStyle.js";
+import { defaultGetModel as g } from "./robotModelLogic.js";
+const K = A(
+  ({
+    rapidlyChangingMotionState: i,
+    modelFromController: l,
+    dhParameters: n,
+    getModel: f = g,
+    flangeRef: c,
+    postModelRender: p,
+    transparentColor: t,
+    instanceUrl: u,
+    ...m
+  }) => {
+    const [r, a] = L(null), b = R((e) => {
+      a(e);
+    }, []);
+    G(() => {
+      r && (t ? E(r, t) : U(r));
+    }, [r, t]);
+    const s = /* @__PURE__ */ o(
+      j,
+      {
+        rapidlyChangingMotionState: i,
+        dhParameters: n,
+        ...m
+      }
+    );
+    return /* @__PURE__ */ y(
+      k,
+      {
+        fallback: s,
+        onError: (e) => {
+          console.warn(e);
+        },
+        children: [
+          /* @__PURE__ */ o(h, { fallback: s, children: /* @__PURE__ */ o("group", { ref: b, children: /* @__PURE__ */ o(
+            B,
+            {
+              rapidlyChangingMotionState: i,
+              dhParameters: n,
+              children: /* @__PURE__ */ o(
+                w,
+                {
+                  modelURL: (() => {
+                    const e = f(l, u);
+                    if (!e) {
+                      const d = new Blob([], { type: "model/gltf-binary" }), x = new File(
+                        [d],
+                        `${l}.glb`,
+                        { type: "model/gltf-binary" }
+                      );
+                      return Promise.resolve(URL.createObjectURL(x));
+                    }
+                    return e;
+                  })(),
+                  postModelRender: p,
+                  flangeRef: c,
+                  ...m
+                }
+              )
+            }
+          ) }) }),
+          /* @__PURE__ */ o(S, {})
+        ]
+      }
+    );
+  }
+);
+export {
+  K as SupportedLinearAxis,
+  K as default
+};
+//# sourceMappingURL=SupportedLinearAxis.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"SupportedLinearAxis.js","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":";;;;;;;;;;AAgCO,MAAMA,IAAsBC;AAAA,EACjC,CAAC;AAAA,IACC,4BAAAC;AAAA,IACA,qBAAAC;AAAA,IACA,cAAAC;AAAA,IACA,UAAAC,IAAWC;AAAA,IACX,WAAAC;AAAA,IACA,iBAAAC;AAAA,IACA,kBAAAC;AAAA,IACA,aAAAC;AAAA,IACA,GAAGC;AAAA,EAAA,MAC2B;AAC9B,UAAM,CAACC,GAAYC,CAAa,IAAIC,EAA6B,IAAI,GAE/DC,IAAcC,EAAY,CAACC,MAAiC;AAChE,MAAAJ,EAAcI,CAAQ;AAAA,IACxB,GAAG,CAAA,CAAE;AAEL,IAAAC,EAAU,MAAM;AACd,MAAKN,MAEDH,IACFU,EAAgBP,GAAYH,CAAgB,IAE5CW,EAAiBR,CAAU;AAAA,IAE/B,GAAG,CAACA,GAAYH,CAAgB,CAAC;AAEjC,UAAMY,IACJ,gBAAAC;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,4BAAArB;AAAA,QACA,cAAAE;AAAA,QACC,GAAGO;AAAA,MAAA;AAAA,IAAA;AAIR,WACE,gBAAAa;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,UAAUJ;AAAA,QACV,SAAS,CAACK,MAAQ;AAEhB,kBAAQ,KAAKA,CAAG;AAAA,QAClB;AAAA,QAEA,UAAA;AAAA,UAAA,gBAAAJ,EAACK,KAAS,UAAUN,GAClB,UAAA,gBAAAC,EAAC,SAAA,EAAM,KAAKP,GACV,UAAA,gBAAAO;AAAA,YAACM;AAAA,YAAA;AAAA,cACC,4BAAA1B;AAAA,cACA,cAAAE;AAAA,cAEA,UAAA,gBAAAkB;AAAA,gBAACO;AAAA,gBAAA;AAAA,kBACC,WAAW,MAAM;AACf,0BAAMC,IAASzB,EAASF,GAAqBO,CAAW;AACxD,wBAAI,CAACoB,GAAQ;AACX,4BAAMC,IAAW,IAAI,KAAK,CAAA,GAAI,EAAE,MAAM,qBAAqB,GACrDC,IAAW,IAAI;AAAA,wBACnB,CAACD,CAAQ;AAAA,wBACT,GAAG5B,CAAmB;AAAA,wBACtB,EAAE,MAAM,oBAAA;AAAA,sBAAoB;AAE9B,6BAAO,QAAQ,QAAQ,IAAI,gBAAgB6B,CAAQ,CAAC;AAAA,oBACtD;AACA,2BAAOF;AAAA,kBACT,GAAA;AAAA,kBACA,iBAAAtB;AAAA,kBACA,WAAAD;AAAA,kBACC,GAAGI;AAAA,gBAAA;AAAA,cAAA;AAAA,YACN;AAAA,UAAA,GAEJ,EAAA,CACF;AAAA,4BACCsB,GAAA,CAAA,CAAc;AAAA,QAAA;AAAA,MAAA;AAAA,IAAA;AAAA,EAGrB;AACF;"}

package/dist/components/robots/SupportedRobot.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("react"),m=require("./DHRobot.cjs"),S=require("react-error-boundary"),G=require("../../externalizeComponent.cjs"),g=require("../ConsoleFilter.cjs"),h=require("./GenericRobot.cjs"),k=require("./RobotAnimator.cjs"),b=require("./ghostStyle.cjs"),v=require("./robotModelLogic.cjs"),d=G.externalizeComponent(({rapidlyChangingMotionState:n,modelFromController:l,dhParameters:u,getModel:a=v.defaultGetModel,flangeRef:f,postModelRender:R,transparentColor:s,instanceUrl:j,...c})=>{const[t,p]=r.useState(null),q=r.useCallback(o=>{p(o)},[]);r.useEffect(()=>{t&&(s?b.applyGhostStyle(t,s):b.removeGhostStyle(t))},[t,s]);const i=e.jsx(m.DHRobot,{rapidlyChangingMotionState:n,dhParameters:u,...c});return e.jsxs(S.ErrorBoundary,{fallback:i,onError:o=>{console.warn(o)},children:[e.jsx(r.Suspense,{fallback:i,children:e.jsx("group",{ref:q,children:e.jsx(k.default,{rapidlyChangingMotionState:n,dhParameters:u,children:e.jsx(h.GenericRobot,{modelURL:(()=>{const o=a(l,j);if(!o){const x=new Blob([],{type:"model/gltf-binary"}),y=new File([x],`${l}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(y))}return o})(),postModelRender:R,flangeRef:f,...c})})})}),e.jsx(g.default,{})]})});exports.SupportedRobot=d;exports.default=d;
+//# sourceMappingURL=SupportedRobot.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"SupportedRobot.cjs","sources":["../../../src/components/robots/SupportedRobot.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 { DHRobot } from \"./DHRobot\"\n\nimport { ErrorBoundary } from \"react-error-boundary\"\nimport type * as THREE from \"three\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport ConsoleFilter from \"../ConsoleFilter\"\nimport { GenericRobot } from \"./GenericRobot\"\nimport RobotAnimator from \"./RobotAnimator\"\nimport { applyGhostStyle, removeGhostStyle } from \"./ghostStyle\"\nimport { defaultGetModel } from \"./robotModelLogic\"\n\nexport type DHRobotProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: Array<DHParameter>\n} & ThreeElements[\"group\"]\n\nexport type SupportedRobotProps = {\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 SupportedRobot = externalizeComponent(\n  ({\n    rapidlyChangingMotionState,\n    modelFromController,\n    dhParameters,\n    getModel = defaultGetModel,\n    flangeRef,\n    postModelRender,\n    transparentColor,\n    instanceUrl,\n    ...props\n  }: SupportedRobotProps) => {\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 dhrobot = (\n      <DHRobot\n        rapidlyChangingMotionState={rapidlyChangingMotionState}\n        dhParameters={dhParameters}\n        {...props}\n      />\n    )\n\n    return (\n      <ErrorBoundary\n        fallback={dhrobot}\n        onError={(err) => {\n          // Missing model; show the fallback for now\n          console.warn(err)\n        }}\n      >\n        <Suspense fallback={dhrobot}>\n          <group ref={setRobotRef}>\n            <RobotAnimator\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            </RobotAnimator>\n          </group>\n        </Suspense>\n        <ConsoleFilter />\n      </ErrorBoundary>\n    )\n  },\n)\n\nexport default SupportedRobot\n"],"names":["SupportedRobot","externalizeComponent","rapidlyChangingMotionState","modelFromController","dhParameters","getModel","defaultGetModel","flangeRef","postModelRender","transparentColor","instanceUrl","props","robotGroup","setRobotGroup","useState","setRobotRef","useCallback","instance","useEffect","applyGhostStyle","removeGhostStyle","dhrobot","jsx","DHRobot","jsxs","ErrorBoundary","err","Suspense","RobotAnimator","GenericRobot","result","mockBlob","mockFile","ConsoleFilter"],"mappings":"ibAiCaA,EAAiBC,EAAAA,qBAC5B,CAAC,CACC,2BAAAC,EACA,oBAAAC,EACA,aAAAC,EACA,SAAAC,EAAWC,EAAAA,gBACX,UAAAC,EACA,gBAAAC,EACA,iBAAAC,EACA,YAAAC,EACA,GAAGC,CAAA,IACsB,CACzB,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,QAAA,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/SupportedRobot.d.ts

