@wandelbots/wandelbots-js-react-components 5.5.0 → 5.5.1-pr.fix-standardize-output.591.0e6ee47

package/dist/components/jogging/JoggingOptions.cjs

@@ -1,2 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const t=require("react/jsx-runtime"),r=require("@mui/material/Box"),a=require("@mui/material/MenuItem"),m=require("mobx-react-lite"),p=require("react"),h=require("react-i18next"),d=require("../experimental/utils/AdornedSelect.cjs"),b=require("./JoggingStore.cjs"),v=m.observer(({store:n,useDegree:g})=>{var s;const{t:l}=h.useTranslation(),o=p.useId(),i=[];function u(e){switch(e){case"coordsys":return l("Jogging.Orientation.coordsys");case"tool":return l("Jogging.Orientation.tool");default:return e}}return n.showCoordSystemSelect&&i.push(t.jsx(d.default,{labelId:`jogging-coord-select-${o}`,labelValue:l("Jogging.CoordinateSystem.hlb"),value:n.selectedCoordSystemId,size:"small",variant:"filled",displayEmpty:!0,onChange:e=>n.setSelectedCoordSystemId(e.target.value),disabled:n.isLocked,children:n.coordSystems.map(e=>t.jsx(a,{value:e.coordinate_system,children:e.name&&n.coordSystemCountByName[e.name]>1?`${e.name} / ${e.coordinate_system}`:e.name||e.coordinate_system},e.coordinate_system))},"coord")),n.showTcpSelect&&i.push(t.jsx(d.default,{labelId:`jogging-tcp-select-${o}`,labelValue:"TCP",value:n.selectedTcpId,size:"small",variant:"filled",onChange:e=>n.setSelectedTcpId(e.target.value),disabled:n.isLocked,children:n.tcps.map(e=>t.jsx(a,{value:e.id,children:e.id},e.id))},"tcp")),n.showOrientationSelect&&i.push(t.jsx(d.default,{labelValue:l("Jogging.Cartesian.Orientation.lb"),labelId:`orientation-select-${o}`,value:n.selectedOrientation,onChange:e=>n.setSelectedOrientation(e.target.value),disabled:n.isLocked,children:b.ORIENTATION_IDS.map(e=>t.jsx(a,{value:e,children:u(e)},e))},"orientation")),n.showIncrementSelect&&i.push(t.jsxs(d.default,{labelValue:l("Jogging.Increment.hlb"),labelId:`jogging-increment-select-${o}`,size:"small",variant:"filled",value:((s=n.activeDiscreteIncrement)==null?void 0:s.id)||"continuous",onChange:e=>n.setSelectedIncrementId(e.target.value),disabled:n.isLocked,children:[t.jsx(a,{value:"continuous",children:l("Jogging.Increment.Continuous.dd")},"continuous"),n.selectedOrientation==="tool"?null:n.discreteIncrementOptions.map(e=>t.jsx(a,{value:e.id,children:g?`${e.degrees}°`:`${e.mm}mm`},e.id))]},"increment")),t.jsx(r,{component:"div","data-testid":"jogging-options","aria-label":"jogging-options",sx:{display:"grid",gap:"16px",gridTemplateColumns:"1fr 1fr",gridAutoRows:"min-content","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:i.map((e,c)=>t.jsx(r,{sx:{gridColumn:i.length%2===1&&c===i.length-1?"span 2":"auto"},children:e},c))})});exports.JoggingOptions=v;
-//# sourceMappingURL=JoggingOptions.cjs.map
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const t=require("react/jsx-runtime"),r=require("@mui/material/Box"),o=require("@mui/material/MenuItem"),m=require("mobx-react-lite"),p=require("react"),h=require("react-i18next"),s=require("../experimental/utils/AdornedSelect.cjs"),b=require("./JoggingStore.cjs"),j=m.observer(({store:n,useDegree:g})=>{var d;const{t:l}=h.useTranslation(),a=p.useId(),i=[];function u(e){switch(e){case"coordsys":return l("Jogging.Orientation.coordsys");case"tool":return l("Jogging.Orientation.tool");default:return e}}return n.showCoordSystemSelect&&i.push(t.jsx(s.default,{labelId:`jogging-coord-select-${a}`,labelValue:l("Jogging.CoordinateSystem.hlb"),value:n.selectedCoordSystemId,size:"small",variant:"filled",displayEmpty:!0,onChange:e=>n.setSelectedCoordSystemId(e.target.value),disabled:n.isLocked,children:n.coordSystems.map(e=>t.jsx(o,{value:e.coordinate_system,children:e.name&&n.coordSystemCountByName[e.name]>1?`${e.name} / ${e.coordinate_system}`:e.name||e.coordinate_system},e.coordinate_system))},"coord")),n.showTcpSelect&&i.push(t.jsx(s.default,{labelId:`jogging-tcp-select-${a}`,labelValue:"TCP",value:n.selectedTcpId,size:"small",variant:"filled",onChange:e=>n.setSelectedTcpId(e.target.value),disabled:n.isLocked,children:n.tcps.map(e=>t.jsx(o,{value:e.id,children:e.id},e.id))},"tcp")),n.showOrientationSelect&&i.push(t.jsx(s.default,{labelValue:l("Jogging.Cartesian.Orientation.lb"),labelId:`orientation-select-${a}`,value:n.selectedOrientation,onChange:e=>n.setSelectedOrientation(e.target.value),disabled:n.isLocked,children:b.ORIENTATION_IDS.map(e=>t.jsx(o,{value:e,children:u(e)},e))},"orientation")),n.showIncrementSelect&&i.push(t.jsxs(s.default,{labelValue:l("Jogging.Increment.hlb"),labelId:`jogging-increment-select-${a}`,size:"small",variant:"filled",value:((d=n.activeDiscreteIncrement)==null?void 0:d.id)||"continuous",onChange:e=>n.setSelectedIncrementId(e.target.value),disabled:n.isLocked,children:[t.jsx(o,{value:"continuous",children:l("Jogging.Increment.Continuous.dd")},"continuous"),n.selectedOrientation==="tool"?null:n.discreteIncrementOptions.map(e=>t.jsx(o,{value:e.id,children:g?`${e.degrees}°`:`${e.mm}mm`},e.id))]},"increment")),t.jsx(r,{component:"div","data-testid":"jogging-options","aria-label":"jogging-options",sx:{display:"grid",gap:"16px",gridTemplateColumns:"1fr 1fr",gridAutoRows:"min-content","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:i.map((e,c)=>t.jsx(r,{sx:{gridColumn:i.length%2===1&&c===i.length-1?"span 2":"auto"},children:e},c))})});exports.JoggingOptions=j;

