npm - @wandelbots/wandelbots-js-react-components - Versions diffs - 5.5.0 → 5.5.1-pr.fix-standardize-output.591.1380385 - Mend

@wandelbots/wandelbots-js-react-components 5.5.0 → 5.5.1-pr.fix-standardize-output.591.1380385

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package/dist/components/jogging/JoggingJointValueControl.cjs.map DELETED Viewed

@@ -1 +0,0 @@

- {"version":3,"file":"JoggingJointValueControl.cjs","sources":["../../../src/components/jogging/JoggingJointValueControl.tsx"],"sourcesContent":["import ChevronLeft from \"@mui/icons-material/ChevronLeft\"\nimport ChevronRight from \"@mui/icons-material/ChevronRight\"\nimport { useTheme } from \"@mui/material/styles\"\nimport IconButton from \"@mui/material/IconButton\"\nimport Slider from \"@mui/material/Slider\"\nimport Typography from \"@mui/material/Typography\"\nimport Stack from \"@mui/material/Stack\"\nimport { radiansToDegrees } from \"@wandelbots/nova-js\"\nimport throttle from \"lodash-es/throttle\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { useAnimationFrame } from \"../utils/hooks\"\n\ntype JoggingJointValueControlProps = {\n startJogging: (direction: \"-\" | \"+\") => void\n stopJogging: () => void\n lowerLimit?: number\n upperLimit?: number\n useDegree: boolean\n getValue: () => number | undefined\n disabled?: boolean\n} & React.ComponentProps<typeof Stack>\n\n/** A input widget to control an individual joint */\nexport const JoggingJointValueControl = externalizeComponent(\n observer(\n ({\n startJogging,\n stopJogging,\n lowerLimit,\n upperLimit,\n useDegree,\n getValue,\n disabled,\n ...rest\n }: JoggingJointValueControlProps) => {\n const { t } = useTranslation()\n const [currentValue, setCurrentValue] = useState<number | undefined>()\n const theme = useTheme()\n\n const pressedButtonStyle = {\n background: theme.palette.backgroundPaperElevation?.[4],\n color: theme.palette.backgroundPaperElevation?.[11],\n }\n\n const state = useLocalObservable(() => ({\n activeJoggingDir: null as \"-\" | \"+\" | null,\n\n startJogging(dir: \"-\" | \"+\") {\n this.activeJoggingDir = dir\n startJogging(dir)\n },\n\n stopJogging() {\n this.activeJoggingDir = null\n stopJogging()\n },\n }))\n\n const updateValue = throttle(() => {\n const newValue = useDegree ? convertToDegree(getValue()) : getValue()\n if (\n newValue === undefined ||\n currentValue === undefined ||\n Math.abs(currentValue - newValue) > 1e-9\n ) {\n setCurrentValue(newValue)\n }\n }, 50)\n\n useAnimationFrame(updateValue)\n\n function convertToDegree(value: number | undefined) {\n if (value === undefined) {\n return undefined\n }\n return radiansToDegrees(value)\n }\n\n function onPointerDownMinus(ev: React.PointerEvent) {\n // Stop right click from triggering jog\n if (ev.button === 0) state.startJogging(\"-\")\n }\n\n function onPointerDownPlus(ev: React.PointerEvent) {\n if (ev.button === 0) state.startJogging(\"+\")\n }\n\n function onPointerUp(ev: React.PointerEvent) {\n state.stopJogging()\n }\n\n function onPointerOut(ev: React.PointerEvent) {\n state.stopJogging()\n }\n\n function formatDegrees(value: number | undefined, precision = 1) {\n if (value === undefined || Number.isNaN(value)) return \"\"\n\n const output = t(\"General.degree.variable\", {\n amount: value.toFixed(precision),\n })\n\n if (value > 0 && precision === 0) {\n return `+${output}`\n } else {\n return output\n }\n }\n function formatMm(value: number | undefined, precision = 1) {\n if (value === undefined || Number.isNaN(value)) return \"\"\n\n const output = t(\"General.mm.variable\", {\n amount: value.toFixed(precision),\n })\n\n if (value > 0 && precision === 0) {\n return `+${output}`\n } else {\n return output\n }\n }\n\n return (\n <Stack\n height=\"64px\"\n width=\"100%\"\n maxWidth=\"260px\"\n direction=\"row\"\n {...rest}\n sx={{\n \"& .MuiIconButton-root\": {\n width: \"52px\",\n color: theme.palette.text.primary,\n alignContent: \"center\",\n backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n \"& svg\": {\n width: \"42px\",\n height: \"42px\",\n },\n\n \"&.Mui-disabled\": {\n backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n color: theme.palette.action.disabled,\n opacity: 1,\n },\n \"&:hover\": {\n backgroundColor: theme.palette.backgroundPaperElevation?.[9],\n },\n \"&:active\": {\n ...pressedButtonStyle,\n },\n },\n }}\n >\n <IconButton\n onPointerDown={onPointerDownMinus}\n onPointerUp={onPointerUp}\n onPointerOut={onPointerOut}\n disabled={disabled}\n disableRipple\n sx={{\n borderRadius: \"16px 0px 0px 16px\",\n ...(state.activeJoggingDir === \"-\" ? pressedButtonStyle : {}),\n }}\n >\n <ChevronLeft\n sx={{\n pointerEvents: \"none\",\n color:\n theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n ?.arrowColor,\n }}\n />\n </IconButton>\n\n <Stack\n flexGrow={1}\n alignItems=\"center\"\n justifyContent=\"center\"\n sx={{\n borderStyle: \"solid\",\n borderLeftWidth: 0,\n borderRightWidth: 0,\n border: \"none\",\n backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n paddingLeft: \"20px\",\n paddingRight: \"20px\",\n zIndex: 1,\n }}\n >\n <Typography\n sx={{\n fontSize: \"15px\",\n fontWeight: 700,\n position: \"relative\",\n top: \"5px\",\n fontVariantNumeric: \"tabular-nums\",\n minWidth: \"80px\",\n textAlign: \"center\",\n\n color: disabled\n ? theme.palette.action.disabled\n : theme.palette.text.primary,\n }}\n >\n {useDegree ? formatDegrees(currentValue) : formatMm(currentValue)}\n </Typography>\n\n <Slider\n disabled\n aria-label=\"Joint position\"\n min={useDegree ? convertToDegree(lowerLimit) : lowerLimit}\n max={useDegree ? convertToDegree(upperLimit) : upperLimit}\n value={currentValue || 0}\n track={false}\n sx={{\n \"& .MuiSlider-mark\": {\n display: \"none\",\n },\n \"& .MuiSlider-thumb\": {\n width: \"5px\",\n height: \"12px\",\n borderRadius: \"2px\",\n color: disabled\n ? theme.palette.action.disabled\n : theme.palette.text.primary,\n },\n \"& .MuiSlider-markLabel\": {\n top: \"20px\",\n fontSize: \"12px\",\n color: disabled\n ? theme.palette.action.disabled\n : theme.palette.text.secondary,\n },\n \"& .MuiSlider-rail\": {\n backgroundColor: theme.palette.backgroundPaperElevation?.[5],\n opacity: 1,\n },\n }}\n marks={\n lowerLimit !== undefined &&\n upperLimit !== undefined && [\n {\n value: (useDegree\n ? convertToDegree(lowerLimit)\n : lowerLimit) as number,\n label: useDegree\n ? formatDegrees(convertToDegree(lowerLimit), 0)\n : formatMm(lowerLimit),\n },\n {\n value: (useDegree\n ? convertToDegree(upperLimit)\n : upperLimit) as number,\n label: useDegree\n ? formatDegrees(convertToDegree(upperLimit), 0)\n : formatMm(upperLimit),\n },\n ]\n }\n />\n </Stack>\n\n <IconButton\n onPointerDown={onPointerDownPlus}\n onPointerUp={onPointerUp}\n onPointerOut={onPointerOut}\n disabled={disabled}\n disableRipple\n sx={{\n borderRadius: \"0px 16px 16px 0px\",\n ...(state.activeJoggingDir === \"+\" ? 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package/dist/components/jogging/JoggingJointValueControl.d.ts.map DELETED Viewed