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

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

@@ -1 +1 @@
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+{"version":3,"file":"SupportedRobot.d.ts","sourceRoot":"","sources":["../../../src/components/robots/SupportedRobot.tsx"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,oBAAoB,CAAA;AACvD,OAAO,KAAK,EAAE,WAAW,EAAE,gBAAgB,EAAE,MAAM,wBAAwB,CAAA;AAK3E,OAAO,KAAK,KAAK,KAAK,MAAM,OAAO,CAAA;AAQnC,MAAM,MAAM,YAAY,GAAG;IACzB,0BAA0B,EAAE,gBAAgB,CAAA;IAC5C,YAAY,EAAE,KAAK,CAAC,WAAW,CAAC,CAAA;CACjC,GAAG,aAAa,CAAC,OAAO,CAAC,CAAA;AAE1B,MAAM,MAAM,mBAAmB,GAAG;IAChC,0BAA0B,EAAE,gBAAgB,CAAA;IAC5C,mBAAmB,EAAE,MAAM,CAAA;IAC3B,YAAY,EAAE,WAAW,EAAE,CAAA;IAC3B,SAAS,CAAC,EAAE,KAAK,CAAC,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAA;IAClC,WAAW,CAAC,EAAE,MAAM,CAAA;IACpB,QAAQ,CAAC,EAAE,CACT,mBAAmB,EAAE,MAAM,EAC3B,WAAW,CAAC,EAAE,MAAM,KACjB,OAAO,CAAC,MAAM,CAAC,GAAG,SAAS,CAAA;IAChC,eAAe,CAAC,EAAE,MAAM,IAAI,CAAA;IAC5B,gBAAgB,CAAC,EAAE,MAAM,CAAA;CAC1B,GAAG,aAAa,CAAC,OAAO,CAAC,CAAA;AAE1B,eAAO,MAAM,cAAc,qJAWtB,mBAAmB,4CAgEvB,CAAA;AAED,eAAe,cAAc,CAAA"}

package/dist/components/robots/SupportedRobot.js

@@ -0,0 +1,82 @@
+import { jsx as e, jsxs as y } from "react/jsx-runtime";
+import { useState as G, useCallback as h, useEffect as k, Suspense as x } from "react";
+import { DHRobot as S } from "./DHRobot.js";
+import { ErrorBoundary as j } from "react-error-boundary";
+import { externalizeComponent as w } from "../../externalizeComponent.js";
+import B from "../ConsoleFilter.js";
+import { GenericRobot as E } from "./GenericRobot.js";
+import L from "./RobotAnimator.js";
+import { applyGhostStyle as U, removeGhostStyle as g } from "./ghostStyle.js";
+import { defaultGetModel as v } from "./robotModelLogic.js";
+const K = w(
+  ({
+    rapidlyChangingMotionState: l,
+    modelFromController: m,
+    dhParameters: f,
+    getModel: s = v,
+    flangeRef: c,
+    postModelRender: b,
+    transparentColor: t,
+    instanceUrl: p,
+    ...i
+  }) => {
+    const [r, u] = G(null), d = h((o) => {
+      u(o);
+    }, []);
+    k(() => {
+      r && (t ? U(r, t) : g(r));
+    }, [r, t]);
+    const n = /* @__PURE__ */ e(
+      S,
+      {
+        rapidlyChangingMotionState: l,
+        dhParameters: f,
+        ...i
+      }
+    );
+    return /* @__PURE__ */ y(
+      j,
+      {
+        fallback: n,
+        onError: (o) => {
+          console.warn(o);
+        },
+        children: [
+          /* @__PURE__ */ e(x, { fallback: n, children: /* @__PURE__ */ e("group", { ref: d, children: /* @__PURE__ */ e(
+            L,
+            {
+              rapidlyChangingMotionState: l,
+              dhParameters: f,
+              children: /* @__PURE__ */ e(
+                E,
+                {
+                  modelURL: (() => {
+                    const o = s(m, p);
+                    if (!o) {
+                      const R = new Blob([], { type: "model/gltf-binary" }), a = new File(
+                        [R],
+                        `${m}.glb`,
+                        { type: "model/gltf-binary" }
+                      );
+                      return Promise.resolve(URL.createObjectURL(a));
+                    }
+                    return o;
+                  })(),
+                  postModelRender: b,
+                  flangeRef: c,
+                  ...i
+                }
+              )
+            }
+          ) }) }),
+          /* @__PURE__ */ e(B, {})
+        ]
+      }
+    );
+  }
+);
+export {
+  K as SupportedRobot,
+  K as default
+};
+//# sourceMappingURL=SupportedRobot.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"SupportedRobot.js","sources":["../../../src/components/robots/SupportedRobot.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 { DHRobot } from \"./DHRobot\"\n\nimport { ErrorBoundary } from \"react-error-boundary\"\nimport type * as THREE from \"three\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport ConsoleFilter from \"../ConsoleFilter\"\nimport { GenericRobot } from \"./GenericRobot\"\nimport RobotAnimator from \"./RobotAnimator\"\nimport { applyGhostStyle, removeGhostStyle } from \"./ghostStyle\"\nimport { defaultGetModel } from \"./robotModelLogic\"\n\nexport type DHRobotProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: Array<DHParameter>\n} & ThreeElements[\"group\"]\n\nexport type SupportedRobotProps = {\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 SupportedRobot = externalizeComponent(\n  ({\n    rapidlyChangingMotionState,\n    modelFromController,\n    dhParameters,\n    getModel = defaultGetModel,\n    flangeRef,\n    postModelRender,\n    transparentColor,\n    instanceUrl,\n    ...props\n  }: SupportedRobotProps) => {\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 dhrobot = (\n      <DHRobot\n        rapidlyChangingMotionState={rapidlyChangingMotionState}\n        dhParameters={dhParameters}\n        {...props}\n      />\n    )\n\n    return (\n      <ErrorBoundary\n        fallback={dhrobot}\n        onError={(err) => {\n          // Missing model; show the fallback for now\n          console.warn(err)\n        }}\n      >\n        <Suspense fallback={dhrobot}>\n          <group ref={setRobotRef}>\n            <RobotAnimator\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            </RobotAnimator>\n          </group>\n        </Suspense>\n        <ConsoleFilter />\n      </ErrorBoundary>\n    )\n  },\n)\n\nexport default SupportedRobot\n"],"names":["SupportedRobot","externalizeComponent","rapidlyChangingMotionState","modelFromController","dhParameters","getModel","defaultGetModel","flangeRef","postModelRender","transparentColor","instanceUrl","props","robotGroup","setRobotGroup","useState","setRobotRef","useCallback","instance","useEffect","applyGhostStyle","removeGhostStyle","dhrobot","jsx","DHRobot","jsxs","ErrorBoundary","err","Suspense","RobotAnimator","GenericRobot","result","mockBlob","mockFile","ConsoleFilter"],"mappings":";;;;;;;;;;AAiCO,MAAMA,IAAiBC;AAAA,EAC5B,CAAC;AAAA,IACC,4BAAAC;AAAA,IACA,qBAAAC;AAAA,IACA,cAAAC;AAAA,IACA,UAAAC,IAAWC;AAAA,IACX,WAAAC;AAAA,IACA,iBAAAC;AAAA,IACA,kBAAAC;AAAA,IACA,aAAAC;AAAA,IACA,GAAGC;AAAA,EAAA,MACsB;AACzB,UAAM,CAACC,GAAYC,CAAa,IAAIC,EAA6B,IAAI,GAE/DC,IAAcC,EAAY,CAACC,MAAiC;AAChE,MAAAJ,EAAcI,CAAQ;AAAA,IACxB,GAAG,CAAA,CAAE;AAEL,IAAAC,EAAU,MAAM;AACd,MAAKN,MAEDH,IACFU,EAAgBP,GAAYH,CAAgB,IAE5CW,EAAiBR,CAAU;AAAA,IAE/B,GAAG,CAACA,GAAYH,CAAgB,CAAC;AAEjC,UAAMY,IACJ,gBAAAC;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,4BAAArB;AAAA,QACA,cAAAE;AAAA,QACC,GAAGO;AAAA,MAAA;AAAA,IAAA;AAIR,WACE,gBAAAa;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,UAAUJ;AAAA,QACV,SAAS,CAACK,MAAQ;AAEhB,kBAAQ,KAAKA,CAAG;AAAA,QAClB;AAAA,QAEA,UAAA;AAAA,UAAA,gBAAAJ,EAACK,KAAS,UAAUN,GAClB,UAAA,gBAAAC,EAAC,SAAA,EAAM,KAAKP,GACV,UAAA,gBAAAO;AAAA,YAACM;AAAA,YAAA;AAAA,cACC,4BAAA1B;AAAA,cACA,cAAAE;AAAA,cAEA,UAAA,gBAAAkB;AAAA,gBAACO;AAAA,gBAAA;AAAA,kBACC,WAAW,MAAM;AACf,0BAAMC,IAASzB,EAASF,GAAqBO,CAAW;AACxD,wBAAI,CAACoB,GAAQ;AACX,4BAAMC,IAAW,IAAI,KAAK,CAAA,GAAI,EAAE,MAAM,qBAAqB,GACrDC,IAAW,IAAI;AAAA,wBACnB,CAACD,CAAQ;AAAA,wBACT,GAAG5B,CAAmB;AAAA,wBACtB,EAAE,MAAM,oBAAA;AAAA,sBAAoB;AAE9B,6BAAO,QAAQ,QAAQ,IAAI,gBAAgB6B,CAAQ,CAAC;AAAA,oBACtD;AACA,2BAAOF;AAAA,kBACT,GAAA;AAAA,kBACA,iBAAAtB;AAAA,kBACA,WAAAD;AAAA,kBACC,GAAGI;AAAA,gBAAA;AAAA,cAAA;AAAA,YACN;AAAA,UAAA,GAEJ,EAAA,CACF;AAAA,4BACCsB,GAAA,CAAA,CAAc;AAAA,QAAA;AAAA,MAAA;AAAA,IAAA;AAAA,EAGrB;AACF;"}