package/dist/components/jogging/JoggingOptions.d.ts

@@ -5,4 +5,3 @@ export declare const JoggingOptions: (({ store, useDegree }: {
 }) => import("react/jsx-runtime").JSX.Element) & {
     displayName: string;
 };
-//# sourceMappingURL=JoggingOptions.d.ts.map

package/dist/components/jogging/JoggingOptions.js

@@ -114,4 +114,3 @@ const T = p(
 export {
   T as JoggingOptions
 };
-//# sourceMappingURL=JoggingOptions.js.map

package/dist/components/jogging/JoggingPanel.cjs

@@ -1,2 +1 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const i=require("react/jsx-runtime"),j=require("@mui/icons-material/OpenWith"),x=require("@mui/icons-material/Share"),g=require("@mui/material/Stack"),b=require("@mui/material/Tab"),f=require("@mui/material/Tabs"),v=require("@wandelbots/nova-js/v2"),S=require("lodash-es"),s=require("mobx"),l=require("mobx-react-lite"),c=require("react"),q=require("react-i18next"),J=require("../../externalizeComponent.cjs"),h=require("../../lib/JoggerConnection.cjs"),m=require("../LoadingCover.cjs"),C=require("./JoggingBlocked.cjs"),T=require("./JoggingCartesianTab.cjs"),I=require("./JoggingJointTab.cjs"),w=require("./JoggingStore.cjs"),u=J.externalizeComponent(l.observer(e=>{const t=S.isString(e.nova)?new v.NovaClient({instanceUrl:e.nova}):e.nova,o=l.useLocalObservable(()=>({joggingStore:null,loadingError:null}));async function a(){s.runInAction(()=>{o.loadingError=null,o.joggingStore=null});try{let n=e.store;if(!n){const r=await h.JoggerConnection.open(t,e.motionGroupId);n=await w.JoggingStore.loadFor(r)}s.runInAction(()=>{o.joggingStore=n}),e.onSetup&&e.onSetup(n)}catch(n){o.loadingError=n}}return c.useEffect(()=>(a(),e.store?()=>null:()=>{var n;(n=o.joggingStore)==null||n.dispose()}),[e.store,e.nova,e.motionGroupId]),c.useEffect(()=>{const n=o.joggingStore;n&&(e.locked?n.lock("external"):n.unlock("external"))},[o.joggingStore,e.locked]),i.jsx(g,{"data-testid":"jogging-panel","aria-label":"jogging-panel",sx:{maxWidth:"460px",minWidth:"320px",position:"relative",...e.sx},children:o.joggingStore?i.jsx(k,{store:o.joggingStore,children:e.children}):i.jsx(m.LoadingCover,{message:"Loading jogging",error:o.loadingError})})})),k=l.observer(({store:e,children:t})=>{const{t:o}=q.useTranslation();function a(){if(e.currentTab.id==="cartesian")return i.jsx(T.JoggingCartesianTab,{store:e,children:t});if(e.currentTab.id==="joint")return i.jsx(I.JoggingJointTab,{store:e,children:t})}return i.jsxs(g,{flexGrow:1,sx:{overflow:"hidden"},children:[i.jsx(f,{"data-testid":"jogging-tabs","aria-label":"jogging-tabs",value:e.tabIndex,onChange:e.onTabChange,variant:"fullWidth",children:e.tabs.map(n=>{const r=n.label==="Cartesian"?o("Jogging.Cartesian.bt"):o("Jogging.Joints.bt"),d=n.label==="cartesian"?i.jsx(j,{fontSize:"small",sx:{mr:1}}):i.jsx(x,{fontSize:"small",sx:{mr:1}});return i.jsx(b,{"data-testid":`jogging-tab-${n.id}`,"aria-label":`jogging-tab-${n.id}`,label:e.showTabIcons?i.jsxs(g,{direction:"row",alignItems:"center",children:[d,r]}):r,id:`jogging-tab-${n.id}`,"aria-controls":`jogging-tab-${n.id}`},n.id)})}),i.jsx(g,{flexGrow:1,position:"relative",sx:{overflowY:"auto",overflowX:"hidden"},children:a()}),e.blocked&&i.jsx(C.JoggingBlocked,{store:e})]})});exports.JoggingPanel=u;exports.default=u;
-//# sourceMappingURL=JoggingPanel.cjs.map
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});require("react/jsx-runtime");require("@mui/icons-material/OpenWith");require("@mui/icons-material/Share");require("@mui/material/Stack");require("@mui/material/Tab");require("@mui/material/Tabs");require("@wandelbots/nova-js/v2");require("lodash-es");require("mobx");require("mobx-react-lite");require("react");require("react-i18next");require("../../chunks/externalizeComponent-DOwkaDcw.cjs");const e=require("../../chunks/JoggingPanel-DZN2Y39k.cjs");require("../LoadingCover.cjs");require("./JoggingBlocked.cjs");require("./JoggingCartesianTab.cjs");require("./JoggingJointTab.cjs");require("./JoggingStore.cjs");exports.JoggingPanel=e.JoggingPanel;exports.default=e.JoggingPanel;