@@ -1 +0,0 @@

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package/dist/components/jogging/JoggingJointValueControl.js.map DELETED Viewed

@@ -1 +0,0 @@

- {"version":3,"file":"JoggingJointValueControl.js","sources":["../../../src/components/jogging/JoggingJointValueControl.tsx"],"sourcesContent":["import ChevronLeft from \"@mui/icons-material/ChevronLeft\"\nimport ChevronRight from \"@mui/icons-material/ChevronRight\"\nimport { useTheme } from \"@mui/material/styles\"\nimport IconButton from \"@mui/material/IconButton\"\nimport Slider from \"@mui/material/Slider\"\nimport Typography from \"@mui/material/Typography\"\nimport Stack from \"@mui/material/Stack\"\nimport { radiansToDegrees } from \"@wandelbots/nova-js\"\nimport throttle from \"lodash-es/throttle\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { useAnimationFrame } from \"../utils/hooks\"\n\ntype JoggingJointValueControlProps = {\n startJogging: (direction: \"-\" | \"+\") => void\n stopJogging: () => void\n lowerLimit?: number\n upperLimit?: number\n useDegree: boolean\n getValue: () => number | undefined\n disabled?: boolean\n} & React.ComponentProps<typeof Stack>\n\n/** A input widget to control an individual joint */\nexport const JoggingJointValueControl = externalizeComponent(\n observer(\n ({\n startJogging,\n stopJogging,\n lowerLimit,\n upperLimit,\n useDegree,\n getValue,\n disabled,\n ...rest\n }: JoggingJointValueControlProps) => {\n const { t } = useTranslation()\n const [currentValue, setCurrentValue] = useState<number | undefined>()\n const theme = useTheme()\n\n const pressedButtonStyle = {\n background: theme.palette.backgroundPaperElevation?.[4],\n color: theme.palette.backgroundPaperElevation?.[11],\n }\n\n const state = useLocalObservable(() => ({\n activeJoggingDir: null as \"-\" | \"+\" | null,\n\n startJogging(dir: \"-\" | \"+\") {\n this.activeJoggingDir = dir\n startJogging(dir)\n },\n\n stopJogging() {\n this.activeJoggingDir = null\n stopJogging()\n },\n }))\n\n const updateValue = throttle(() => {\n const newValue = useDegree ? convertToDegree(getValue()) : getValue()\n if (\n newValue === undefined ||\n currentValue === undefined ||\n Math.abs(currentValue - newValue) > 1e-9\n ) {\n setCurrentValue(newValue)\n }\n }, 50)\n\n useAnimationFrame(updateValue)\n\n function convertToDegree(value: number | undefined) {\n if (value === undefined) {\n return undefined\n }\n return radiansToDegrees(value)\n }\n\n function onPointerDownMinus(ev: React.PointerEvent) {\n // Stop right click from triggering jog\n if (ev.button === 0) state.startJogging(\"-\")\n }\n\n function onPointerDownPlus(ev: React.PointerEvent) {\n if (ev.button === 0) state.startJogging(\"+\")\n }\n\n function onPointerUp(ev: React.PointerEvent) {\n state.stopJogging()\n }\n\n function onPointerOut(ev: React.PointerEvent) {\n state.stopJogging()\n }\n\n function formatDegrees(value: number | undefined, precision = 1) {\n if (value === undefined || Number.isNaN(value)) return \"\"\n\n const output = t(\"General.degree.variable\", {\n amount: value.toFixed(precision),\n })\n\n if (value > 0 && precision === 0) {\n return `+${output}`\n } else {\n return output\n }\n }\n function formatMm(value: number | undefined, precision = 1) {\n if (value === undefined || Number.isNaN(value)) return \"\"\n\n const output = t(\"General.mm.variable\", {\n amount: value.toFixed(precision),\n })\n\n if (value > 0 && precision === 0) {\n return `+${output}`\n } else {\n return output\n }\n }\n\n return (\n <Stack\n height=\"64px\"\n width=\"100%\"\n maxWidth=\"260px\"\n direction=\"row\"\n {...rest}\n sx={{\n \"& .MuiIconButton-root\": {\n width: \"52px\",\n color: theme.palette.text.primary,\n alignContent: \"center\",\n backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n \"& svg\": {\n width: \"42px\",\n height: \"42px\",\n },\n\n \"&.Mui-disabled\": {\n backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n color: theme.palette.action.disabled,\n opacity: 1,\n },\n \"&:hover\": {\n backgroundColor: theme.palette.backgroundPaperElevation?.[9],\n },\n \"&:active\": {\n ...pressedButtonStyle,\n },\n },\n }}\n >\n <IconButton\n onPointerDown={onPointerDownMinus}\n onPointerUp={onPointerUp}\n onPointerOut={onPointerOut}\n disabled={disabled}\n disableRipple\n sx={{\n borderRadius: \"16px 0px 0px 16px\",\n ...(state.activeJoggingDir === \"-\" ? pressedButtonStyle : {}),\n }}\n >\n <ChevronLeft\n sx={{\n pointerEvents: \"none\",\n color:\n theme.componentsExt?.JoggingPanel?.JoggingJoint?.Joint\n ?.arrowColor,\n }}\n />\n </IconButton>\n\n <Stack\n flexGrow={1}\n alignItems=\"center\"\n justifyContent=\"center\"\n sx={{\n borderStyle: \"solid\",\n borderLeftWidth: 0,\n borderRightWidth: 0,\n border: \"none\",\n backgroundColor: theme.palette.backgroundPaperElevation?.[11],\n paddingLeft: \"20px\",\n paddingRight: \"20px\",\n zIndex: 1,\n }}\n >\n <Typography\n sx={{\n fontSize: \"15px\",\n fontWeight: 700,\n position: \"relative\",\n top: \"5px\",\n fontVariantNumeric: \"tabular-nums\",\n minWidth: \"80px\",\n textAlign: \"center\",\n\n color: disabled\n ? theme.palette.action.disabled\n : theme.palette.text.primary,\n }}\n >\n {useDegree ? formatDegrees(currentValue) : formatMm(currentValue)}\n </Typography>\n\n <Slider\n disabled\n aria-label=\"Joint position\"\n min={useDegree ? convertToDegree(lowerLimit) : lowerLimit}\n max={useDegree ? convertToDegree(upperLimit) : upperLimit}\n value={currentValue || 0}\n track={false}\n sx={{\n \"& .MuiSlider-mark\": {\n display: \"none\",\n },\n \"& .MuiSlider-thumb\": {\n width: \"5px\",\n height: \"12px\",\n borderRadius: \"2px\",\n color: disabled\n ? theme.palette.action.disabled\n : theme.palette.text.primary,\n },\n \"& .MuiSlider-markLabel\": {\n top: \"20px\",\n fontSize: \"12px\",\n color: disabled\n ? theme.palette.action.disabled\n : theme.palette.text.secondary,\n },\n \"& .MuiSlider-rail\": {\n backgroundColor: 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package/dist/components/jogging/JoggingOptions.cjs.map DELETED Viewed