package/dist/components/robots/ghostStyle.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const n=require("three");function o(t){const r=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(t){for(const e in t)if(e!=="default"){const a=Object.getOwnPropertyDescriptor(t,e);Object.defineProperty(r,e,a.get?a:{enumerable:!0,get:()=>t[e]})}}return r.default=t,Object.freeze(r)}const s=o(n),l=(t,r)=>{t.userData.isGhost||(t.traverse(e=>{if(e instanceof s.Mesh){e.material instanceof s.Material&&(e.material.colorWrite=!1);const a=e.clone(),i=e.clone();a.material=new s.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:-1,side:s.DoubleSide}),a.userData.isGhost=!0,i.material=new s.MeshStandardMaterial({color:r,opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-2,side:s.DoubleSide}),i.userData.isGhost=!0,e.parent&&(e.parent.add(a),e.parent.add(i))}}),t.userData.isGhost=!0)},f=t=>{if(!t.userData.isGhost)return;const r=[];t.traverse(e=>{var a;e instanceof s.Mesh&&((a=e.userData)!=null&&a.isGhost?r.push(e):e.material instanceof s.Material&&(e.material.colorWrite=!0))}),r.forEach(e=>{e.parent&&e.parent.remove(e)}),t.userData.isGhost=!1};exports.applyGhostStyle=l;exports.removeGhostStyle=f;
+//# sourceMappingURL=ghostStyle.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"ghostStyle.cjs","sources":["../../../src/components/robots/ghostStyle.ts"],"sourcesContent":["import * as THREE from \"three\"\n\nexport const applyGhostStyle = (robot: THREE.Group, color: string) => {\n  if (robot.userData.isGhost) return\n\n  robot.traverse((obj) => {\n    if (obj instanceof THREE.Mesh) {\n      if (obj.material instanceof THREE.Material) {\n        obj.material.colorWrite = false\n      }\n\n      // Create a clone of the mesh\n      const depth = obj.clone()\n      const ghost = obj.clone()\n\n      depth.material = new THREE.MeshStandardMaterial({\n        depthTest: true,\n        depthWrite: true,\n        colorWrite: false,\n        polygonOffset: true,\n        polygonOffsetFactor: -1,\n        side: THREE.DoubleSide,\n      })\n      depth.userData.isGhost = true\n\n      // Set the material for the ghost mesh\n      ghost.material = new THREE.MeshStandardMaterial({\n        color: color,\n        opacity: 0.3,\n        depthTest: true,\n        depthWrite: false,\n        transparent: true,\n        polygonOffset: true,\n        polygonOffsetFactor: -2,\n        side: THREE.DoubleSide,\n      })\n      ghost.userData.isGhost = true\n\n      if (obj.parent) {\n        obj.parent.add(depth)\n        obj.parent.add(ghost)\n      }\n    }\n  })\n\n  robot.userData.isGhost = true\n}\n\nexport const removeGhostStyle = (robot: THREE.Group) => {\n  if (!robot.userData.isGhost) return\n\n  const objectsToRemove: THREE.Object3D[] = []\n\n  robot.traverse((obj) => {\n    if (obj instanceof THREE.Mesh) {\n      if (obj.userData?.isGhost) {\n        objectsToRemove.push(obj)\n      } else if (obj.material instanceof THREE.Material) {\n        obj.material.colorWrite = true\n      }\n    }\n  })\n\n  objectsToRemove.forEach((obj) => {\n    if (obj.parent) {\n      obj.parent.remove(obj)\n    }\n  })\n\n  robot.userData.isGhost = false\n}\n"],"names":["applyGhostStyle","robot","color","obj","THREE","depth","ghost","removeGhostStyle","objectsToRemove","_a"],"mappings":"mYAEaA,EAAkB,CAACC,EAAoBC,IAAkB,CAChED,EAAM,SAAS,UAEnBA,EAAM,SAAUE,GAAQ,CACtB,GAAIA,aAAeC,EAAM,KAAM,CACzBD,EAAI,oBAAoBC,EAAM,WAChCD,EAAI,SAAS,WAAa,IAI5B,MAAME,EAAQF,EAAI,MAAA,EACZG,EAAQH,EAAI,MAAA,EAElBE,EAAM,SAAW,IAAID,EAAM,qBAAqB,CAC9C,UAAW,GACX,WAAY,GACZ,WAAY,GACZ,cAAe,GACf,oBAAqB,GACrB,KAAMA,EAAM,UAAA,CACb,EACDC,EAAM,SAAS,QAAU,GAGzBC,EAAM,SAAW,IAAIF,EAAM,qBAAqB,CAC9C,MAAAF,EACA,QAAS,GACT,UAAW,GACX,WAAY,GACZ,YAAa,GACb,cAAe,GACf,oBAAqB,GACrB,KAAME,EAAM,UAAA,CACb,EACDE,EAAM,SAAS,QAAU,GAErBH,EAAI,SACNA,EAAI,OAAO,IAAIE,CAAK,EACpBF,EAAI,OAAO,IAAIG,CAAK,EAExB,CACF,CAAC,EAEDL,EAAM,SAAS,QAAU,GAC3B,EAEaM,EAAoBN,GAAuB,CACtD,GAAI,CAACA,EAAM,SAAS,QAAS,OAE7B,MAAMO,EAAoC,CAAA,EAE1CP,EAAM,SAAUE,GAAQ,OAClBA,aAAeC,EAAM,QACnBK,EAAAN,EAAI,WAAJ,MAAAM,EAAc,QAChBD,EAAgB,KAAKL,CAAG,EACfA,EAAI,oBAAoBC,EAAM,WACvCD,EAAI,SAAS,WAAa,IAGhC,CAAC,EAEDK,EAAgB,QAASL,GAAQ,CAC3BA,EAAI,QACNA,EAAI,OAAO,OAAOA,CAAG,CAEzB,CAAC,EAEDF,EAAM,SAAS,QAAU,EAC3B"}

package/dist/components/robots/ghostStyle.js

@@ -0,0 +1,40 @@
+import * as t from "three";
+const n = (a, s) => {
+  a.userData.isGhost || (a.traverse((e) => {
+    if (e instanceof t.Mesh) {
+      e.material instanceof t.Material && (e.material.colorWrite = !1);
+      const r = e.clone(), i = e.clone();
+      r.material = new t.MeshStandardMaterial({
+        depthTest: !0,
+        depthWrite: !0,
+        colorWrite: !1,
+        polygonOffset: !0,
+        polygonOffsetFactor: -1,
+        side: t.DoubleSide
+      }), r.userData.isGhost = !0, i.material = new t.MeshStandardMaterial({
+        color: s,
+        opacity: 0.3,
+        depthTest: !0,
+        depthWrite: !1,
+        transparent: !0,
+        polygonOffset: !0,
+        polygonOffsetFactor: -2,
+        side: t.DoubleSide
+      }), i.userData.isGhost = !0, e.parent && (e.parent.add(r), e.parent.add(i));
+    }
+  }), a.userData.isGhost = !0);
+}, l = (a) => {
+  if (!a.userData.isGhost) return;
+  const s = [];
+  a.traverse((e) => {
+    var r;
+    e instanceof t.Mesh && ((r = e.userData) != null && r.isGhost ? s.push(e) : e.material instanceof t.Material && (e.material.colorWrite = !0));
+  }), s.forEach((e) => {
+    e.parent && e.parent.remove(e);
+  }), a.userData.isGhost = !1;
+};
+export {
+  n as applyGhostStyle,
+  l as removeGhostStyle
+};
+//# sourceMappingURL=ghostStyle.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"ghostStyle.js","sources":["../../../src/components/robots/ghostStyle.ts"],"sourcesContent":["import * as THREE from \"three\"\n\nexport const applyGhostStyle = (robot: THREE.Group, color: string) => {\n  if (robot.userData.isGhost) return\n\n  robot.traverse((obj) => {\n    if (obj instanceof THREE.Mesh) {\n      if (obj.material instanceof THREE.Material) {\n        obj.material.colorWrite = false\n      }\n\n      // Create a clone of the mesh\n      const depth = obj.clone()\n      const ghost = obj.clone()\n\n      depth.material = new THREE.MeshStandardMaterial({\n        depthTest: true,\n        depthWrite: true,\n        colorWrite: false,\n        polygonOffset: true,\n        polygonOffsetFactor: -1,\n        side: THREE.DoubleSide,\n      })\n      depth.userData.isGhost = true\n\n      // Set the material for the ghost mesh\n      ghost.material = new THREE.MeshStandardMaterial({\n        color: color,\n        opacity: 0.3,\n        depthTest: true,\n        depthWrite: false,\n        transparent: true,\n        polygonOffset: true,\n        polygonOffsetFactor: -2,\n        side: THREE.DoubleSide,\n      })\n      ghost.userData.isGhost = true\n\n      if (obj.parent) {\n        obj.parent.add(depth)\n        obj.parent.add(ghost)\n      }\n    }\n  })\n\n  robot.userData.isGhost = true\n}\n\nexport const removeGhostStyle = (robot: THREE.Group) => {\n  if (!robot.userData.isGhost) return\n\n  const objectsToRemove: THREE.Object3D[] = []\n\n  robot.traverse((obj) => {\n    if (obj instanceof THREE.Mesh) {\n      if (obj.userData?.isGhost) {\n        objectsToRemove.push(obj)\n      } else if (obj.material instanceof THREE.Material) {\n        obj.material.colorWrite = true\n      }\n    }\n  })\n\n  objectsToRemove.forEach((obj) => {\n    if (obj.parent) {\n      obj.parent.remove(obj)\n    }\n  })\n\n  robot.userData.isGhost = false\n}\n"],"names":["applyGhostStyle","robot","color","obj","THREE","depth","ghost","removeGhostStyle","objectsToRemove","_a"],"mappings":";AAEO,MAAMA,IAAkB,CAACC,GAAoBC,MAAkB;AACpE,EAAID,EAAM,SAAS,YAEnBA,EAAM,SAAS,CAACE,MAAQ;AACtB,QAAIA,aAAeC,EAAM,MAAM;AAC7B,MAAID,EAAI,oBAAoBC,EAAM,aAChCD,EAAI,SAAS,aAAa;AAI5B,YAAME,IAAQF,EAAI,MAAA,GACZG,IAAQH,EAAI,MAAA;AAElB,MAAAE,EAAM,WAAW,IAAID,EAAM,qBAAqB;AAAA,QAC9C,WAAW;AAAA,QACX,YAAY;AAAA,QACZ,YAAY;AAAA,QACZ,eAAe;AAAA,QACf,qBAAqB;AAAA,QACrB,MAAMA,EAAM;AAAA,MAAA,CACb,GACDC,EAAM,SAAS,UAAU,IAGzBC,EAAM,WAAW,IAAIF,EAAM,qBAAqB;AAAA,QAC9C,OAAAF;AAAA,QACA,SAAS;AAAA,QACT,WAAW;AAAA,QACX,YAAY;AAAA,QACZ,aAAa;AAAA,QACb,eAAe;AAAA,QACf,qBAAqB;AAAA,QACrB,MAAME,EAAM;AAAA,MAAA,CACb,GACDE,EAAM,SAAS,UAAU,IAErBH,EAAI,WACNA,EAAI,OAAO,IAAIE,CAAK,GACpBF,EAAI,OAAO,IAAIG,CAAK;AAAA,IAExB;AAAA,EACF,CAAC,GAEDL,EAAM,SAAS,UAAU;AAC3B,GAEaM,IAAmB,CAACN,MAAuB;AACtD,MAAI,CAACA,EAAM,SAAS,QAAS;AAE7B,QAAMO,IAAoC,CAAA;AAE1C,EAAAP,EAAM,SAAS,CAACE,MAAQ;;AACtB,IAAIA,aAAeC,EAAM,UACnBK,IAAAN,EAAI,aAAJ,QAAAM,EAAc,UAChBD,EAAgB,KAAKL,CAAG,IACfA,EAAI,oBAAoBC,EAAM,aACvCD,EAAI,SAAS,aAAa;AAAA,EAGhC,CAAC,GAEDK,EAAgB,QAAQ,CAACL,MAAQ;AAC/B,IAAIA,EAAI,UACNA,EAAI,OAAO,OAAOA,CAAG;AAAA,EAEzB,CAAC,GAEDF,EAAM,SAAS,UAAU;AAC3B;"}