package/dist/components/jogging/JoggingPanel.d.ts

@@ -27,4 +27,3 @@ export declare const JoggingPanel: ((props: JoggingPanelProps) => import("react/
     displayName: string;
 };
 export default JoggingPanel;
-//# sourceMappingURL=JoggingPanel.d.ts.map

package/dist/components/jogging/JoggingPanel.js

@@ -1,121 +1,23 @@
-import { jsx as r, jsxs as l } from "react/jsx-runtime";
-import s from "@mui/icons-material/OpenWith";
-import u from "@mui/icons-material/Share";
-import g from "@mui/material/Stack";
-import b from "@mui/material/Tab";
-import j from "@mui/material/Tabs";
-import { NovaClient as x } from "@wandelbots/nova-js/v2";
-import { isString as v } from "lodash-es";
-import { runInAction as m } from "mobx";
-import { observer as c, useLocalObservable as S } from "mobx-react-lite";
-import { useEffect as d } from "react";
-import { useTranslation as h } from "react-i18next";
-import { externalizeComponent as J } from "../../externalizeComponent.js";
-import { JoggerConnection as w } from "../../lib/JoggerConnection.js";
-import { LoadingCover as C } from "../LoadingCover.js";
-import { JoggingBlocked as T } from "./JoggingBlocked.js";
-import { JoggingCartesianTab as I } from "./JoggingCartesianTab.js";
-import { JoggingJointTab as k } from "./JoggingJointTab.js";
-import { JoggingStore as p } from "./JoggingStore.js";
-const K = J(
-  c((o) => {
-    const e = v(o.nova) ? new x({ instanceUrl: o.nova }) : o.nova, i = S(() => ({
-      joggingStore: null,
-      loadingError: null
-    }));
-    async function a() {
-      m(() => {
-        i.loadingError = null, i.joggingStore = null;
-      });
-      try {
-        let n = o.store;
-        if (!n) {
-          const t = await w.open(e, o.motionGroupId);
-          n = await p.loadFor(t);
-        }
-        m(() => {
-          i.joggingStore = n;
-        }), o.onSetup && o.onSetup(n);
-      } catch (n) {
-        i.loadingError = n;
-      }
-    }
-    return d(() => (a(), o.store ? () => null : () => {
-      var n;
-      (n = i.joggingStore) == null || n.dispose();
-    }), [o.store, o.nova, o.motionGroupId]), d(() => {
-      const n = i.joggingStore;
-      n && (o.locked ? n.lock("external") : n.unlock("external"));
-    }, [i.joggingStore, o.locked]), /* @__PURE__ */ r(
-      g,
-      {
-        "data-testid": "jogging-panel",
-        "aria-label": "jogging-panel",
-        sx: {
-          maxWidth: "460px",
-          minWidth: "320px",
-          position: "relative",
-          ...o.sx
-        },
-        children: i.joggingStore ? /* @__PURE__ */ r(E, { store: i.joggingStore, children: o.children }) : /* @__PURE__ */ r(C, { message: "Loading jogging", error: i.loadingError })
-      }
-    );
-  })
-), E = c(
-  ({
-    store: o,
-    children: e
-  }) => {
-    const { t: i } = h();
-    function a() {
-      if (o.currentTab.id === "cartesian")
-        return /* @__PURE__ */ r(I, { store: o, children: e });
-      if (o.currentTab.id === "joint")
-        return /* @__PURE__ */ r(k, { store: o, children: e });
-    }
-    return /* @__PURE__ */ l(g, { flexGrow: 1, sx: { overflow: "hidden" }, children: [
-      /* @__PURE__ */ r(
-        j,
-        {
-          "data-testid": "jogging-tabs",
-          "aria-label": "jogging-tabs",
-          value: o.tabIndex,
-          onChange: o.onTabChange,
-          variant: "fullWidth",
-          children: o.tabs.map((n) => {
-            const t = n.label === "Cartesian" ? i("Jogging.Cartesian.bt") : i("Jogging.Joints.bt"), f = n.label === "cartesian" ? /* @__PURE__ */ r(s, { fontSize: "small", sx: { mr: 1 } }) : /* @__PURE__ */ r(u, { fontSize: "small", sx: { mr: 1 } });
-            return /* @__PURE__ */ r(
-              b,
-              {
-                "data-testid": `jogging-tab-${n.id}`,
-                "aria-label": `jogging-tab-${n.id}`,
-                label: o.showTabIcons ? /* @__PURE__ */ l(g, { direction: "row", alignItems: "center", children: [
-                  f,
-                  t
-                ] }) : t,
-                id: `jogging-tab-${n.id}`,
-                "aria-controls": `jogging-tab-${n.id}`
-              },
-              n.id
-            );
-          })
-        }
-      ),
-      /* @__PURE__ */ r(
-        g,
-        {
-          flexGrow: 1,
-          position: "relative",
-          sx: { overflowY: "auto", overflowX: "hidden" },
-          children: a()
-        }
-      ),
-      o.blocked && /* @__PURE__ */ r(T, { store: o })
-    ] });
-  }
-);
+import "react/jsx-runtime";
+import "@mui/icons-material/OpenWith";
+import "@mui/icons-material/Share";
+import "@mui/material/Stack";
+import "@mui/material/Tab";
+import "@mui/material/Tabs";
+import "@wandelbots/nova-js/v2";
+import "lodash-es";
+import "mobx";
+import "mobx-react-lite";
+import "react";
+import "react-i18next";
+import "../../chunks/externalizeComponent-eiCc5DIh.js";
+import { J as h, J as j } from "../../chunks/JoggingPanel-CQH_oXTB.js";
+import "../LoadingCover.js";
+import "./JoggingBlocked.js";
+import "./JoggingCartesianTab.js";
+import "./JoggingJointTab.js";
+import "./JoggingStore.js";
 export {
-  K as JoggingPanel,
-  K as default
+  h as JoggingPanel,
+  j as default
 };
-//# sourceMappingURL=JoggingPanel.js.map