@@ -1 +0,0 @@

- {"version":3,"file":"JoggingOptions.cjs","sources":["../../../src/components/jogging/JoggingOptions.tsx"],"sourcesContent":["import Box from \"@mui/material/Box\"\nimport MenuItem from \"@mui/material/MenuItem\"\nimport { observer } from \"mobx-react-lite\"\nimport { useId } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport AdornedSelect from \"../experimental/utils/AdornedSelect\"\nimport {\n ORIENTATION_IDS,\n type IncrementOptionId,\n type JoggingStore,\n type OrientationId,\n} from \"./JoggingStore\"\n\nexport const JoggingOptions = observer(\n ({ store, useDegree }: { store: JoggingStore; useDegree: boolean }) => {\n const { t } = useTranslation()\n const componentId = useId()\n const joggingOptions: React.ReactElement[] = []\n\n function translateOrientation(orientation: OrientationId): string {\n switch (orientation) {\n case \"coordsys\":\n return t(\"Jogging.Orientation.coordsys\")\n case \"tool\":\n return t(\"Jogging.Orientation.tool\")\n default:\n return orientation\n }\n }\n\n if (store.showCoordSystemSelect) {\n joggingOptions.push(\n <AdornedSelect\n key=\"coord\"\n labelId={`jogging-coord-select-${componentId}`}\n labelValue={t(\"Jogging.CoordinateSystem.hlb\")}\n value={store.selectedCoordSystemId}\n size=\"small\"\n variant=\"filled\"\n displayEmpty={true}\n onChange={(event) =>\n store.setSelectedCoordSystemId(event.target.value as string)\n }\n disabled={store.isLocked}\n >\n {store.coordSystems.map((cs) => (\n <MenuItem key={cs.coordinate_system} value={cs.coordinate_system}>\n {cs.name && store.coordSystemCountByName[cs.name] > 1\n ? 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package/dist/components/jogging/JoggingOptions.d.ts.map DELETED Viewed

	@@ -1 +0,0 @@
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package/dist/components/jogging/JoggingOptions.js.map DELETED Viewed

@@ -1 +0,0 @@

- {"version":3,"file":"JoggingOptions.js","sources":["../../../src/components/jogging/JoggingOptions.tsx"],"sourcesContent":["import Box from \"@mui/material/Box\"\nimport MenuItem from \"@mui/material/MenuItem\"\nimport { observer } from \"mobx-react-lite\"\nimport { useId } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport AdornedSelect from \"../experimental/utils/AdornedSelect\"\nimport {\n ORIENTATION_IDS,\n type IncrementOptionId,\n type JoggingStore,\n type OrientationId,\n} from \"./JoggingStore\"\n\nexport const JoggingOptions = observer(\n ({ store, useDegree }: { store: JoggingStore; useDegree: boolean }) => {\n const { t } = useTranslation()\n const componentId = useId()\n const joggingOptions: React.ReactElement[] = []\n\n function translateOrientation(orientation: OrientationId): string {\n switch (orientation) {\n case \"coordsys\":\n return t(\"Jogging.Orientation.coordsys\")\n case \"tool\":\n return t(\"Jogging.Orientation.tool\")\n default:\n return orientation\n }\n }\n\n if (store.showCoordSystemSelect) {\n joggingOptions.push(\n <AdornedSelect\n key=\"coord\"\n labelId={`jogging-coord-select-${componentId}`}\n labelValue={t(\"Jogging.CoordinateSystem.hlb\")}\n value={store.selectedCoordSystemId}\n size=\"small\"\n variant=\"filled\"\n displayEmpty={true}\n onChange={(event) =>\n store.setSelectedCoordSystemId(event.target.value as string)\n }\n disabled={store.isLocked}\n >\n {store.coordSystems.map((cs) => (\n <MenuItem key={cs.coordinate_system} value={cs.coordinate_system}>\n {cs.name && store.coordSystemCountByName[cs.name] > 1\n ? 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package/dist/components/jogging/JoggingPanel.cjs.map DELETED Viewed