package/dist/components/robots/manufacturerHomePositions.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const a=require("@wandelbots/nova-js/v2"),e={[a.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[a.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[a.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[a.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[a.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0]};function n(t){const[r]=t.split("_");switch(r){case"ABB":return a.Manufacturer.Abb;case"FANUC":return a.Manufacturer.Fanuc;case"YASKAWA":return a.Manufacturer.Yaskawa;case"KUKA":return a.Manufacturer.Kuka;case"UniversalRobots":return a.Manufacturer.Universalrobots;default:return null}}function c(t,r){const u=n(t);return u&&u in e?e[u]:r||null}exports.MANUFACTURER_HOME_CONFIGS=e;exports.extractManufacturer=n;exports.getDefaultHomeConfig=c;
+//# sourceMappingURL=manufacturerHomePositions.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"manufacturerHomePositions.cjs","sources":["../../../src/components/robots/manufacturerHomePositions.ts"],"sourcesContent":["import { Manufacturer } from \"@wandelbots/nova-js/v2\"\n\n/**\n * Default home configs for different robot manufacturers.\n * These joint configurations represent safe home configs for each manufacturer's robots.\n * All angles are in radians.\n */\nexport const MANUFACTURER_HOME_CONFIGS: Record<Manufacturer, number[]> = {\n  [Manufacturer.Abb]: [0.0, 0.0, 0.0, 0.0, Math.PI / 2, 0.0, 0.0],\n  [Manufacturer.Fanuc]: [0.0, 0.0, 0.0, 0.0, -Math.PI / 2, 0.0, 0.0],\n  [Manufacturer.Yaskawa]: [0.0, 0.0, 0.0, 0.0, -Math.PI / 2, 0.0, 0.0],\n  [Manufacturer.Kuka]: [\n    0.0,\n    -Math.PI / 2,\n    Math.PI / 2,\n    0.0,\n    Math.PI / 2,\n    0.0,\n    0.0,\n  ],\n  [Manufacturer.Universalrobots]: [\n    0.0,\n    -Math.PI / 2,\n    -Math.PI / 2,\n    -Math.PI / 2,\n    Math.PI / 2,\n    -Math.PI / 2,\n    0.0,\n  ],\n}\n\n/**\n * Extracts manufacturer from modelFromController string.\n * @param modelFromController - String in format \"Manufacturer_ModelName\"\n * @returns Manufacturer enum value or null if not recognized\n */\nexport function extractManufacturer(\n  modelFromController: string,\n): Manufacturer | null {\n  const [manufacturerString] = modelFromController.split(\"_\")\n\n  // Handle the mapping from string to enum\n  switch (manufacturerString) {\n    case \"ABB\":\n      return Manufacturer.Abb\n    case \"FANUC\":\n      return Manufacturer.Fanuc\n    case \"YASKAWA\":\n      return Manufacturer.Yaskawa\n    case \"KUKA\":\n      return Manufacturer.Kuka\n    case \"UniversalRobots\":\n      return Manufacturer.Universalrobots\n    default:\n      return null\n  }\n}\n\n/**\n * Gets the default home config for a robot based on its model identifier.\n * @param modelFromController - String in format \"Manufacturer_ModelName\"\n * @param defaultJointConfig - Optional custom default configuration to use if manufacturer not found\n * @returns Array of joint positions in radians, or null if no configuration available\n */\nexport function getDefaultHomeConfig(\n  modelFromController: string,\n  defaultJointConfig?: number[],\n): number[] | null {\n  const manufacturer = extractManufacturer(modelFromController)\n\n  if (manufacturer && manufacturer in MANUFACTURER_HOME_CONFIGS) {\n    return MANUFACTURER_HOME_CONFIGS[manufacturer]\n  }\n\n  return defaultJointConfig || null\n}\n"],"names":["MANUFACTURER_HOME_CONFIGS","Manufacturer","extractManufacturer","modelFromController","manufacturerString","getDefaultHomeConfig","defaultJointConfig","manufacturer"],"mappings":"0HAOaA,EAA4D,CACvE,CAACC,eAAa,GAAG,EAAG,CAAC,EAAK,EAAK,EAAK,EAAK,KAAK,GAAK,EAAG,EAAK,CAAG,EAC9D,CAACA,EAAAA,aAAa,KAAK,EAAG,CAAC,EAAK,EAAK,EAAK,EAAK,CAAC,KAAK,GAAK,EAAG,EAAK,CAAG,EACjE,CAACA,EAAAA,aAAa,OAAO,EAAG,CAAC,EAAK,EAAK,EAAK,EAAK,CAAC,KAAK,GAAK,EAAG,EAAK,CAAG,EACnE,CAACA,EAAAA,aAAa,IAAI,EAAG,CACnB,EACA,CAAC,KAAK,GAAK,EACX,KAAK,GAAK,EACV,EACA,KAAK,GAAK,EACV,EACA,CAAA,EAEF,CAACA,EAAAA,aAAa,eAAe,EAAG,CAC9B,EACA,CAAC,KAAK,GAAK,EACX,CAAC,KAAK,GAAK,EACX,CAAC,KAAK,GAAK,EACX,KAAK,GAAK,EACV,CAAC,KAAK,GAAK,EACX,CAAA,CAEJ,EAOO,SAASC,EACdC,EACqB,CACrB,KAAM,CAACC,CAAkB,EAAID,EAAoB,MAAM,GAAG,EAG1D,OAAQC,EAAA,CACN,IAAK,MACH,OAAOH,EAAAA,aAAa,IACtB,IAAK,QACH,OAAOA,EAAAA,aAAa,MACtB,IAAK,UACH,OAAOA,EAAAA,aAAa,QACtB,IAAK,OACH,OAAOA,EAAAA,aAAa,KACtB,IAAK,kBACH,OAAOA,EAAAA,aAAa,gBACtB,QACE,OAAO,IAAA,CAEb,CAQO,SAASI,EACdF,EACAG,EACiB,CACjB,MAAMC,EAAeL,EAAoBC,CAAmB,EAE5D,OAAII,GAAgBA,KAAgBP,EAC3BA,EAA0BO,CAAY,EAGxCD,GAAsB,IAC/B"}

package/dist/components/robots/manufacturerHomePositions.js

@@ -0,0 +1,51 @@
+import { Manufacturer as t } from "@wandelbots/nova-js/v2";
+const e = {
+  [t.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
+  [t.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [t.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [t.Kuka]: [
+    0,
+    -Math.PI / 2,
+    Math.PI / 2,
+    0,
+    Math.PI / 2,
+    0,
+    0
+  ],
+  [t.Universalrobots]: [
+    0,
+    -Math.PI / 2,
+    -Math.PI / 2,
+    -Math.PI / 2,
+    Math.PI / 2,
+    -Math.PI / 2,
+    0
+  ]
+};
+function u(a) {
+  const [r] = a.split("_");
+  switch (r) {
+    case "ABB":
+      return t.Abb;
+    case "FANUC":
+      return t.Fanuc;
+    case "YASKAWA":
+      return t.Yaskawa;
+    case "KUKA":
+      return t.Kuka;
+    case "UniversalRobots":
+      return t.Universalrobots;
+    default:
+      return null;
+  }
+}
+function s(a, r) {
+  const n = u(a);
+  return n && n in e ? e[n] : r || null;
+}
+export {
+  e as MANUFACTURER_HOME_CONFIGS,
+  u as extractManufacturer,
+  s as getDefaultHomeConfig
+};
+//# sourceMappingURL=manufacturerHomePositions.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"manufacturerHomePositions.js","sources":["../../../src/components/robots/manufacturerHomePositions.ts"],"sourcesContent":["import { Manufacturer } from \"@wandelbots/nova-js/v2\"\n\n/**\n * Default home configs for different robot manufacturers.\n * These joint configurations represent safe home configs for each manufacturer's robots.\n * All angles are in radians.\n */\nexport const MANUFACTURER_HOME_CONFIGS: Record<Manufacturer, number[]> = {\n  [Manufacturer.Abb]: [0.0, 0.0, 0.0, 0.0, Math.PI / 2, 0.0, 0.0],\n  [Manufacturer.Fanuc]: [0.0, 0.0, 0.0, 0.0, -Math.PI / 2, 0.0, 0.0],\n  [Manufacturer.Yaskawa]: [0.0, 0.0, 0.0, 0.0, -Math.PI / 2, 0.0, 0.0],\n  [Manufacturer.Kuka]: [\n    0.0,\n    -Math.PI / 2,\n    Math.PI / 2,\n    0.0,\n    Math.PI / 2,\n    0.0,\n    0.0,\n  ],\n  [Manufacturer.Universalrobots]: [\n    0.0,\n    -Math.PI / 2,\n    -Math.PI / 2,\n    -Math.PI / 2,\n    Math.PI / 2,\n    -Math.PI / 2,\n    0.0,\n  ],\n}\n\n/**\n * Extracts manufacturer from modelFromController string.\n * @param modelFromController - String in format \"Manufacturer_ModelName\"\n * @returns Manufacturer enum value or null if not recognized\n */\nexport function extractManufacturer(\n  modelFromController: string,\n): Manufacturer | null {\n  const [manufacturerString] = modelFromController.split(\"_\")\n\n  // Handle the mapping from string to enum\n  switch (manufacturerString) {\n    case \"ABB\":\n      return Manufacturer.Abb\n    case \"FANUC\":\n      return Manufacturer.Fanuc\n    case \"YASKAWA\":\n      return Manufacturer.Yaskawa\n    case \"KUKA\":\n      return Manufacturer.Kuka\n    case \"UniversalRobots\":\n      return Manufacturer.Universalrobots\n    default:\n      return null\n  }\n}\n\n/**\n * Gets the default home config for a robot based on its model identifier.\n * @param modelFromController - String in format \"Manufacturer_ModelName\"\n * @param defaultJointConfig - Optional custom default configuration to use if manufacturer not found\n * @returns Array of joint positions in radians, or null if no configuration available\n */\nexport function getDefaultHomeConfig(\n  modelFromController: string,\n  defaultJointConfig?: number[],\n): number[] | null {\n  const manufacturer = extractManufacturer(modelFromController)\n\n  if (manufacturer && manufacturer in MANUFACTURER_HOME_CONFIGS) {\n    return MANUFACTURER_HOME_CONFIGS[manufacturer]\n  }\n\n  return defaultJointConfig || null\n}\n"],"names":["MANUFACTURER_HOME_CONFIGS","Manufacturer","extractManufacturer","modelFromController","manufacturerString","getDefaultHomeConfig","defaultJointConfig","manufacturer"],"mappings":";AAOO,MAAMA,IAA4D;AAAA,EACvE,CAACC,EAAa,GAAG,GAAG,CAAC,GAAK,GAAK,GAAK,GAAK,KAAK,KAAK,GAAG,GAAK,CAAG;AAAA,EAC9D,CAACA,EAAa,KAAK,GAAG,CAAC,GAAK,GAAK,GAAK,GAAK,CAAC,KAAK,KAAK,GAAG,GAAK,CAAG;AAAA,EACjE,CAACA,EAAa,OAAO,GAAG,CAAC,GAAK,GAAK,GAAK,GAAK,CAAC,KAAK,KAAK,GAAG,GAAK,CAAG;AAAA,EACnE,CAACA,EAAa,IAAI,GAAG;AAAA,IACnB;AAAA,IACA,CAAC,KAAK,KAAK;AAAA,IACX,KAAK,KAAK;AAAA,IACV;AAAA,IACA,KAAK,KAAK;AAAA,IACV;AAAA,IACA;AAAA,EAAA;AAAA,EAEF,CAACA,EAAa,eAAe,GAAG;AAAA,IAC9B;AAAA,IACA,CAAC,KAAK,KAAK;AAAA,IACX,CAAC,KAAK,KAAK;AAAA,IACX,CAAC,KAAK,KAAK;AAAA,IACX,KAAK,KAAK;AAAA,IACV,CAAC,KAAK,KAAK;AAAA,IACX;AAAA,EAAA;AAEJ;AAOO,SAASC,EACdC,GACqB;AACrB,QAAM,CAACC,CAAkB,IAAID,EAAoB,MAAM,GAAG;AAG1D,UAAQC,GAAA;AAAA,IACN,KAAK;AACH,aAAOH,EAAa;AAAA,IACtB,KAAK;AACH,aAAOA,EAAa;AAAA,IACtB,KAAK;AACH,aAAOA,EAAa;AAAA,IACtB,KAAK;AACH,aAAOA,EAAa;AAAA,IACtB,KAAK;AACH,aAAOA,EAAa;AAAA,IACtB;AACE,aAAO;AAAA,EAAA;AAEb;AAQO,SAASI,EACdF,GACAG,GACiB;AACjB,QAAMC,IAAeL,EAAoBC,CAAmB;AAE5D,SAAII,KAAgBA,KAAgBP,IAC3BA,EAA0BO,CAAY,IAGxCD,KAAsB;AAC/B;"}