package/dist/components/jogging/JoggingStore.cjs

@@ -1,2 +1 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const I=require("@wandelbots/nova-js"),m=require("@wandelbots/nova-js/v2"),u=require("lodash-es"),d=require("lodash-es/keyBy"),S=require("lodash-es/uniqueId"),y=require("mobx"),l=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],p=[{id:"continuous"},...l],T=["coordsys","tool"];class a{constructor(e,t,s,i,n){var r,c,o,h;this.jogger=e,this.coordSystems=t,this.motionGroupDescription=s,this.tcps=i,this.inverseSolverValue=n,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=m.JointTypeEnum.RevoluteJoint;for(const g of t)if(g.coordinate_system===""){g.coordinate_system="world";break}this.selectedCoordSystemId=((r=t[0])==null?void 0:r.coordinate_system)||"world",this.selectedTcpId=((c=i[0])==null?void 0:c.id)||"",this.inverseSolver=n,this.jointType=((h=(o=s==null?void 0:s.dh_parameters)==null?void 0:o[0])==null?void 0:h.type)??m.JointTypeEnum.RevoluteJoint,y.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(y.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(e){const{nova:t}=e,[s,i]=await Promise.all([t.api.controller.listCoordinateSystems(e.motionStream.controllerId,"ROTATION_VECTOR"),t.api.motionGroup.getMotionGroupDescription(e.motionStream.controllerId,e.motionGroupId)]),n=await t.api.motionGroupModels.getMotionGroupKinematicModel(i.motion_group_model),r=Object.entries(i.tcps||{}).map(([c,o])=>({id:c,readable_name:o.name,position:o.pose.position,orientation:o.pose.orientation}));return new a(e,s||[],i,r,n.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return u.countBy(this.coordSystems,e=>e.name)}async deactivate(){if(this.jogger.mode==="jogging")return this.jogger.stop()}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&this.jogger.setOptions({tcp:this.selectedTcpId,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const e=I.tryParseJson(localStorage.getItem("joggingToolStore"));e&&(this.tabsById[e.selectedTabId]&&(this.selectedTabId=e.selectedTabId),this.coordSystemsById[e.selectedCoordSystemId]&&(this.selectedCoordSystemId=e.selectedCoordSystemId),this.tcpsById[e.selectedTcpId]&&(this.selectedTcpId=e.selectedTcpId),this.incrementOptionsById[e.selectedIncrementId]&&(this.selectedIncrementId=e.selectedIncrementId),["translate","rotate"].includes(e.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=e.selectedCartesianMotionType),["coordsys","tool"].includes(e.selectedOrientation)&&(this.selectedOrientation=e.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const e=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&e.unshift({id:"cartesian",label:"Cartesian"}),e}get incrementOptions(){return p}get discreteIncrementOptions(){return l}get incrementOptionsById(){return d(this.incrementOptions,e=>e.id)}get tabsById(){return d(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return d(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return d(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:l.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(e,t){const s=this.tabs[t]||this.tabs[0];this.selectedTabId=s.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.selectedTcpId=e}setSelectedOrientation(e){this.selectedOrientation=e}setSelectedIncrementId(e){this.selectedIncrementId=e}setCurrentIncrementJog(e){this.incrementJogInProgress=e}setVelocityFromSlider(e,t){t?this.rotationVelocityDegPerSec=e:this.translationVelocityMmPerSec=e}setSelectedCartesianMotionType(e){this.selectedCartesianMotionType=e}lock(e){this.locks.add(e)}unlock(e){this.locks.delete(e)}block(){this.blocked=!0}unblock(){this.blocked=!1,this.jogger.mode==="jogging"&&this.jogger.initializeJoggingWebsocket()}async withMotionLock(e){const t=S();this.lock(t);try{return await e()}finally{this.unlock(t)}}}exports.JoggingStore=a;exports.ORIENTATION_IDS=T;exports.default=a;