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- {"version":3,"file":"JoggingPanel.cjs","sources":["../../../src/components/jogging/JoggingPanel.tsx"],"sourcesContent":["import MoveIcon from \"@mui/icons-material/OpenWith\"\nimport ShareIcon from \"@mui/icons-material/Share\"\nimport type { SxProps } from \"@mui/material/styles\"\nimport Stack from \"@mui/material/Stack\"\nimport Tab from \"@mui/material/Tab\"\nimport Tabs from \"@mui/material/Tabs\"\nimport { NovaClient } from \"@wandelbots/nova-js/v2\"\nimport { isString } from \"lodash-es\"\nimport { runInAction } from \"mobx\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useEffect } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { JoggerConnection } from \"../../lib/JoggerConnection\"\nimport { LoadingCover } from \"../LoadingCover\"\nimport { JoggingBlocked } from \"./JoggingBlocked\"\nimport { JoggingCartesianTab } from \"./JoggingCartesianTab\"\nimport { JoggingJointTab } from \"./JoggingJointTab\"\nimport { JoggingStore } from \"./JoggingStore\"\n\nexport type JoggingPanelTabId = \"cartesian\" | \"joint\"\n\nexport type JoggingPanelProps = {\n /** Either an existing NovaClient or the base url of a deployed Nova instance */\n nova: NovaClient | string\n /** Id of the motion group to move e.g. 0@ur5e */\n motionGroupId: string\n /** Callback with the jogging panel's state store for further customization/config */\n onSetup?: (store: JoggingStore) => void\n /** Any children will go at the bottom of the panel under the default contents */\n children?: React.ReactNode\n /** Set this to true to disable jogging UI temporarily e.g. when a program is executing */\n locked?: boolean\n sx?: SxProps\n\n /**\n * To preserve state while the jogging panel is hidden, you can create and pass a\n * JoggingStore here and it will be used instead of creating a new one.\n */\n store?: JoggingStore\n}\n\n/**\n * A high-level, opinionated UI panel for jogging a robot using the Wandelbots Platform API\n */\nexport const JoggingPanel = externalizeComponent(\n observer((props: JoggingPanelProps) => {\n const nova = isString(props.nova)\n ? new NovaClient({ instanceUrl: props.nova })\n : props.nova\n\n const state = useLocalObservable(() => ({\n joggingStore: null as JoggingStore | null,\n loadingError: null as unknown | null,\n }))\n\n async function init() {\n runInAction(() => {\n state.loadingError = null\n state.joggingStore = null\n })\n\n try {\n let joggingStore = props.store\n if (!joggingStore) {\n const jogger = await JoggerConnection.open(nova, props.motionGroupId)\n joggingStore = await JoggingStore.loadFor(jogger)\n }\n runInAction(() => {\n state.joggingStore = joggingStore\n })\n if (props.onSetup) {\n props.onSetup(joggingStore)\n }\n } catch (err) {\n state.loadingError = err\n }\n }\n\n // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n useEffect(() => {\n init()\n return props.store\n ? () => null\n : () => {\n state.joggingStore?.dispose()\n }\n }, [props.store, props.nova, props.motionGroupId])\n\n useEffect(() => {\n const store = state.joggingStore\n if (!store) return\n\n if (props.locked) {\n store.lock(\"external\")\n } else {\n store.unlock(\"external\")\n }\n }, [state.joggingStore, props.locked])\n\n return (\n <Stack\n data-testid=\"jogging-panel\"\n aria-label=\"jogging-panel\"\n sx={{\n maxWidth: \"460px\",\n minWidth: \"320px\",\n position: \"relative\",\n ...props.sx,\n }}\n >\n {state.joggingStore ? (\n <JoggingPanelInner store={state.joggingStore}>\n {props.children}\n </JoggingPanelInner>\n ) : (\n <LoadingCover message=\"Loading jogging\" error={state.loadingError} />\n )}\n </Stack>\n )\n }),\n)\n\nconst JoggingPanelInner = observer(\n ({\n store,\n children,\n }: {\n store: JoggingStore\n children?: React.ReactNode\n childrenJoint?: React.ReactNode\n }) => {\n const { t } = useTranslation()\n\n function renderTabContent() {\n if (store.currentTab.id === \"cartesian\") {\n return (\n <JoggingCartesianTab store={store}>{children}</JoggingCartesianTab>\n )\n } else if (store.currentTab.id === \"joint\") {\n return <JoggingJointTab store={store}>{children}</JoggingJointTab>\n }\n }\n\n return (\n <Stack flexGrow={1} sx={{ overflow: \"hidden\" }}>\n {/* Tab selection */}\n <Tabs\n data-testid=\"jogging-tabs\"\n aria-label=\"jogging-tabs\"\n value={store.tabIndex}\n onChange={store.onTabChange}\n variant=\"fullWidth\"\n >\n {store.tabs.map((tab) => {\n const label =\n tab.label === \"Cartesian\"\n ? t(\"Jogging.Cartesian.bt\")\n : t(\"Jogging.Joints.bt\")\n\n const icon =\n tab.label === \"cartesian\" ? 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- {"version":3,"file":"JoggingPanel.js","sources":["../../../src/components/jogging/JoggingPanel.tsx"],"sourcesContent":["import MoveIcon from \"@mui/icons-material/OpenWith\"\nimport ShareIcon from \"@mui/icons-material/Share\"\nimport type { SxProps } from \"@mui/material/styles\"\nimport Stack from \"@mui/material/Stack\"\nimport Tab from \"@mui/material/Tab\"\nimport Tabs from \"@mui/material/Tabs\"\nimport { NovaClient } from \"@wandelbots/nova-js/v2\"\nimport { isString } from \"lodash-es\"\nimport { runInAction } from \"mobx\"\nimport { observer, useLocalObservable } from \"mobx-react-lite\"\nimport { useEffect } from \"react\"\nimport { useTranslation } from \"react-i18next\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { JoggerConnection } from \"../../lib/JoggerConnection\"\nimport { LoadingCover } from \"../LoadingCover\"\nimport { JoggingBlocked } from \"./JoggingBlocked\"\nimport { JoggingCartesianTab } from \"./JoggingCartesianTab\"\nimport { JoggingJointTab } from \"./JoggingJointTab\"\nimport { JoggingStore } from \"./JoggingStore\"\n\nexport type JoggingPanelTabId = \"cartesian\" | \"joint\"\n\nexport type JoggingPanelProps = {\n /** Either an existing NovaClient or the base url of a deployed Nova instance */\n nova: NovaClient | string\n /** Id of the motion group to move e.g. 0@ur5e */\n motionGroupId: string\n /** Callback with the jogging panel's state store for further customization/config */\n onSetup?: (store: JoggingStore) => void\n /** Any children will go at the bottom of the panel under the default contents */\n children?: React.ReactNode\n /** Set this to true to disable jogging UI temporarily e.g. when a program is executing */\n locked?: boolean\n sx?: SxProps\n\n /**\n * To preserve state while the jogging panel is hidden, you can create and pass a\n * JoggingStore here and it will be used instead of creating a new one.\n */\n store?: JoggingStore\n}\n\n/**\n * A high-level, opinionated UI panel for jogging a robot using the Wandelbots Platform API\n */\nexport const JoggingPanel = externalizeComponent(\n observer((props: JoggingPanelProps) => {\n const nova = isString(props.nova)\n ? new NovaClient({ instanceUrl: props.nova })\n : props.nova\n\n const state = useLocalObservable(() => ({\n joggingStore: null as JoggingStore | null,\n loadingError: null as unknown | null,\n }))\n\n async function init() {\n runInAction(() => {\n state.loadingError = null\n state.joggingStore = null\n })\n\n try {\n let joggingStore = props.store\n if (!joggingStore) {\n const jogger = await JoggerConnection.open(nova, props.motionGroupId)\n joggingStore = await JoggingStore.loadFor(jogger)\n }\n runInAction(() => {\n state.joggingStore = joggingStore\n })\n if (props.onSetup) {\n props.onSetup(joggingStore)\n }\n } catch (err) {\n state.loadingError = err\n }\n }\n\n // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n useEffect(() => {\n init()\n return props.store\n ? () => null\n : () => {\n state.joggingStore?.dispose()\n }\n }, [props.store, props.nova, props.motionGroupId])\n\n useEffect(() => {\n const store = state.joggingStore\n if (!store) return\n\n if (props.locked) {\n store.lock(\"external\")\n } else {\n store.unlock(\"external\")\n }\n }, [state.joggingStore, props.locked])\n\n return (\n <Stack\n data-testid=\"jogging-panel\"\n aria-label=\"jogging-panel\"\n sx={{\n maxWidth: \"460px\",\n minWidth: \"320px\",\n position: \"relative\",\n ...props.sx,\n }}\n >\n {state.joggingStore ? (\n <JoggingPanelInner store={state.joggingStore}>\n {props.children}\n </JoggingPanelInner>\n ) : (\n <LoadingCover message=\"Loading jogging\" error={state.loadingError} />\n )}\n </Stack>\n )\n }),\n)\n\nconst JoggingPanelInner = observer(\n ({\n store,\n children,\n }: {\n store: JoggingStore\n children?: React.ReactNode\n childrenJoint?: React.ReactNode\n }) => {\n const { t } = useTranslation()\n\n function renderTabContent() {\n if (store.currentTab.id === \"cartesian\") {\n return (\n <JoggingCartesianTab store={store}>{children}</JoggingCartesianTab>\n )\n } else if (store.currentTab.id === \"joint\") {\n return <JoggingJointTab store={store}>{children}</JoggingJointTab>\n }\n }\n\n return (\n <Stack flexGrow={1} sx={{ overflow: \"hidden\" }}>\n {/* Tab selection */}\n <Tabs\n data-testid=\"jogging-tabs\"\n aria-label=\"jogging-tabs\"\n value={store.tabIndex}\n onChange={store.onTabChange}\n variant=\"fullWidth\"\n >\n {store.tabs.map((tab) => {\n const label =\n tab.label === \"Cartesian\"\n ? t(\"Jogging.Cartesian.bt\")\n : t(\"Jogging.Joints.bt\")\n\n const icon =\n tab.label === \"cartesian\" ? (\n <MoveIcon fontSize=\"small\" sx={{ mr: 1 }} />\n ) : (\n <ShareIcon fontSize=\"small\" sx={{ mr: 1 }} />\n )\n\n return (\n <Tab\n key={tab.id}\n data-testid={`jogging-tab-${tab.id}`}\n aria-label={`jogging-tab-${tab.id}`}\n label={\n store.showTabIcons ? 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package/dist/components/jogging/JoggingPanel.test.d.ts DELETED Viewed

	@@ -1,2 +0,0 @@
1	- export {};
2	- //# sourceMappingURL=JoggingPanel.test.d.ts.map

package/dist/components/jogging/JoggingPanel.test.d.ts.map DELETED Viewed

	@@ -1 +0,0 @@
1	- {"version":3,"file":"JoggingPanel.test.d.ts","sourceRoot":"","sources":["../../../src/components/jogging/JoggingPanel.test.tsx"],"names":[],"mappings":""}