package/dist/components/robots/robotModelLogic.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const d=require("@wandelbots/nova-js/v2"),l=new Map;async function p(t,r){if(l.has(t))return l.get(t);const e=(async()=>{var c;const i=r||"",n=new d.NovaClient({instanceUrl:i}),u=n.api.motionGroupModels;(c=u.axios)!=null&&c.interceptors&&u.axios.interceptors.request.use(o=>{var s;return(s=o.url)!=null&&s.includes("/glb")&&(o.responseType="blob"),o});try{const o=await n.api.motionGroupModels.getMotionGroupGlbModel(t);return URL.createObjectURL(o)}catch(o){throw console.error("Failed to fetch model:",o),o}})();return l.set(t,e),e}function g(t){function r(e){return e.children.length===0?[e]:[e,...e.children.flatMap(i=>r(i))]}return r(t).filter(e=>a(e))}function f(t){return t.name.endsWith("_FLG")}function a(t){return/_J[0-9]+$/.test(t.name)}function h(t,r){let e;function i(n){if(f(n)){if(e)throw Error(`Found multiple flange groups in robot model ${r}; first ${e.name} then ${n.name}. Only one _FLG group is allowed.`);e=n}a(n),n.children.map(i)}if(i(t.scene),!e)throw Error(`No flange group found in robot model ${r}. Flange must be identified with a name ending in _FLG.`);return{gltf:t}}exports.collectJoints=g;exports.defaultGetModel=p;exports.isFlange=f;exports.isJoint=a;exports.parseRobotModel=h;
+//# sourceMappingURL=robotModelLogic.cjs.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"robotModelLogic.cjs","sources":["../../../src/components/robots/robotModelLogic.ts"],"sourcesContent":["import { NovaClient } from \"@wandelbots/nova-js/v2\"\nimport type { Object3D } from \"three\"\nimport type { GLTF } from \"three-stdlib\"\n\nconst modelCache = new Map<string, Promise<string>>()\n\n/**\n * Revoke a cached model's object URL to prevent memory leaks.\n * Call this when a component unmounts or no longer needs the model.\n */\nexport async function revokeModelUrl(\n  modelFromController: string,\n): Promise<void> {\n  const urlPromise = modelCache.get(modelFromController)\n  if (!urlPromise) return\n\n  try {\n    const url = await urlPromise\n    URL.revokeObjectURL(url)\n  } catch (e) {\n    // Ignore errors - URL may already be revoked\n  }\n  modelCache.delete(modelFromController)\n}\n\n/**\n * Revoke all cached model object URLs and clear the cache.\n * Useful for cleanup on app teardown.\n */\nexport async function revokeAllModelUrls(): Promise<void> {\n  const entries = Array.from(modelCache.entries())\n  await Promise.allSettled(\n    entries.map(async ([key, urlPromise]) => {\n      try {\n        const url = await urlPromise\n        URL.revokeObjectURL(url)\n      } catch (e) {\n        // Ignore errors\n      }\n    }),\n  )\n  modelCache.clear()\n}\n\nexport async function defaultGetModel(\n  modelFromController: string,\n  instanceUrlProp?: string,\n): Promise<string> {\n  // Check cache first\n  if (modelCache.has(modelFromController)) {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    return modelCache.get(modelFromController)!\n  }\n\n  // Create the promise and cache it immediately to prevent duplicate calls\n  const modelPromise = (async () => {\n    const instanceUrl = instanceUrlProp || import.meta.env.WANDELAPI_BASE_URL\n    const nova = new NovaClient({ instanceUrl })\n\n    // Configure axios to handle binary responses for GLB files\n    // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n    const apiInstance = nova.api.motionGroupModels as any\n    if (apiInstance.axios?.interceptors) {\n      // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n      apiInstance.axios.interceptors.request.use((config: any) => {\n        if (config.url?.includes(\"/glb\")) {\n          config.responseType = \"blob\"\n        }\n        return config\n      })\n    }\n\n    try {\n      const file =\n        await nova.api.motionGroupModels.getMotionGroupGlbModel(\n          modelFromController,\n        )\n\n      // Create object URL from the file and return it\n      const url = URL.createObjectURL(file)\n      return url\n    } catch (error) {\n      console.error(\"Failed to fetch model:\", error)\n      throw error\n    }\n  })()\n\n  // Cache the promise\n  modelCache.set(modelFromController, modelPromise)\n  return modelPromise\n}\n\n/**\n * Finds all the joint groups in a GLTF tree, as identified\n * by the _Jxx name ending convention.\n */\nexport function collectJoints(rootObject: Object3D): Object3D[] {\n  function getAllObjects(root: Object3D): Object3D[] {\n    if (root.children.length === 0) {\n      return [root]\n    }\n    return [root, ...root.children.flatMap((child) => getAllObjects(child))]\n  }\n\n  return getAllObjects(rootObject).filter((o) => isJoint(o))\n}\n\n/**\n * Checks if a specified threejs object represents the flange of a\n * robot, based on the _FLG name ending convention.\n */\nexport function isFlange(node: Object3D) {\n  return node.name.endsWith(\"_FLG\")\n}\n\n/**\n * Checks if a specified threejs object represents a joint of a\n * robot, based on the _Jxx name ending convention.\n */\nexport function isJoint(node: Object3D) {\n  return /_J[0-9]+$/.test(node.name)\n}\n\n/**\n * Validates that the loaded GLTF file has six joints and a flange group.\n */\nexport function parseRobotModel(gltf: GLTF, filename: string): { gltf: GLTF } {\n  let flange: Object3D | undefined\n  const joints: Object3D[] = []\n\n  function parseNode(node: Object3D) {\n    if (isFlange(node)) {\n      if (flange) {\n        throw Error(\n          `Found multiple flange groups in robot model ${filename}; first ${flange.name} then ${node.name}. Only one _FLG group is allowed.`,\n        )\n      }\n\n      flange = node\n    }\n\n    if (isJoint(node)) {\n      joints.push(node)\n    }\n\n    node.children.map(parseNode)\n  }\n\n  parseNode(gltf.scene)\n\n  if (!flange) {\n    throw Error(\n      `No flange group found in robot model ${filename}. Flange must be identified with a name ending in _FLG.`,\n    )\n  }\n\n  return { gltf }\n}\n"],"names":["modelCache","defaultGetModel","modelFromController","instanceUrlProp","modelPromise","instanceUrl","nova","NovaClient","apiInstance","_a","config","file","error","collectJoints","rootObject","getAllObjects","root","child","o","isJoint","isFlange","node","parseRobotModel","gltf","filename","flange","parseNode"],"mappings":"0HAIMA,MAAiB,IAwCvB,eAAsBC,EACpBC,EACAC,EACiB,CAEjB,GAAIH,EAAW,IAAIE,CAAmB,EAEpC,OAAOF,EAAW,IAAIE,CAAmB,EAI3C,MAAME,GAAgB,SAAY,OAChC,MAAMC,EAAcF,GAAmB,GACjCG,EAAO,IAAIC,aAAW,CAAE,YAAAF,EAAa,EAIrCG,EAAcF,EAAK,IAAI,mBACzBG,EAAAD,EAAY,QAAZ,MAAAC,EAAmB,cAErBD,EAAY,MAAM,aAAa,QAAQ,IAAKE,GAAgB,OAC1D,OAAID,EAAAC,EAAO,MAAP,MAAAD,EAAY,SAAS,UACvBC,EAAO,aAAe,QAEjBA,CACT,CAAC,EAGH,GAAI,CACF,MAAMC,EACJ,MAAML,EAAK,IAAI,kBAAkB,uBAC/BJ,CAAA,EAKJ,OADY,IAAI,gBAAgBS,CAAI,CAEtC,OAASC,EAAO,CACd,cAAQ,MAAM,yBAA0BA,CAAK,EACvCA,CACR,CACF,GAAA,EAGA,OAAAZ,EAAW,IAAIE,EAAqBE,CAAY,EACzCA,CACT,CAMO,SAASS,EAAcC,EAAkC,CAC9D,SAASC,EAAcC,EAA4B,CACjD,OAAIA,EAAK,SAAS,SAAW,EACpB,CAACA,CAAI,EAEP,CAACA,EAAM,GAAGA,EAAK,SAAS,QAASC,GAAUF,EAAcE,CAAK,CAAC,CAAC,CACzE,CAEA,OAAOF,EAAcD,CAAU,EAAE,OAAQI,GAAMC,EAAQD,CAAC,CAAC,CAC3D,CAMO,SAASE,EAASC,EAAgB,CACvC,OAAOA,EAAK,KAAK,SAAS,MAAM,CAClC,CAMO,SAASF,EAAQE,EAAgB,CACtC,MAAO,YAAY,KAAKA,EAAK,IAAI,CACnC,CAKO,SAASC,EAAgBC,EAAYC,EAAkC,CAC5E,IAAIC,EAGJ,SAASC,EAAUL,EAAgB,CACjC,GAAID,EAASC,CAAI,EAAG,CAClB,GAAII,EACF,MAAM,MACJ,+CAA+CD,CAAQ,WAAWC,EAAO,IAAI,SAASJ,EAAK,IAAI,mCAAA,EAInGI,EAASJ,CACX,CAEIF,EAAQE,CAAI,EAIhBA,EAAK,SAAS,IAAIK,CAAS,CAC7B,CAIA,GAFAA,EAAUH,EAAK,KAAK,EAEhB,CAACE,EACH,MAAM,MACJ,wCAAwCD,CAAQ,yDAAA,EAIpD,MAAO,CAAE,KAAAD,CAAA,CACX"}