-//# sourceMappingURL=JoggingStore.cjs.map
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const I=require("@wandelbots/nova-js"),m=require("@wandelbots/nova-js/v2"),u=require("lodash-es"),d=require("lodash-es/keyBy.js"),S=require("lodash-es/uniqueId.js"),y=require("mobx"),l=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],p=[{id:"continuous"},...l],T=["coordsys","tool"];class a{constructor(e,t,s,i,n){var r,c,o,h;this.jogger=e,this.coordSystems=t,this.motionGroupDescription=s,this.tcps=i,this.inverseSolverValue=n,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=m.JointTypeEnum.RevoluteJoint;for(const g of t)if(g.coordinate_system===""){g.coordinate_system="world";break}this.selectedCoordSystemId=((r=t[0])==null?void 0:r.coordinate_system)||"world",this.selectedTcpId=((c=i[0])==null?void 0:c.id)||"",this.inverseSolver=n,this.jointType=((h=(o=s==null?void 0:s.dh_parameters)==null?void 0:o[0])==null?void 0:h.type)??m.JointTypeEnum.RevoluteJoint,y.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(y.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(e){const{nova:t}=e,[s,i]=await Promise.all([t.api.controller.listCoordinateSystems(e.motionStream.controllerId,"ROTATION_VECTOR"),t.api.motionGroup.getMotionGroupDescription(e.motionStream.controllerId,e.motionGroupId)]),n=await t.api.motionGroupModels.getMotionGroupKinematicModel(i.motion_group_model),r=Object.entries(i.tcps||{}).map(([c,o])=>({id:c,readable_name:o.name,position:o.pose.position,orientation:o.pose.orientation}));return new a(e,s||[],i,r,n.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return u.countBy(this.coordSystems,e=>e.name)}async deactivate(){if(this.jogger.mode==="jogging")return this.jogger.stop()}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&this.jogger.setOptions({tcp:this.selectedTcpId,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const e=I.tryParseJson(localStorage.getItem("joggingToolStore"));e&&(this.tabsById[e.selectedTabId]&&(this.selectedTabId=e.selectedTabId),this.coordSystemsById[e.selectedCoordSystemId]&&(this.selectedCoordSystemId=e.selectedCoordSystemId),this.tcpsById[e.selectedTcpId]&&(this.selectedTcpId=e.selectedTcpId),this.incrementOptionsById[e.selectedIncrementId]&&(this.selectedIncrementId=e.selectedIncrementId),["translate","rotate"].includes(e.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=e.selectedCartesianMotionType),["coordsys","tool"].includes(e.selectedOrientation)&&(this.selectedOrientation=e.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const e=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&e.unshift({id:"cartesian",label:"Cartesian"}),e}get incrementOptions(){return p}get discreteIncrementOptions(){return l}get incrementOptionsById(){return d(this.incrementOptions,e=>e.id)}get tabsById(){return d(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return d(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return d(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:l.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(e,t){const s=this.tabs[t]||this.tabs[0];this.selectedTabId=s.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.selectedTcpId=e}setSelectedOrientation(e){this.selectedOrientation=e}setSelectedIncrementId(e){this.selectedIncrementId=e}setCurrentIncrementJog(e){this.incrementJogInProgress=e}setVelocityFromSlider(e,t){t?this.rotationVelocityDegPerSec=e:this.translationVelocityMmPerSec=e}setSelectedCartesianMotionType(e){this.selectedCartesianMotionType=e}lock(e){this.locks.add(e)}unlock(e){this.locks.delete(e)}block(){this.blocked=!0}unblock(){this.blocked=!1,this.jogger.mode==="jogging"&&this.jogger.initializeJoggingWebsocket()}async withMotionLock(e){const t=S();this.lock(t);try{return await e()}finally{this.unlock(t)}}}exports.JoggingStore=a;exports.ORIENTATION_IDS=T;exports.default=a;