package/dist/components/jogging/JoggingStore.cjs.map DELETED Viewed

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- {"version":3,"file":"JoggingStore.cjs","sources":["../../../src/components/jogging/JoggingStore.ts"],"sourcesContent":["import { tryParseJson } from \"@wandelbots/nova-js\"\nimport {\n JointTypeEnum,\n type CoordinateSystem,\n type KinematicModel,\n type MotionGroupDescription,\n type RobotTcp,\n} from \"@wandelbots/nova-js/v2\"\nimport { countBy } from \"lodash-es\"\nimport keyBy from \"lodash-es/keyBy\"\nimport uniqueId from \"lodash-es/uniqueId\"\nimport { autorun, makeAutoObservable, type IReactionDisposer } from \"mobx\"\nimport type {\n JoggerConnection,\n JoggerOrientation,\n Vector3Simple,\n} from \"../../lib/JoggerConnection\"\n\nconst discreteIncrementOptions = [\n { id: \"0.1\", mm: 0.1, degrees: 0.05 },\n { id: \"1\", mm: 1, degrees: 0.5 },\n { id: \"5\", mm: 5, degrees: 2.5 },\n { id: \"10\", mm: 10, degrees: 5 },\n]\n\nconst incrementOptions = [\n { id: \"continuous\" },\n ...discreteIncrementOptions,\n] as const\n\nexport type JoggingAxis = \"x\" | \"y\" | \"z\"\nexport type JoggingDirection = \"+\" | \"-\"\nexport type DiscreteIncrementOption = (typeof discreteIncrementOptions)[number]\nexport type IncrementOption = (typeof incrementOptions)[number]\nexport type IncrementOptionId = IncrementOption[\"id\"]\n\nexport const ORIENTATION_IDS = [\"coordsys\", \"tool\"]\nexport type OrientationId = (typeof ORIENTATION_IDS)[number]\n\nexport type IncrementJogInProgress = {\n direction: JoggingDirection\n axis: JoggingAxis\n}\n\ntype TabType = \"cartesian\" | \"joint\" | \"debug\"\nexport type CartesianMotionType = \"translate\" | \"rotate\"\n\nexport class JoggingStore {\n selectedTabId: TabType = \"cartesian\"\n\n /** Locks to prevent UI interactions during certain operations */\n locks = new Set<string>()\n\n /** Block jogging UI interactions when connection is taken by another jogger */\n blocked: boolean = false\n\n /**\n * Id of selected coordinate system from among those defined on the API side\n */\n selectedCoordSystemId: string = \"world\"\n\n /** Id of selected tool center point from among the options available on the robot */\n selectedTcpId: string = \"\"\n\n /**\n * Whether the user is jogging in the coordinate system or tool orientation.\n * When in tool orientation, the robot moves in a direction relative to the\n * attached tool rotation.\n */\n selectedOrientation: OrientationId = \"coordsys\"\n\n /**\n * Id of selected increment amount for jogging. Options are defined by robot pad.\n * When non-continuous, jogging moves the robot by a fixed number of mm or degrees\n * each time the button is pressed, for extra precision\n */\n selectedIncrementId: IncrementOptionId = \"continuous\"\n\n /**\n * When on the cartesian tab, jogging can be either translating or rotating\n * around the TCP.\n */\n selectedCartesianMotionType: CartesianMotionType = \"translate\"\n\n /**\n * If the jogger is busy running an incremental jog, this will be set\n * with the information about the motion\n */\n incrementJogInProgress: IncrementJogInProgress | null = null\n\n /** How fast the robot goes when doing cartesian translate jogging in mm/s */\n translationVelocityMmPerSec: number = 10\n /** How fast the robot goes when doing cartesian or joint rotation jogging in °/s */\n rotationVelocityDegPerSec: number = 1\n\n /** Minimum translation velocity user can choose on the velocity slider in °/s */\n minTranslationVelocityMmPerSec: number = 5\n /** Maximum translation velocity user can choose on the velocity slider in °/s */\n maxTranslationVelocityMmPerSec: number = 250\n\n /** Minimum rotation velocity user can choose on the velocity slider in °/s */\n minRotationVelocityDegPerSec: number = 1\n /** Maximum rotation velocity user can choose on the velocity slider in °/s */\n maxRotationVelocityDegPerSec: number = 60\n\n /** Whether to show the coordinate system select dropdown in the UI */\n showCoordSystemSelect: boolean = false\n\n /** Whether to show the TCP select dropdown in the UI */\n showTcpSelect: boolean = true\n\n /** Whether to show the orientation select dropdown in the UI */\n showOrientationSelect: boolean = true\n\n /** Whether to show the increment select dropdown in the UI */\n showIncrementSelect: boolean = true\n\n /** Whether to show icons in the jogging tabs */\n showTabIcons: boolean = false\n\n /** Whether to show the label to the right of the velocity slider */\n showVelocitySliderLabel: boolean = true\n\n /** Whether to show the legend before the slider */\n showVelocityLegend: boolean = false\n\n /** Whether to show the legend before the joints */\n showJointsLegend: boolean = false\n\n disposers: IReactionDisposer[] = []\n\n /**\n * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered\n */\n inverseSolver: string | null | undefined = undefined\n\n /**\n * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs\n * should be rendered by the JoggingPanel component.\n */\n jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint\n\n /**\n * Load a jogging store with the relevant data it needs\n * from the backend\n */\n static async loadFor(jogger: JoggerConnection) {\n const { nova } = jogger\n\n // Find out what TCPs this motion group has (we need it for jogging)\n const [coordinatesystems, description] = await Promise.all([\n // Fetch coord systems so user can select between them\n nova.api.controller.listCoordinateSystems(\n jogger.motionStream.controllerId,\n \"ROTATION_VECTOR\",\n ),\n\n // Same for TCPs and other info from description\n nova.api.motionGroup.getMotionGroupDescription(\n jogger.motionStream.controllerId,\n jogger.motionGroupId,\n ),\n ])\n\n const kinematicModel: KinematicModel =\n await nova.api.motionGroupModels.getMotionGroupKinematicModel(\n description.motion_group_model,\n )\n\n const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({\n id,\n readable_name: tcp.name,\n position: tcp.pose.position as Vector3Simple,\n orientation: tcp.pose.orientation as Vector3Simple,\n }))\n\n return new JoggingStore(\n jogger,\n coordinatesystems || [],\n description,\n tcps,\n kinematicModel.inverse_solver,\n )\n }\n\n constructor(\n readonly jogger: JoggerConnection,\n readonly coordSystems: CoordinateSystem[],\n readonly motionGroupDescription: MotionGroupDescription,\n readonly tcps: RobotTcp[],\n readonly inverseSolverValue: string | null | undefined,\n ) {\n // TODO workaround for default coord system on backend having a canonical id\n // of empty string. Can remove when fixed on API side\n for (const cs of coordSystems) {\n if (cs.coordinate_system === \"\") {\n cs.coordinate_system = \"world\"\n break\n }\n }\n this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || \"world\"\n this.selectedTcpId = tcps[0]?.id || \"\"\n this.inverseSolver = inverseSolverValue\n this.jointType =\n motionGroupDescription?.dh_parameters?.