package/dist/components/robots/robotModelLogic.js

@@ -0,0 +1,61 @@
+import { NovaClient as f } from "@wandelbots/nova-js/v2";
+const a = /* @__PURE__ */ new Map();
+async function h(n, i) {
+  if (a.has(n))
+    return a.get(n);
+  const e = (async () => {
+    var c;
+    const o = i || "", t = new f({ instanceUrl: o }), u = t.api.motionGroupModels;
+    (c = u.axios) != null && c.interceptors && u.axios.interceptors.request.use((r) => {
+      var s;
+      return (s = r.url) != null && s.includes("/glb") && (r.responseType = "blob"), r;
+    });
+    try {
+      const r = await t.api.motionGroupModels.getMotionGroupGlbModel(
+        n
+      );
+      return URL.createObjectURL(r);
+    } catch (r) {
+      throw console.error("Failed to fetch model:", r), r;
+    }
+  })();
+  return a.set(n, e), e;
+}
+function g(n) {
+  function i(e) {
+    return e.children.length === 0 ? [e] : [e, ...e.children.flatMap((o) => i(o))];
+  }
+  return i(n).filter((e) => l(e));
+}
+function p(n) {
+  return n.name.endsWith("_FLG");
+}
+function l(n) {
+  return /_J[0-9]+$/.test(n.name);
+}
+function m(n, i) {
+  let e;
+  function o(t) {
+    if (p(t)) {
+      if (e)
+        throw Error(
+          `Found multiple flange groups in robot model ${i}; first ${e.name} then ${t.name}. Only one _FLG group is allowed.`
+        );
+      e = t;
+    }
+    l(t), t.children.map(o);
+  }
+  if (o(n.scene), !e)
+    throw Error(
+      `No flange group found in robot model ${i}. Flange must be identified with a name ending in _FLG.`
+    );
+  return { gltf: n };
+}
+export {
+  g as collectJoints,
+  h as defaultGetModel,
+  p as isFlange,
+  l as isJoint,
+  m as parseRobotModel
+};
+//# sourceMappingURL=robotModelLogic.js.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"robotModelLogic.js","sources":["../../../src/components/robots/robotModelLogic.ts"],"sourcesContent":["import { NovaClient } from \"@wandelbots/nova-js/v2\"\nimport type { Object3D } from \"three\"\nimport type { GLTF } from \"three-stdlib\"\n\nconst modelCache = new Map<string, Promise<string>>()\n\n/**\n * Revoke a cached model's object URL to prevent memory leaks.\n * Call this when a component unmounts or no longer needs the model.\n */\nexport async function revokeModelUrl(\n  modelFromController: string,\n): Promise<void> {\n  const urlPromise = modelCache.get(modelFromController)\n  if (!urlPromise) return\n\n  try {\n    const url = await urlPromise\n    URL.revokeObjectURL(url)\n  } catch (e) {\n    // Ignore errors - URL may already be revoked\n  }\n  modelCache.delete(modelFromController)\n}\n\n/**\n * Revoke all cached model object URLs and clear the cache.\n * Useful for cleanup on app teardown.\n */\nexport async function revokeAllModelUrls(): Promise<void> {\n  const entries = Array.from(modelCache.entries())\n  await Promise.allSettled(\n    entries.map(async ([key, urlPromise]) => {\n      try {\n        const url = await urlPromise\n        URL.revokeObjectURL(url)\n      } catch (e) {\n        // Ignore errors\n      }\n    }),\n  )\n  modelCache.clear()\n}\n\nexport async function defaultGetModel(\n  modelFromController: string,\n  instanceUrlProp?: string,\n): Promise<string> {\n  // Check cache first\n  if (modelCache.has(modelFromController)) {\n    // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n    return modelCache.get(modelFromController)!\n  }\n\n  // Create the promise and cache it immediately to prevent duplicate calls\n  const modelPromise = (async () => {\n    const instanceUrl = instanceUrlProp || import.meta.env.WANDELAPI_BASE_URL\n    const nova = new NovaClient({ instanceUrl })\n\n    // Configure axios to handle binary responses for GLB files\n    // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n    const apiInstance = nova.api.motionGroupModels as any\n    if (apiInstance.axios?.interceptors) {\n      // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n      apiInstance.axios.interceptors.request.use((config: any) => {\n        if (config.url?.includes(\"/glb\")) {\n          config.responseType = \"blob\"\n        }\n        return config\n      })\n    }\n\n    try {\n      const file =\n        await nova.api.motionGroupModels.getMotionGroupGlbModel(\n          modelFromController,\n        )\n\n      // Create object URL from the file and return it\n      const url = URL.createObjectURL(file)\n      return url\n    } catch (error) {\n      console.error(\"Failed to fetch model:\", error)\n      throw error\n    }\n  })()\n\n  // Cache the promise\n  modelCache.set(modelFromController, modelPromise)\n  return modelPromise\n}\n\n/**\n * Finds all the joint groups in a GLTF tree, as identified\n * by the _Jxx name ending convention.\n */\nexport function collectJoints(rootObject: Object3D): Object3D[] {\n  function getAllObjects(root: Object3D): Object3D[] {\n    if (root.children.length === 0) {\n      return [root]\n    }\n    return [root, ...root.children.flatMap((child) => getAllObjects(child))]\n  }\n\n  return getAllObjects(rootObject).filter((o) => isJoint(o))\n}\n\n/**\n * Checks if a specified threejs object represents the flange of a\n * robot, based on the _FLG name ending convention.\n */\nexport function isFlange(node: Object3D) {\n  return node.name.endsWith(\"_FLG\")\n}\n\n/**\n * Checks if a specified threejs object represents a joint of a\n * robot, based on the _Jxx name ending convention.\n */\nexport function isJoint(node: Object3D) {\n  return /_J[0-9]+$/.test(node.name)\n}\n\n/**\n * Validates that the loaded GLTF file has six joints and a flange group.\n */\nexport function parseRobotModel(gltf: GLTF, filename: string): { gltf: GLTF } {\n  let flange: Object3D | undefined\n  const joints: Object3D[] = []\n\n  function parseNode(node: Object3D) {\n    if (isFlange(node)) {\n      if (flange) {\n        throw Error(\n          `Found multiple flange groups in robot model ${filename}; first ${flange.name} then ${node.name}. Only one _FLG group is allowed.`,\n        )\n      }\n\n      flange = node\n    }\n\n    if (isJoint(node)) {\n      joints.push(node)\n    }\n\n    node.children.map(parseNode)\n  }\n\n  parseNode(gltf.scene)\n\n  if (!flange) {\n    throw Error(\n      `No flange group found in robot model ${filename}. 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package/dist/components/safetyBar/ControllerTypeIndicator.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const e=require("react/jsx-runtime"),y=require("@mui/material/styles"),d=require("mobx-react-lite"),x=require("react"),o=require("react-i18next"),b=require("./icons/controller-type-physical.svg.cjs"),h=require("./icons/controller-type-virtual.svg.cjs"),c=require("./IndicatorWithExplanation.cjs"),u=d.observer(({isVirtual:p,motionGroupId:r,anchorOrigin:a,transformOrigin:n,compact:l})=>{const i=y.useTheme(),s=x.useId(),{t}=o.useTranslation();return p?e.jsx(c.IndicatorWithExplanation,{id:`motion-group-virtual-${s}`,icon:h.default,color:i.palette.tertiary.main,name:t("SafetyBar.ControllerType.Virtual.lb"),label:l?null:t("SafetyBar.ControllerType.Virtual.lb"),explanation:e.jsxs(o.Trans,{i18nKey:"SafetyBar.MotionGroup.Virtual.Explanation.lb",values:{motionGroupId:r},children:["Motion group ",e.jsx("code",{children:r})," refers to a virtual robot with no physical counterpart. It can be freely manipulated without special safety precautions."]}),anchorOrigin:a,transformOrigin:n}):e.jsx(c.IndicatorWithExplanation,{id:`motion-group-physical-${s}`,icon:b.default,color:i.palette.primary.main,name:t("SafetyBar.ControllerType.Physical.lb"),label:l?null:t("SafetyBar.ControllerType.Physical.lb"),explanation:e.jsx(o.Trans,{i18nKey:"SafetyBar.MotionGroup.Physical.Explanation.lb",values:{motionGroupId:r},components:{code:e.jsx("code",{}),strong:e.jsx("strong",{})}}),anchorOrigin:a,transformOrigin:n})});exports.ControllerTypeIndicator=u;exports.default=u;
+//# sourceMappingURL=ControllerTypeIndicator.cjs.map