package/dist/components/jogging/JoggingStore.d.ts

@@ -194,4 +194,3 @@ export declare class JoggingStore {
     withMotionLock(fn: () => Promise<void>): Promise<void>;
 }
 export default JoggingStore;
-//# sourceMappingURL=JoggingStore.d.ts.map

package/dist/components/jogging/JoggingStore.js

@@ -1,8 +1,8 @@
 import { tryParseJson as y } from "@wandelbots/nova-js";
 import { JointTypeEnum as m } from "@wandelbots/nova-js/v2";
 import { countBy as I } from "lodash-es";
-import d from "lodash-es/keyBy";
-import p from "lodash-es/uniqueId";
+import d from "lodash-es/keyBy.js";
+import p from "lodash-es/uniqueId.js";
 import { makeAutoObservable as S, autorun as u } from "mobx";
 const a = [
   { id: "0.1", mm: 0.1, degrees: 0.05 },
@@ -216,4 +216,3 @@ export {
   k as ORIENTATION_IDS,
   g as default
 };
-//# sourceMappingURL=JoggingStore.js.map

package/dist/components/jogging/JoggingToggleButtonGroup.cjs

@@ -1,2 +1 @@
 "use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("@mui/material/styles"),r=require("@mui/material/ToggleButtonGroup"),u=e.styled(r)(({theme:t})=>{var o;return{"&.MuiToggleButtonGroup-root":{background:(o=t.palette.backgroundPaperElevation)==null?void 0:o[8],borderRadius:"8px",padding:"4px",gap:"4px",button:{border:"none",borderRadius:"4px",flex:"1 1 0px",minWidth:0,"&.MuiToggleButtonGroup-firstButton":{borderRadius:"8px 4px 4px 8px"},"&.MuiToggleButtonGroup-lastButton":{borderRadius:"4px 8px 8px 4px"}}}}});exports.JoggingToggleButtonGroup=u;
-//# sourceMappingURL=JoggingToggleButtonGroup.cjs.map

package/dist/components/jogging/JoggingToggleButtonGroup.d.ts

@@ -1,3 +1,2 @@
 import type { ToggleButtonGroupProps } from "@mui/material/ToggleButtonGroup";
 export declare const JoggingToggleButtonGroup: React.ComponentType<ToggleButtonGroupProps>;
-//# sourceMappingURL=JoggingToggleButtonGroup.d.ts.map

package/dist/components/jogging/JoggingToggleButtonGroup.js

@@ -26,4 +26,3 @@ const g = p(r)(({ theme: t }) => {
 export {
   g as JoggingToggleButtonGroup
 };
-//# sourceMappingURL=JoggingToggleButtonGroup.js.map

package/dist/components/jogging/JoggingVelocitySlider.cjs

@@ -1,2 +1 @@
 "use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("react/jsx-runtime"),c=require("mobx-react-lite"),s=require("react-i18next"),l=require("../VelocitySlider.cjs"),y=c.observer(({store:i,useDegree:t})=>{const{t:e}=s.useTranslation();function a(n,r){return r?`ω = ${e("Jogging.Cartesian.Rotation.velocityDegPerSec.lb",{amount:n})}`:`v = ${e("Jogging.Cartesian.Translation.velocityMmPerSec.lb",{amount:n})}`}return o.jsx(l.VelocitySlider,{store:i,velocity:i.velocityInDisplayUnits(t),min:i.minVelocityInDisplayUnits(t),max:i.maxVelocityInDisplayUnits(t),onVelocityChange:i.setVelocityFromSlider,useDegree:t,disabled:i.isLocked,renderValue:n=>o.jsx(l.VelocitySliderLabel,{value:a(n,t),sx:{minWidth:"111px",span:{transform:"translateY(-1.5px)"}}})})});exports.JoggingVelocitySlider=y;
-//# sourceMappingURL=JoggingVelocitySlider.cjs.map

package/dist/components/jogging/JoggingVelocitySlider.d.ts

@@ -5,4 +5,3 @@ export declare const JoggingVelocitySlider: (({ store, useDegree }: {
 }) => import("react/jsx-runtime").JSX.Element) & {
     displayName: string;
 };
-//# sourceMappingURL=JoggingVelocitySlider.d.ts.map

package/dist/components/jogging/JoggingVelocitySlider.js

@@ -37,4 +37,3 @@ const g = m(
 export {
   g as JoggingVelocitySlider
 };
-//# sourceMappingURL=JoggingVelocitySlider.js.map