[0]?.type ??\n JointTypeEnum.RevoluteJoint\n\n // Make all properties observable and actions auto-bound\n makeAutoObservable(this, {}, { autoBind: true })\n\n // Register blocked watching\n this.jogger.onBlocked = () => {\n this.block()\n }\n\n // Load user settings from local storage if available\n this.loadFromLocalStorage()\n\n // Automatically save user settings to local storage when save changes\n this.disposers.push(autorun(() => this.saveToLocalStorage()))\n\n // Assign joggingStore to window\n // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n ;(window as any).joggingStore = this\n }\n\n dispose() {\n for (const dispose of this.disposers) {\n dispose()\n }\n this.jogger.dispose()\n }\n\n get coordSystemCountByName() {\n return countBy(this.coordSystems, (cs) => cs.name)\n }\n\n async deactivate() {\n if (this.jogger.mode === \"jogging\") {\n return this.jogger.stop()\n }\n }\n\n /** Activate the jogger with current settings */\n async activate() {\n if (this.currentTab.id === \"cartesian\") {\n if (\n this.jogger.tcp !== this.selectedTcpId ||\n this.jogger.orientation !== this.selectedOrientation\n ) {\n this.jogger.setOptions({\n tcp: this.selectedTcpId,\n orientation: this.selectedOrientation as JoggerOrientation,\n })\n }\n\n if (this.activeDiscreteIncrement) {\n this.jogger.setJoggingMode(\"trajectory\")\n } else {\n this.jogger.setJoggingMode(\"jogging\")\n }\n } else {\n this.jogger.setJoggingMode(\"jogging\")\n }\n\n return this.jogger\n }\n\n loadFromLocalStorage() {\n const save = tryParseJson(localStorage.getItem(\"joggingToolStore\"))\n if (!save) return\n\n if (this.tabsById[save.selectedTabId]) {\n this.selectedTabId = save.selectedTabId\n }\n\n if (this.coordSystemsById[save.selectedCoordSystemId]) {\n this.selectedCoordSystemId = save.selectedCoordSystemId\n }\n\n if (this.tcpsById[save.selectedTcpId]) {\n this.selectedTcpId = save.selectedTcpId\n }\n\n if (this.incrementOptionsById[save.selectedIncrementId]) {\n this.selectedIncrementId = save.selectedIncrementId\n }\n\n if ([\"translate\", \"rotate\"].includes(save.selectedCartesianMotionType)) {\n this.selectedCartesianMotionType = save.selectedCartesianMotionType\n }\n\n if ([\"coordsys\", \"tool\"].includes(save.selectedOrientation)) {\n this.selectedOrientation = save.selectedOrientation\n }\n }\n\n saveToLocalStorage() {\n localStorage.setItem(\n \"joggingToolStore\",\n JSON.stringify(this.localStorageSave),\n )\n }\n\n get isLocked() {\n return this.locks.size > 0\n }\n\n get localStorageSave() {\n return {\n selectedTabId: this.selectedTabId,\n selectedCoordSystemId: this.selectedCoordSystemId,\n selectedTcpId: this.selectedTcpId,\n selectedOrientation: this.selectedOrientation,\n selectedIncrementId: this.selectedIncrementId,\n selectedCartesianMotionType: this.selectedCartesianMotionType,\n }\n }\n\n get tabs() {\n const tempTabs: { id: TabType; label: string }[] = [\n {\n id: \"joint\",\n label: \"Joints\",\n },\n ]\n // show the cartesian tab only : 1. when there is a solver or 2. when no solver could be loaded ( as a default )\n // do not show the cartesian tab when the solver is null this means, it cannot get jogged cartesian\n if (this.inverseSolver !== null) {\n tempTabs.unshift({\n id: \"cartesian\",\n label: \"Cartesian\",\n })\n }\n\n return tempTabs\n }\n\n get incrementOptions() {\n return incrementOptions\n }\n\n get discreteIncrementOptions() {\n return discreteIncrementOptions\n }\n\n get incrementOptionsById() {\n return keyBy(this.incrementOptions, (o) => o.id)\n }\n\n get tabsById() {\n return keyBy(this.tabs, (t) => t.id)\n }\n\n get currentTab() {\n // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n return this.tabsById[this.selectedTabId] || this.tabs[0]!\n }\n\n get tabIndex() {\n return this.tabs.indexOf(this.currentTab)\n }\n\n get coordSystemsById() {\n return keyBy(this.coordSystems, (cs) => cs.coordinate_system)\n }\n\n /**\n * The id of the coordinate system to use for jogging.\n * If in tool orientation, this is set to \"tool\", not the\n * selected coordinate system.\n */\n get activeCoordSystemId() {\n return this.selectedOrientation === \"tool\"\n ? \"tool\"\n : this.selectedCoordSystemId\n }\n\n get tcpsById() {\n return keyBy(this.tcps, (tcp) => tcp.id)\n }\n\n get activeDiscreteIncrement() {\n return this.selectedOrientation === \"tool\"\n ? undefined\n : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)\n }\n\n /** The selected rotation velocity converted to radians per second */\n get rotationVelocityRadsPerSec() {\n return (this.rotationVelocityDegPerSec * Math.PI) / 180\n }\n\n /** Selected velocity in mm/sec or deg/sec */\n velocityInDisplayUnits(useDegree: boolean) {\n return useDegree\n ? this.rotationVelocityDegPerSec\n : this.translationVelocityMmPerSec\n }\n\n /** Minimum selectable velocity in mm/sec or deg/sec */\n minVelocityInDisplayUnits(useDegree: boolean) {\n return useDegree\n ? this.minRotationVelocityDegPerSec\n : this.minTranslationVelocityMmPerSec\n }\n\n /** Maximum selectable velocity in mm/sec or deg/sec */\n maxVelocityInDisplayUnits(useDegree: boolean) {\n return useDegree\n ? this.maxRotationVelocityDegPerSec\n : this.maxTranslationVelocityMmPerSec\n }\n\n onTabChange(_event: React.SyntheticEvent, newValue: number) {\n // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n const tab = this.tabs[newValue] || this.tabs[0]!\n this.selectedTabId = tab.id\n }\n\n setSelectedCoordSystemId(id: string) {\n this.selectedCoordSystemId = id\n }\n\n setSelectedTcpId(id: string) {\n this.selectedTcpId = id\n }\n\n setSelectedOrientation(orientation: OrientationId) {\n this.selectedOrientation = orientation\n }\n\n setSelectedIncrementId(id: IncrementOptionId) {\n this.selectedIncrementId = id\n }\n\n setCurrentIncrementJog(incrementJog: IncrementJogInProgress | null) {\n this.incrementJogInProgress = incrementJog\n }\n\n setVelocityFromSlider(velocity: number, useDegree: boolean) {\n if (useDegree) {\n this.rotationVelocityDegPerSec = velocity\n } else {\n this.translationVelocityMmPerSec = velocity\n }\n }\n\n setSelectedCartesianMotionType(type: CartesianMotionType) {\n this.selectedCartesianMotionType = type\n }\n\n lock(id: string) {\n this.locks.add(id)\n }\n\n unlock(id: string) {\n this.locks.delete(id)\n }\n\n block() {\n this.blocked = true\n }\n\n unblock() {\n this.blocked = false\n if (this.jogger.mode === \"jogging\") {\n this.jogger.initializeJoggingWebsocket()\n }\n }\n\n /** Lock the UI until the given async callback resolves */\n async withMotionLock(fn: () => Promise<void>) {\n const lockId = uniqueId()\n this.lock(lockId)\n\n try {\n return await fn()\n } finally {\n this.unlock(lockId)\n }\n }\n}\n\nexport default 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package/dist/components/jogging/JoggingStore.d.ts.map DELETED Viewed