package/dist/components/safetyBar/ControllerTypeIndicator.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"ControllerTypeIndicator.cjs","sources":["../../../src/components/safetyBar/ControllerTypeIndicator.tsx"],"sourcesContent":["import { useTheme } from \"@mui/material/styles\"\nimport type { PopoverOrigin } from \"@mui/material/Popover\"\nimport { observer } from \"mobx-react-lite\"\nimport { useId } from \"react\"\nimport { Trans, useTranslation } from \"react-i18next\"\nimport ControllerTypePhysicalIcon from \"./icons/controller-type-physical.svg\"\nimport ControllerTypeVirtualIcon from \"./icons/controller-type-virtual.svg\"\nimport { IndicatorWithExplanation } from \"./IndicatorWithExplanation\"\n\ninterface ControllerTypeIndicatorProps {\n  isVirtual: boolean\n  motionGroupId: string\n  anchorOrigin?: PopoverOrigin\n  transformOrigin?: PopoverOrigin\n  compact: boolean\n}\n\nexport const ControllerTypeIndicator = observer(\n  ({\n    isVirtual,\n    motionGroupId,\n    anchorOrigin,\n    transformOrigin,\n    compact,\n  }: ControllerTypeIndicatorProps) => {\n    const theme = useTheme()\n    const componentId = useId()\n    const { t } = useTranslation()\n\n    if (isVirtual) {\n      return (\n        <IndicatorWithExplanation\n          id={`motion-group-virtual-${componentId}`}\n          icon={ControllerTypeVirtualIcon}\n          color={theme.palette.tertiary.main}\n          name={t(\"SafetyBar.ControllerType.Virtual.lb\")}\n          label={compact ? null : t(\"SafetyBar.ControllerType.Virtual.lb\")}\n          explanation={\n            <Trans\n              i18nKey=\"SafetyBar.MotionGroup.Virtual.Explanation.lb\"\n              values={{\n                motionGroupId,\n              }}\n            >\n              Motion group <code>{motionGroupId}</code> refers to a virtual\n              robot with no physical counterpart. It can be freely manipulated\n              without special safety precautions.\n            </Trans>\n          }\n          anchorOrigin={anchorOrigin}\n          transformOrigin={transformOrigin}\n        />\n      )\n    }\n\n    return (\n      <IndicatorWithExplanation\n        id={`motion-group-physical-${componentId}`}\n        icon={ControllerTypePhysicalIcon}\n        color={theme.palette.primary.main}\n        name={t(\"SafetyBar.ControllerType.Physical.lb\")}\n        label={compact ? null : t(\"SafetyBar.ControllerType.Physical.lb\")}\n        explanation={\n          <Trans\n            i18nKey=\"SafetyBar.MotionGroup.Physical.Explanation.lb\"\n            values={{\n              motionGroupId,\n            }}\n            components={{ code: <code />, strong: <strong /> }}\n          />\n        }\n        anchorOrigin={anchorOrigin}\n        transformOrigin={transformOrigin}\n      />\n    )\n  },\n)\n\nexport default ControllerTypeIndicator\n"],"names":["ControllerTypeIndicator","observer","isVirtual","motionGroupId","anchorOrigin","transformOrigin","compact","theme","useTheme","componentId","useId","useTranslation","jsx","IndicatorWithExplanation","ControllerTypeVirtualIcon","jsxs","Trans","ControllerTypePhysicalIcon"],"mappings":"qZAiBaA,EAA0BC,EAAAA,SACrC,CAAC,CACC,UAAAC,EACA,cAAAC,EACA,aAAAC,EACA,gBAAAC,EACA,QAAAC,CAAA,IACkC,CAClC,MAAMC,EAAQC,EAAAA,SAAA,EACRC,EAAcC,EAAAA,MAAA,EACd,CAAE,CAAA,EAAMC,iBAAA,EAEd,OAAIT,EAEAU,EAAAA,IAACC,EAAAA,yBAAA,CACC,GAAI,wBAAwBJ,CAAW,GACvC,KAAMK,EAAAA,QACN,MAAOP,EAAM,QAAQ,SAAS,KAC9B,KAAM,EAAE,qCAAqC,EAC7C,MAAOD,EAAU,KAAO,EAAE,qCAAqC,EAC/D,YACES,EAAAA,KAACC,EAAAA,MAAA,CACC,QAAQ,+CACR,OAAQ,CACN,cAAAb,CAAA,EAEH,SAAA,CAAA,gBACcS,EAAAA,IAAC,QAAM,SAAAT,CAAA,CAAc,EAAO,2HAAA,CAAA,CAAA,EAK7C,aAAAC,EACA,gBAAAC,CAAA,CAAA,EAMJO,EAAAA,IAACC,EAAAA,yBAAA,CACC,GAAI,yBAAyBJ,CAAW,GACxC,KAAMQ,EAAAA,QACN,MAAOV,EAAM,QAAQ,QAAQ,KAC7B,KAAM,EAAE,sCAAsC,EAC9C,MAAOD,EAAU,KAAO,EAAE,sCAAsC,EAChE,YACEM,EAAAA,IAACI,EAAAA,MAAA,CACC,QAAQ,gDACR,OAAQ,CACN,cAAAb,CAAA,EAEF,WAAY,CAAE,KAAMS,EAAAA,IAAC,SAAK,EAAI,OAAQA,EAAAA,IAAC,SAAA,EAAO,CAAA,CAAG,CAAA,EAGrD,aAAAR,EACA,gBAAAC,CAAA,CAAA,CAGN,CACF"}

package/dist/components/safetyBar/ControllerTypeIndicator.d.ts

@@ -9,5 +9,5 @@ interface ControllerTypeIndicatorProps {
 export declare const ControllerTypeIndicator: (({ isVirtual, motionGroupId, anchorOrigin, transformOrigin, compact, }: ControllerTypeIndicatorProps) => import("react/jsx-runtime").JSX.Element) & {
     displayName: string;
 };
-export {};
+export default ControllerTypeIndicator;
 //# sourceMappingURL=ControllerTypeIndicator.d.ts.map

package/dist/components/safetyBar/ControllerTypeIndicator.d.ts.map

@@ -1 +1 @@
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package/dist/components/safetyBar/ControllerTypeIndicator.js

@@ -0,0 +1,71 @@
+import { jsx as o, jsxs as c } from "react/jsx-runtime";
+import { useTheme as u } from "@mui/material/styles";
+import { observer as y } from "mobx-react-lite";
+import { useId as f } from "react";
+import { useTranslation as d, Trans as p } from "react-i18next";
+import b from "./icons/controller-type-physical.svg.js";
+import h from "./icons/controller-type-virtual.svg.js";
+import { IndicatorWithExplanation as s } from "./IndicatorWithExplanation.js";
+const E = y(
+  ({
+    isVirtual: m,
+    motionGroupId: t,
+    anchorOrigin: e,
+    transformOrigin: a,
+    compact: l
+  }) => {
+    const n = u(), i = f(), { t: r } = d();
+    return m ? /* @__PURE__ */ o(
+      s,
+      {
+        id: `motion-group-virtual-${i}`,
+        icon: h,
+        color: n.palette.tertiary.main,
+        name: r("SafetyBar.ControllerType.Virtual.lb"),
+        label: l ? null : r("SafetyBar.ControllerType.Virtual.lb"),
+        explanation: /* @__PURE__ */ c(
+          p,
+          {
+            i18nKey: "SafetyBar.MotionGroup.Virtual.Explanation.lb",
+            values: {
+              motionGroupId: t
+            },
+            children: [
+              "Motion group ",
+              /* @__PURE__ */ o("code", { children: t }),
+              " refers to a virtual robot with no physical counterpart. It can be freely manipulated without special safety precautions."
+            ]
+          }
+        ),
+        anchorOrigin: e,
+        transformOrigin: a
+      }
+    ) : /* @__PURE__ */ o(
+      s,
+      {
+        id: `motion-group-physical-${i}`,
+        icon: b,
+        color: n.palette.primary.main,
+        name: r("SafetyBar.ControllerType.Physical.lb"),
+        label: l ? null : r("SafetyBar.ControllerType.Physical.lb"),
+        explanation: /* @__PURE__ */ o(
+          p,
+          {
+            i18nKey: "SafetyBar.MotionGroup.Physical.Explanation.lb",
+            values: {
+              motionGroupId: t
+            },
+            components: { code: /* @__PURE__ */ o("code", {}), strong: /* @__PURE__ */ o("strong", {}) }
+          }
+        ),
+        anchorOrigin: e,
+        transformOrigin: a
+      }
+    );
+  }
+);
+export {
+  E as ControllerTypeIndicator,
+  E as default
+};
+//# sourceMappingURL=ControllerTypeIndicator.js.map

package/dist/components/safetyBar/ControllerTypeIndicator.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ControllerTypeIndicator.js","sources":["../../../src/components/safetyBar/ControllerTypeIndicator.tsx"],"sourcesContent":["import { useTheme } from \"@mui/material/styles\"\nimport type { PopoverOrigin } from \"@mui/material/Popover\"\nimport { observer } from \"mobx-react-lite\"\nimport { useId } from \"react\"\nimport { Trans, useTranslation } from \"react-i18next\"\nimport ControllerTypePhysicalIcon from \"./icons/controller-type-physical.svg\"\nimport ControllerTypeVirtualIcon from \"./icons/controller-type-virtual.svg\"\nimport { IndicatorWithExplanation } from \"./IndicatorWithExplanation\"\n\ninterface ControllerTypeIndicatorProps {\n  isVirtual: boolean\n  motionGroupId: string\n  anchorOrigin?: PopoverOrigin\n  transformOrigin?: PopoverOrigin\n  compact: boolean\n}\n\nexport const ControllerTypeIndicator = observer(\n  ({\n    isVirtual,\n    motionGroupId,\n    anchorOrigin,\n    transformOrigin,\n    compact,\n  }: ControllerTypeIndicatorProps) => {\n    const theme = useTheme()\n    const componentId = useId()\n    const { t } = useTranslation()\n\n    if (isVirtual) {\n      return (\n        <IndicatorWithExplanation\n          id={`motion-group-virtual-${componentId}`}\n          icon={ControllerTypeVirtualIcon}\n          color={theme.palette.tertiary.main}\n          name={t(\"SafetyBar.ControllerType.Virtual.lb\")}\n          label={compact ? null : t(\"SafetyBar.ControllerType.Virtual.lb\")}\n          explanation={\n            <Trans\n              i18nKey=\"SafetyBar.MotionGroup.Virtual.Explanation.lb\"\n              values={{\n                motionGroupId,\n              }}\n            >\n              Motion group <code>{motionGroupId}</code> refers to a virtual\n              robot with no physical counterpart. It can be freely manipulated\n              without special safety precautions.\n            </Trans>\n          }\n          anchorOrigin={anchorOrigin}\n          transformOrigin={transformOrigin}\n        />\n      )\n    }\n\n    return (\n      <IndicatorWithExplanation\n        id={`motion-group-physical-${componentId}`}\n        icon={ControllerTypePhysicalIcon}\n        color={theme.palette.primary.main}\n        name={t(\"SafetyBar.ControllerType.Physical.lb\")}\n        label={compact ? null : t(\"SafetyBar.ControllerType.Physical.lb\")}\n        explanation={\n          <Trans\n            i18nKey=\"SafetyBar.MotionGroup.Physical.Explanation.lb\"\n            values={{\n              motionGroupId,\n            }}\n            components={{ code: <code />, strong: <strong /> }}\n          />\n        }\n        anchorOrigin={anchorOrigin}\n        transformOrigin={transformOrigin}\n      />\n    )\n  },\n)\n\nexport default ControllerTypeIndicator\n"],"names":["ControllerTypeIndicator","observer","isVirtual","motionGroupId","anchorOrigin","transformOrigin","compact","theme","useTheme","componentId","useId","t","useTranslation","jsx","IndicatorWithExplanation","ControllerTypeVirtualIcon","jsxs","Trans","ControllerTypePhysicalIcon"],"mappings":";;;;;;;;AAiBO,MAAMA,IAA0BC;AAAA,EACrC,CAAC;AAAA,IACC,WAAAC;AAAA,IACA,eAAAC;AAAA,IACA,cAAAC;AAAA,IACA,iBAAAC;AAAA,IACA,SAAAC;AAAA,EAAA,MACkC;AAClC,UAAMC,IAAQC,EAAA,GACRC,IAAcC,EAAA,GACd,EAAE,GAAAC,EAAA,IAAMC,EAAA;AAEd,WAAIV,IAEA,gBAAAW;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,IAAI,wBAAwBL,CAAW;AAAA,QACvC,MAAMM;AAAAA,QACN,OAAOR,EAAM,QAAQ,SAAS;AAAA,QAC9B,MAAMI,EAAE,qCAAqC;AAAA,QAC7C,OAAOL,IAAU,OAAOK,EAAE,qCAAqC;AAAA,QAC/D,aACE,gBAAAK;AAAA,UAACC;AAAA,UAAA;AAAA,YACC,SAAQ;AAAA,YACR,QAAQ;AAAA,cACN,eAAAd;AAAA,YAAA;AAAA,YAEH,UAAA;AAAA,cAAA;AAAA,cACc,gBAAAU,EAAC,UAAM,UAAAV,EAAA,CAAc;AAAA,cAAO;AAAA,YAAA;AAAA,UAAA;AAAA,QAAA;AAAA,QAK7C,cAAAC;AAAA,QACA,iBAAAC;AAAA,MAAA;AAAA,IAAA,IAMJ,gBAAAQ;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,IAAI,yBAAyBL,CAAW;AAAA,QACxC,MAAMS;AAAAA,QACN,OAAOX,EAAM,QAAQ,QAAQ;AAAA,QAC7B,MAAMI,EAAE,sCAAsC;AAAA,QAC9C,OAAOL,IAAU,OAAOK,EAAE,sCAAsC;AAAA,QAChE,aACE,gBAAAE;AAAA,UAACI;AAAA,UAAA;AAAA,YACC,SAAQ;AAAA,YACR,QAAQ;AAAA,cACN,eAAAd;AAAA,YAAA;AAAA,YAEF,YAAY,EAAE,MAAM,gBAAAU,EAAC,UAAK,GAAI,QAAQ,gBAAAA,EAAC,UAAA,EAAO,EAAA;AAAA,UAAG;AAAA,QAAA;AAAA,QAGrD,cAAAT;AAAA,QACA,iBAAAC;AAAA,MAAA;AAAA,IAAA;AAAA,EAGN;AACF;"}