package/dist/components/jogging/PoseCartesianValues.cjs

@@ -1,2 +1 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const t=require("react/jsx-runtime"),l=require("@mui/material/Button"),c=require("@mui/material/Stack"),u=require("@wandelbots/nova-js/v2"),d=require("mobx-react-lite"),p=require("react"),x=require("../../externalizeComponent.cjs"),C=require("../CopyableText.cjs"),n=x.externalizeComponent(d.observer(({tcpPose:r,showCopyButton:i=!1})=>{const[o,e]=p.useState(null),s=u.poseToWandelscriptString(r),a=async()=>{try{await navigator.clipboard.writeText(s),e("Copied!"),setTimeout(()=>e(null),2e3)}catch{e("Copy failed"),setTimeout(()=>e(null),2e3)}};return t.jsxs(c,{direction:"row",alignItems:"center",spacing:1,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},"data-testid":"pose-cartesian-values",children:[t.jsx(C.CopyableText,{value:s}),i&&t.jsx(l,{variant:"contained",color:"secondary",size:"small",onClick:a,sx:{flexShrink:0},children:o||"Copy"})]})}));exports.PoseCartesianValues=n;exports.default=n;
-//# sourceMappingURL=PoseCartesianValues.cjs.map
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const t=require("react/jsx-runtime"),l=require("@mui/material/Button"),c=require("@mui/material/Stack"),u=require("@wandelbots/nova-js/v2"),d=require("mobx-react-lite"),p=require("react"),x=require("../../chunks/externalizeComponent-DOwkaDcw.cjs"),C=require("../CopyableText.cjs"),n=x.externalizeComponent(d.observer(({tcpPose:r,showCopyButton:i=!1})=>{const[o,e]=p.useState(null),s=u.poseToWandelscriptString(r),a=async()=>{try{await navigator.clipboard.writeText(s),e("Copied!"),setTimeout(()=>e(null),2e3)}catch{e("Copy failed"),setTimeout(()=>e(null),2e3)}};return t.jsxs(c,{direction:"row",alignItems:"center",spacing:1,sx:{flexGrow:1,minWidth:0,overflow:"hidden"},"data-testid":"pose-cartesian-values",children:[t.jsx(C.CopyableText,{value:s}),i&&t.jsx(l,{variant:"contained",color:"secondary",size:"small",onClick:a,sx:{flexShrink:0},children:o||"Copy"})]})}));exports.PoseCartesianValues=n;exports.default=n;

package/dist/components/jogging/PoseCartesianValues.d.ts

@@ -7,4 +7,3 @@ export declare const PoseCartesianValues: (({ tcpPose, showCopyButton }: PoseCar
     displayName: string;
 };
 export default PoseCartesianValues;
-//# sourceMappingURL=PoseCartesianValues.d.ts.map

package/dist/components/jogging/PoseCartesianValues.js

@@ -4,11 +4,11 @@ import l from "@mui/material/Stack";
 import { poseToWandelscriptString as p } from "@wandelbots/nova-js/v2";
 import { observer as m } from "mobx-react-lite";
 import { useState as c } from "react";
-import { externalizeComponent as d } from "../../externalizeComponent.js";
+import { e as d } from "../../chunks/externalizeComponent-eiCc5DIh.js";
 import { CopyableText as f } from "../CopyableText.js";
 const T = d(
-  m(({ tcpPose: i, showCopyButton: a = !1 }) => {
-    const [o, e] = c(null), t = p(i);
+  m(({ tcpPose: a, showCopyButton: i = !1 }) => {
+    const [o, e] = c(null), t = p(a);
     return /* @__PURE__ */ s(
       l,
       {
@@ -19,7 +19,7 @@ const T = d(
         "data-testid": "pose-cartesian-values",
         children: [
           /* @__PURE__ */ r(f, { value: t }),
-          a && /* @__PURE__ */ r(
+          i && /* @__PURE__ */ r(
             n,
             {
               variant: "contained",
@@ -45,4 +45,3 @@ export {
   T as PoseCartesianValues,
   T as default
 };
-//# sourceMappingURL=PoseCartesianValues.js.map

package/dist/components/jogging/PoseJointValues.cjs

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

package/dist/components/jogging/PoseJointValues.d.ts

@@ -6,4 +6,3 @@ export declare const PoseJointValues: (({ joints, showCopyButton }: PoseJointVal
     displayName: string;
 };
 export default PoseJointValues;
-//# sourceMappingURL=PoseJointValues.d.ts.map

package/dist/components/jogging/PoseJointValues.js

@@ -3,7 +3,7 @@ import l from "@mui/material/Button";
 import p from "@mui/material/Stack";
 import { observer as m } from "mobx-react-lite";
 import { useState as c } from "react";
-import { externalizeComponent as d } from "../../externalizeComponent.js";
+import { e as d } from "../../chunks/externalizeComponent-eiCc5DIh.js";
 import { CopyableText as f } from "../CopyableText.js";
 const j = d(
   m(({ joints: i, showCopyButton: a = !1 }) => {
@@ -44,4 +44,3 @@ export {
   j as PoseJointValues,
   j as default
 };
-//# sourceMappingURL=PoseJointValues.js.map

package/dist/components/modal/NoMotionGroupModal.cjs

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

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

@@ -3,4 +3,3 @@ export type NoMotionGroupModalProps = {
 };
 export declare function NoMotionGroupModal({ baseUrl, ...props }: NoMotionGroupModalProps): import("react/jsx-runtime").JSX.Element;
 export default NoMotionGroupModal;
-//# sourceMappingURL=NoMotionGroupModal.d.ts.map