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package/dist/components/jogging/JoggingStore.js.map DELETED Viewed

@@ -1 +0,0 @@

- {"version":3,"file":"JoggingStore.js","sources":["../../../src/components/jogging/JoggingStore.ts"],"sourcesContent":["import { tryParseJson } from \"@wandelbots/nova-js\"\nimport {\n JointTypeEnum,\n type CoordinateSystem,\n type KinematicModel,\n type MotionGroupDescription,\n type RobotTcp,\n} from \"@wandelbots/nova-js/v2\"\nimport { countBy } from \"lodash-es\"\nimport keyBy from \"lodash-es/keyBy\"\nimport uniqueId from \"lodash-es/uniqueId\"\nimport { autorun, makeAutoObservable, type IReactionDisposer } from \"mobx\"\nimport type {\n JoggerConnection,\n JoggerOrientation,\n Vector3Simple,\n} from \"../../lib/JoggerConnection\"\n\nconst discreteIncrementOptions = [\n { id: \"0.1\", mm: 0.1, degrees: 0.05 },\n { id: \"1\", mm: 1, degrees: 0.5 },\n { id: \"5\", mm: 5, degrees: 2.5 },\n { id: \"10\", mm: 10, degrees: 5 },\n]\n\nconst incrementOptions = [\n { id: \"continuous\" },\n ...discreteIncrementOptions,\n] as const\n\nexport type JoggingAxis = \"x\" | \"y\" | \"z\"\nexport type JoggingDirection = \"+\" | \"-\"\nexport type DiscreteIncrementOption = (typeof discreteIncrementOptions)[number]\nexport type IncrementOption = (typeof incrementOptions)[number]\nexport type IncrementOptionId = IncrementOption[\"id\"]\n\nexport const ORIENTATION_IDS = [\"coordsys\", \"tool\"]\nexport type OrientationId = (typeof ORIENTATION_IDS)[number]\n\nexport type IncrementJogInProgress = {\n direction: JoggingDirection\n axis: JoggingAxis\n}\n\ntype TabType = \"cartesian\" | \"joint\" | \"debug\"\nexport type CartesianMotionType = \"translate\" | \"rotate\"\n\nexport class JoggingStore {\n selectedTabId: TabType = \"cartesian\"\n\n /** Locks to prevent UI interactions during certain operations */\n locks = new Set<string>()\n\n /** Block jogging UI interactions when connection is taken by another jogger */\n blocked: boolean = false\n\n /**\n * Id of selected coordinate system from among those defined on the API side\n */\n selectedCoordSystemId: string = \"world\"\n\n /** Id of selected tool center point from among the options available on the robot */\n selectedTcpId: string = \"\"\n\n /**\n * Whether the user is jogging in the coordinate system or tool orientation.\n * When in tool orientation, the robot moves in a direction relative to the\n * attached tool rotation.\n */\n selectedOrientation: OrientationId = \"coordsys\"\n\n /**\n * Id of selected increment amount for jogging. Options are defined by robot pad.\n * When non-continuous, jogging moves the robot by a fixed number of mm or degrees\n * each time the button is pressed, for extra precision\n */\n selectedIncrementId: IncrementOptionId = \"continuous\"\n\n /**\n * When on the cartesian tab, jogging can be either translating or rotating\n * around the TCP.\n */\n selectedCartesianMotionType: CartesianMotionType = \"translate\"\n\n /**\n * If the jogger is busy running an incremental jog, this will be set\n * with the information about the motion\n */\n incrementJogInProgress: IncrementJogInProgress | null = null\n\n /** How fast the robot goes when doing cartesian translate jogging in mm/s */\n translationVelocityMmPerSec: number = 10\n /** How fast the robot goes when doing cartesian or joint rotation jogging in °/s */\n rotationVelocityDegPerSec: number = 1\n\n /** Minimum translation velocity user can choose on the velocity slider in °/s */\n minTranslationVelocityMmPerSec: number = 5\n /** Maximum translation velocity user can choose on the velocity slider in °/s */\n maxTranslationVelocityMmPerSec: number = 250\n\n /** Minimum rotation velocity user can choose on the velocity slider in °/s */\n minRotationVelocityDegPerSec: number = 1\n /** Maximum rotation velocity user can choose on the velocity slider in °/s */\n maxRotationVelocityDegPerSec: number = 60\n\n /** Whether to show the coordinate system select dropdown in the UI */\n showCoordSystemSelect: boolean = false\n\n /** Whether to show the TCP select dropdown in the UI */\n showTcpSelect: boolean = true\n\n /** Whether to show the orientation select dropdown in the UI */\n showOrientationSelect: boolean = true\n\n /** Whether to show the increment select dropdown in the UI */\n showIncrementSelect: boolean = true\n\n /** Whether to show icons in the jogging tabs */\n showTabIcons: boolean = false\n\n /** Whether to show the label to the right of the velocity slider */\n showVelocitySliderLabel: boolean = true\n\n /** Whether to show the legend before the slider */\n showVelocityLegend: boolean = false\n\n /** Whether to show the legend before the joints */\n showJointsLegend: boolean = false\n\n disposers: IReactionDisposer[] = []\n\n /**\n * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered\n */\n inverseSolver: string | null | undefined = undefined\n\n /**\n * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs\n * should be rendered by the JoggingPanel component.\n */\n jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint\n\n /**\n * Load a jogging store with the relevant data it needs\n * from the backend\n */\n static async loadFor(jogger: JoggerConnection) {\n const { nova } = jogger\n\n // Find out what TCPs this motion group has (we need it for jogging)\n const [coordinatesystems, description] = await Promise.all([\n // Fetch coord systems so user can select between them\n nova.api.controller.listCoordinateSystems(\n jogger.motionStream.controllerId,\n \"ROTATION_VECTOR\",\n ),\n\n // Same for TCPs and other info from description\n nova.api.motionGroup.getMotionGroupDescription(\n jogger.motionStream.controllerId,\n jogger.motionGroupId,\n ),\n ])\n\n const kinematicModel: KinematicModel =\n await nova.api.motionGroupModels.getMotionGroupKinematicModel(\n description.motion_group_model,\n )\n\n const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({\n id,\n readable_name: tcp.name,\n position: tcp.pose.position as Vector3Simple,\n orientation: tcp.pose.orientation as Vector3Simple,\n }))\n\n return new JoggingStore(\n jogger,\n coordinatesystems || [],\n description,\n tcps,\n kinematicModel.inverse_solver,\n )\n }\n\n constructor(\n readonly jogger: JoggerConnection,\n readonly coordSystems: CoordinateSystem[],\n readonly motionGroupDescription: MotionGroupDescription,\n readonly tcps: RobotTcp[],\n readonly inverseSolverValue: string | null | undefined,\n ) {\n // TODO workaround for default coord system on backend having a canonical id\n // of empty string. Can remove when fixed on API side\n for (const cs of coordSystems) {\n if (cs.coordinate_system === \"\") {\n cs.coordinate_system = \"world\"\n break\n }\n }\n this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || \"world\"\n this.selectedTcpId = tcps[0]?.id || \"\"\n this.inverseSolver = inverseSolverValue\n this.jointType =\n motionGroupDescription?.dh_parameters?.[0]?.type ??\n JointTypeEnum.RevoluteJoint\n\n // Make all properties observable and actions auto-bound\n makeAutoObservable(this, {}, { autoBind: true })\n\n // Register blocked watching\n this.jogger.onBlocked = () => {\n this.block()\n }\n\n // Load user settings from local storage if available\n this.loadFromLocalStorage()\n\n // Automatically save user settings to local storage when save changes\n this.disposers.push(autorun(() => this.saveToLocalStorage()))\n\n // Assign joggingStore to window\n // biome-ignore lint/suspicious/noExplicitAny: pre-biome code\n ;(window as any).joggingStore = this\n }\n\n dispose() {\n for (const dispose of this.disposers) {\n dispose()\n }\n this.jogger.dispose()\n }\n\n get coordSystemCountByName() {\n return countBy(this.coordSystems, (cs) => cs.name)\n }\n\n async deactivate() {\n if (this.jogger.mode === \"jogging\") {\n return this.jogger.stop()\n }\n }\n\n /** Activate the jogger with current settings */\n async activate() {\n if (this.currentTab.id === \"cartesian\") {\n if (\n this.jogger.tcp !