package/dist/components/safetyBar/IndicatorWithExplanation.cjs

@@ -0,0 +1,2 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const e=require("react/jsx-runtime"),j=require("@mui/material/Popover"),a=require("@mui/material/Stack"),m=require("@mui/material/SvgIcon"),r=require("@mui/material/Typography"),p=require("mobx-react-lite"),l=p.observer(({id:t,icon:d,color:n,title:s,name:u,label:i,explanation:h,literalValue:c,anchorOrigin:x,transformOrigin:v})=>{const o=p.useLocalObservable(()=>({anchorEl:null,get isPopoverOpen(){return!!o.anchorEl},openPopover(g){o.anchorEl=g.currentTarget},closePopover(){o.anchorEl=null}}));return e.jsxs(e.Fragment,{children:[e.jsxs(a,{"aria-owns":o.isPopoverOpen?t:void 0,"aria-haspopup":"true",onMouseEnter:o.openPopover,onMouseLeave:o.closePopover,direction:"row",spacing:1,sx:{cursor:"pointer"},children:[e.jsx(m,{component:d,sx:{color:n}}),i&&e.jsx("div",{style:{color:n},children:i})]}),e.jsx(j,{id:t,sx:{pointerEvents:"none"},open:o.isPopoverOpen,anchorEl:o.anchorEl,anchorOrigin:x??{vertical:"bottom",horizontal:"left"},transformOrigin:v??{vertical:"top",horizontal:"left"},onClose:o.closePopover,disableRestoreFocus:!0,children:e.jsxs(a,{gap:"1rem",padding:2,maxWidth:"450px",sx:{wordWrap:"break-word"},children:[e.jsxs("div",{children:[s&&e.jsx(r,{component:"span",fontSize:"14px",children:`${s}: `}),e.jsx(r,{component:"span",color:n,fontWeight:"bold",fontSize:"14px",children:u})]}),e.jsx(r,{fontSize:"14px",children:h}),c&&e.jsx(r,{fontSize:"12px",children:c})]})})]})});exports.IndicatorWithExplanation=l;exports.default=l;
+//# sourceMappingURL=IndicatorWithExplanation.cjs.map

package/dist/components/safetyBar/IndicatorWithExplanation.cjs.map

@@ -0,0 +1 @@
+{"version":3,"file":"IndicatorWithExplanation.cjs","sources":["../../../src/components/safetyBar/IndicatorWithExplanation.tsx"],"sourcesContent":["import Popover, { type PopoverOrigin } from \"@mui/material/Popover\"\nimport Stack from \"@mui/material/Stack\"\nimport SvgIcon from \"@mui/material/SvgIcon\"\nimport Typography, { type TypographyProps } from \"@mui/material/Typography\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport type { ElementType, ReactNode } from \"react\"\n\nexport type IndicatorWithExplanationProps = {\n  id: string\n  icon: ElementType\n  color: TypographyProps[\"color\"]\n  title?: ReactNode\n  name: ReactNode\n  label?: ReactNode\n  explanation: ReactNode\n  literalValue?: string\n  anchorOrigin?: PopoverOrigin\n  transformOrigin?: PopoverOrigin\n}\n\nexport const IndicatorWithExplanation = observer(\n  ({\n    id,\n    icon,\n    color,\n    title,\n    name,\n    label,\n    explanation,\n    literalValue,\n    anchorOrigin,\n    transformOrigin,\n  }: IndicatorWithExplanationProps) => {\n    const state = useLocalObservable(() => ({\n      anchorEl: null as HTMLElement | null,\n\n      get isPopoverOpen() {\n        return !!state.anchorEl\n      },\n\n      openPopover(event: React.MouseEvent<HTMLElement>) {\n        state.anchorEl = event.currentTarget\n      },\n\n      closePopover() {\n        state.anchorEl = null\n      },\n    }))\n\n    return (\n      <>\n        <Stack\n          aria-owns={state.isPopoverOpen ? id : undefined}\n          aria-haspopup=\"true\"\n          onMouseEnter={state.openPopover}\n          onMouseLeave={state.closePopover}\n          direction=\"row\"\n          spacing={1}\n          sx={{\n            cursor: \"pointer\",\n          }}\n        >\n          <SvgIcon\n            component={icon}\n            sx={{\n              color,\n            }}\n          />\n          {label && (\n            <div\n              style={{\n                color,\n              }}\n            >\n              {label}\n            </div>\n          )}\n        </Stack>\n        <Popover\n          id={id}\n          sx={{\n            pointerEvents: \"none\",\n          }}\n          open={state.isPopoverOpen}\n          anchorEl={state.anchorEl}\n          anchorOrigin={\n            anchorOrigin ?? {\n              vertical: \"bottom\",\n              horizontal: \"left\",\n            }\n          }\n          transformOrigin={\n            transformOrigin ?? {\n              vertical: \"top\",\n              horizontal: \"left\",\n            }\n          }\n          onClose={state.closePopover}\n          disableRestoreFocus\n        >\n          <Stack\n            gap=\"1rem\"\n            padding={2}\n            maxWidth=\"450px\"\n            sx={{\n              wordWrap: \"break-word\",\n            }}\n          >\n            <div>\n              {title && (\n                <Typography component=\"span\" fontSize=\"14px\">\n                  {`${title}: `}\n                </Typography>\n              )}\n              <Typography\n                component=\"span\"\n                color={color}\n                fontWeight=\"bold\"\n                fontSize=\"14px\"\n              >\n                {name}\n              </Typography>\n            </div>\n\n            <Typography fontSize=\"14px\">{explanation}</Typography>\n\n            {literalValue && (\n              <Typography fontSize=\"12px\">{literalValue}</Typography>\n            )}\n          </Stack>\n        </Popover>\n      </>\n    )\n  },\n)\n\nexport default IndicatorWithExplanation\n"],"names":["IndicatorWithExplanation","observer","id","icon","color","title","name","label","explanation","literalValue","anchorOrigin","transformOrigin","state","useLocalObservable","event","jsxs","Fragment","Stack","jsx","SvgIcon","Popover","Typography"],"mappings":"2TAoBaA,EAA2BC,EAAAA,SACtC,CAAC,CACC,GAAAC,EACA,KAAAC,EACA,MAAAC,EACA,MAAAC,EACA,KAAAC,EACA,MAAAC,EACA,YAAAC,EACA,aAAAC,EACA,aAAAC,EACA,gBAAAC,CAAA,IACmC,CACnC,MAAMC,EAAQC,EAAAA,mBAAmB,KAAO,CACtC,SAAU,KAEV,IAAI,eAAgB,CAClB,MAAO,CAAC,CAACD,EAAM,QACjB,EAEA,YAAYE,EAAsC,CAChDF,EAAM,SAAWE,EAAM,aACzB,EAEA,cAAe,CACbF,EAAM,SAAW,IACnB,CAAA,EACA,EAEF,OACEG,EAAAA,KAAAC,WAAA,CACE,SAAA,CAAAD,EAAAA,KAACE,EAAA,CACC,YAAWL,EAAM,cAAgBV,EAAK,OACtC,gBAAc,OACd,aAAcU,EAAM,YACpB,aAAcA,EAAM,aACpB,UAAU,MACV,QAAS,EACT,GAAI,CACF,OAAQ,SAAA,EAGV,SAAA,CAAAM,EAAAA,IAACC,EAAA,CACC,UAAWhB,EACX,GAAI,CACF,MAAAC,CAAA,CACF,CAAA,EAEDG,GACCW,EAAAA,IAAC,MAAA,CACC,MAAO,CACL,MAAAd,CAAA,EAGD,SAAAG,CAAA,CAAA,CACH,CAAA,CAAA,EAGJW,EAAAA,IAACE,EAAA,CACC,GAAAlB,EACA,GAAI,CACF,cAAe,MAAA,EAEjB,KAAMU,EAAM,cACZ,SAAUA,EAAM,SAChB,aACEF,GAAgB,CACd,SAAU,SACV,WAAY,MAAA,EAGhB,gBACEC,GAAmB,CACjB,SAAU,MACV,WAAY,MAAA,EAGhB,QAASC,EAAM,aACf,oBAAmB,GAEnB,SAAAG,EAAAA,KAACE,EAAA,CACC,IAAI,OACJ,QAAS,EACT,SAAS,QACT,GAAI,CACF,SAAU,YAAA,EAGZ,SAAA,CAAAF,OAAC,MAAA,CACE,SAAA,CAAAV,GACCa,EAAAA,IAACG,GAAW,UAAU,OAAO,SAAS,OACnC,SAAA,GAAGhB,CAAK,IAAA,CACX,EAEFa,EAAAA,IAACG,EAAA,CACC,UAAU,OACV,MAAAjB,EACA,WAAW,OACX,SAAS,OAER,SAAAE,CAAA,CAAA,CACH,EACF,EAEAY,EAAAA,IAACG,EAAA,CAAW,SAAS,OAAQ,SAAAb,EAAY,EAExCC,GACCS,EAAAA,IAACG,EAAA,CAAW,SAAS,OAAQ,SAAAZ,CAAA,CAAa,CAAA,CAAA,CAAA,CAE9C,CAAA,CACF,EACF,CAEJ,CACF"}