package/dist/components/modal/NoMotionGroupModal.js

@@ -89,4 +89,3 @@ export {
   k as NoMotionGroupModal,
   k as default
 };
-//# sourceMappingURL=NoMotionGroupModal.js.map

package/dist/components/robots/AxisConfig.cjs

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

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

@@ -1,3 +1,2 @@
 export type AxisConfig = number[];
 export declare const defaultAxisConfig: AxisConfig;
-//# sourceMappingURL=AxisConfig.d.ts.map

package/dist/components/robots/AxisConfig.js

@@ -2,4 +2,3 @@ const t = Array(6).fill(2 * Math.PI);
 export {
   t as defaultAxisConfig
 };
-//# sourceMappingURL=AxisConfig.js.map

package/dist/components/robots/DHLinearAxis.cjs

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

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

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

package/dist/components/robots/DHLinearAxis.js

@@ -89,4 +89,3 @@ export {
   P as DHLinearAxis,
   P as default
 };
-//# sourceMappingURL=DHLinearAxis.js.map

package/dist/components/robots/DHRobot.cjs

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

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

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

package/dist/components/robots/DHRobot.js

@@ -91,4 +91,3 @@ export {
   E as DHRobot,
   E as default
 };
-//# sourceMappingURL=DHRobot.js.map

package/dist/components/robots/GenericRobot.cjs

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

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

@@ -12,4 +12,3 @@ export type RobotModelProps = {
 } & ThreeElements["group"];
 export declare function GenericRobot({ modelURL, flangeRef, postModelRender, ...props }: RobotModelProps): import("react/jsx-runtime").JSX.Element | null;
 export default GenericRobot;
-//# sourceMappingURL=GenericRobot.d.ts.map

package/dist/components/robots/GenericRobot.js

@@ -88,4 +88,3 @@ export {
   E as GenericRobot,
   E as default
 };
-//# sourceMappingURL=GenericRobot.js.map

package/dist/components/robots/LinearAxis.cjs

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

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

@@ -23,4 +23,3 @@ 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.js

@@ -39,4 +39,3 @@ export {
   P as default,
   h as defaultGetModel
 };
-//# sourceMappingURL=LinearAxis.js.map

package/dist/components/robots/LinearAxisAnimator.cjs

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

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

@@ -9,4 +9,3 @@ type LinearAxisAnimatorProps = {
 };
 export default function LinearAxisAnimator({ rapidlyChangingMotionState, dhParameters, onTranslationChanged, children, }: LinearAxisAnimatorProps): import("react/jsx-runtime").JSX.Element;
 export {};
-//# sourceMappingURL=LinearAxisAnimator.d.ts.map

package/dist/components/robots/LinearAxisAnimator.js

@@ -63,4 +63,3 @@ function G({
 export {
   G as default
 };
-//# sourceMappingURL=LinearAxisAnimator.js.map

package/dist/components/robots/MotionGroupVisualizer.cjs

@@ -1,2 +1 @@
-"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
+"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("../../chunks/externalizeComponent-DOwkaDcw.cjs"),b=require("./SupportedLinearAxis.cjs"),d=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 c=o.useMemo(()=>e===null&&n===r.JointTypeEnum.RevoluteJoint,[e,n]),a=o.useMemo(()=>e===null&&n===r.JointTypeEnum.PrismaticJoint,[e,n]);return o.useMemo(()=>!!e,[e])||c?u.jsx(d.SupportedRobot,{dhParameters:t,...i}):a?u.jsx(b.SupportedLinearAxis,{dhParameters:t,...i}):null});exports.MotionGroupVisualizer=s;exports.default=s;

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

@@ -7,4 +7,3 @@ export type MotionGroupVisualizerProps = {
 } & (SupportedRobotProps | SupportedLinearAxisProps);
 export declare const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps>;
 export default MotionGroupVisualizer;
-//# sourceMappingURL=MotionGroupVisualizer.d.ts.map

package/dist/components/robots/MotionGroupVisualizer.js

@@ -1,14 +1,14 @@
 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 { useState as a, useEffect as f, useMemo as n } from "react";
+import { e as c } from "../../chunks/externalizeComponent-eiCc5DIh.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(
+  const { inverseSolver: t, dhParameters: o, ...i } = u, [e, m] = a(
     r.RevoluteJoint
   );
-  a(() => {
+  f(() => {
     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]);
@@ -18,4 +18,3 @@ export {
   h as MotionGroupVisualizer,
   h as default
 };
-//# sourceMappingURL=MotionGroupVisualizer.js.map

package/dist/components/robots/Robot.cjs

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

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

@@ -23,4 +23,3 @@ 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.js

@@ -28,4 +28,3 @@ export {
   s as default,
   d as defaultGetModel
 };
-//# sourceMappingURL=Robot.js.map

package/dist/components/robots/RobotAnimator.cjs

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

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

@@ -9,4 +9,3 @@ type RobotAnimatorProps = {
 };
 export default function RobotAnimator({ rapidlyChangingMotionState, dhParameters, onRotationChanged, children, }: RobotAnimatorProps): import("react/jsx-runtime").JSX.Element;
 export {};
-//# sourceMappingURL=RobotAnimator.d.ts.map