== this.selectedTcpId ||\n this.jogger.orientation !== this.selectedOrientation\n ) {\n this.jogger.setOptions({\n tcp: this.selectedTcpId,\n orientation: this.selectedOrientation as JoggerOrientation,\n })\n }\n\n if (this.activeDiscreteIncrement) {\n this.jogger.setJoggingMode(\"trajectory\")\n } else {\n this.jogger.setJoggingMode(\"jogging\")\n }\n } else {\n this.jogger.setJoggingMode(\"jogging\")\n }\n\n return this.jogger\n }\n\n loadFromLocalStorage() {\n const save = tryParseJson(localStorage.getItem(\"joggingToolStore\"))\n if (!save) return\n\n if (this.tabsById[save.selectedTabId]) {\n this.selectedTabId = save.selectedTabId\n }\n\n if (this.coordSystemsById[save.selectedCoordSystemId]) {\n this.selectedCoordSystemId = save.selectedCoordSystemId\n }\n\n if (this.tcpsById[save.selectedTcpId]) {\n this.selectedTcpId = save.selectedTcpId\n }\n\n if (this.incrementOptionsById[save.selectedIncrementId]) {\n this.selectedIncrementId = save.selectedIncrementId\n }\n\n if ([\"translate\", \"rotate\"].includes(save.selectedCartesianMotionType)) {\n this.selectedCartesianMotionType = save.selectedCartesianMotionType\n }\n\n if ([\"coordsys\", \"tool\"].includes(save.selectedOrientation)) {\n this.selectedOrientation = save.selectedOrientation\n }\n }\n\n saveToLocalStorage() {\n localStorage.setItem(\n \"joggingToolStore\",\n JSON.stringify(this.localStorageSave),\n )\n }\n\n get isLocked() {\n return this.locks.size > 0\n }\n\n get localStorageSave() {\n return {\n selectedTabId: this.selectedTabId,\n selectedCoordSystemId: this.selectedCoordSystemId,\n selectedTcpId: this.selectedTcpId,\n selectedOrientation: this.selectedOrientation,\n selectedIncrementId: this.selectedIncrementId,\n selectedCartesianMotionType: this.selectedCartesianMotionType,\n }\n }\n\n get tabs() {\n const tempTabs: { id: TabType; label: string }[] = [\n {\n id: \"joint\",\n label: \"Joints\",\n },\n ]\n // show the cartesian tab only : 1. when there is a solver or 2. when no solver could be loaded ( as a default )\n // do not show the cartesian tab when the solver is null this means, it cannot get jogged cartesian\n if (this.inverseSolver !== null) {\n tempTabs.unshift({\n id: \"cartesian\",\n label: \"Cartesian\",\n })\n }\n\n return tempTabs\n }\n\n get incrementOptions() {\n return incrementOptions\n }\n\n get discreteIncrementOptions() {\n return discreteIncrementOptions\n }\n\n get incrementOptionsById() {\n return keyBy(this.incrementOptions, (o) => o.id)\n }\n\n get tabsById() {\n return keyBy(this.tabs, (t) => t.id)\n }\n\n get currentTab() {\n // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n return this.tabsById[this.selectedTabId] || this.tabs[0]!\n }\n\n get tabIndex() {\n return this.tabs.indexOf(this.currentTab)\n }\n\n get coordSystemsById() {\n return keyBy(this.coordSystems, (cs) => cs.coordinate_system)\n }\n\n /**\n * The id of the coordinate system to use for jogging.\n * If in tool orientation, this is set to \"tool\", not the\n * selected coordinate system.\n */\n get activeCoordSystemId() {\n return this.selectedOrientation === \"tool\"\n ? \"tool\"\n : this.selectedCoordSystemId\n }\n\n get tcpsById() {\n return keyBy(this.tcps, (tcp) => tcp.id)\n }\n\n get activeDiscreteIncrement() {\n return this.selectedOrientation === \"tool\"\n ? undefined\n : discreteIncrementOptions.find((d) => d.id === this.selectedIncrementId)\n }\n\n /** The selected rotation velocity converted to radians per second */\n get rotationVelocityRadsPerSec() {\n return (this.rotationVelocityDegPerSec * Math.PI) / 180\n }\n\n /** Selected velocity in mm/sec or deg/sec */\n velocityInDisplayUnits(useDegree: boolean) {\n return useDegree\n ? this.rotationVelocityDegPerSec\n : this.translationVelocityMmPerSec\n }\n\n /** Minimum selectable velocity in mm/sec or deg/sec */\n minVelocityInDisplayUnits(useDegree: boolean) {\n return useDegree\n ? this.minRotationVelocityDegPerSec\n : this.minTranslationVelocityMmPerSec\n }\n\n /** Maximum selectable velocity in mm/sec or deg/sec */\n maxVelocityInDisplayUnits(useDegree: boolean) {\n return useDegree\n ? this.maxRotationVelocityDegPerSec\n : this.maxTranslationVelocityMmPerSec\n }\n\n onTabChange(_event: React.SyntheticEvent, newValue: number) {\n // biome-ignore lint/style/noNonNullAssertion: pre-biome code\n const tab = this.tabs[newValue] || this.tabs[0]!\n this.selectedTabId = tab.id\n }\n\n setSelectedCoordSystemId(id: string) {\n this.selectedCoordSystemId = id\n }\n\n setSelectedTcpId(id: string) {\n this.selectedTcpId = id\n }\n\n setSelectedOrientation(orientation: OrientationId) {\n this.selectedOrientation = orientation\n }\n\n setSelectedIncrementId(id: IncrementOptionId) {\n this.selectedIncrementId = id\n }\n\n setCurrentIncrementJog(incrementJog: IncrementJogInProgress | null) {\n this.incrementJogInProgress = incrementJog\n }\n\n setVelocityFromSlider(velocity: number, useDegree: boolean) {\n if (useDegree) {\n this.rotationVelocityDegPerSec = velocity\n } else {\n this.translationVelocityMmPerSec = velocity\n }\n }\n\n setSelectedCartesianMotionType(type: CartesianMotionType) {\n this.selectedCartesianMotionType = type\n }\n\n lock(id: string) {\n this.locks.add(id)\n }\n\n unlock(id: string) {\n this.locks.delete(id)\n }\n\n block() {\n this.blocked = true\n }\n\n unblock() {\n this.blocked = false\n if (this.jogger.mode === \"jogging\") {\n this.jogger.initializeJoggingWebsocket()\n }\n }\n\n /** Lock the UI until the given async callback resolves */\n async 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- {"version":3,"file":"JoggingToggleButtonGroup.cjs","sources":["../../../src/components/jogging/JoggingToggleButtonGroup.tsx"],"sourcesContent":["import type { ToggleButtonGroupProps } from \"@mui/material/ToggleButtonGroup\"\nimport { styled } from \"@mui/material/styles\"\nimport ToggleButtonGroup from \"@mui/material/ToggleButtonGroup\"\nexport const JoggingToggleButtonGroup: React.ComponentType<ToggleButtonGroupProps> =\n styled(ToggleButtonGroup)(({ theme }) => ({\n \"&.MuiToggleButtonGroup-root\": {\n background: theme.palette.backgroundPaperElevation?.[8],\n borderRadius: \"8px\",\n padding: \"4px\",\n gap: \"4px\",\n button: {\n border: \"none\",\n borderRadius: \"4px\",\n flex: \"1 1 0px\",\n minWidth: 0,\n \"&.MuiToggleButtonGroup-firstButton\": {\n borderRadius: \"8px 4px 4px 8px\",\n },\n\n \"&.MuiToggleButtonGroup-lastButton\": {\n borderRadius: \"4px 8px 8px 4px\",\n },\n },\n },\n }))\n"],"names":["JoggingToggleButtonGroup","styled","ToggleButtonGroup","theme","_a"],"mappings":"qKAGaA,EACXC,EAAAA,OAAOC,CAAiB,EAAE,CAAC,CAAE,MAAAC,KAAM,OAAO,OACxC,8BAA+B,CAC7B,YAAYC,EAAAD,EAAM,QAAQ,2BAAd,YAAAC,EAAyC,GACrD,aAAc,MACd,QAAS,MACT,IAAK,MACL,OAAQ,CACN,OAAQ,OACR,aAAc,MACd,KAAM,UACN,SAAU,EACV,qCAAsC,CACpC,aAAc,iBAAA,EAGhB,oCAAqC,CACnC,aAAc,iBAAA,CAChB,CACF,CAEJ,EAAE"}

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- {"version":3,"file":"JoggingToggleButtonGroup.js","sources":["../../../src/components/jogging/JoggingToggleButtonGroup.tsx"],"sourcesContent":["import type { ToggleButtonGroupProps } from \"@mui/material/ToggleButtonGroup\"\nimport { styled } from \"@mui/material/styles\"\nimport ToggleButtonGroup from \"@mui/material/ToggleButtonGroup\"\nexport const JoggingToggleButtonGroup: React.ComponentType<ToggleButtonGroupProps> =\n styled(ToggleButtonGroup)(({ theme }) => ({\n \"&.MuiToggleButtonGroup-root\": {\n background: theme.palette.backgroundPaperElevation?.[8],\n borderRadius: \"8px\",\n padding: \"4px\",\n gap: \"4px\",\n button: {\n border: \"none\",\n borderRadius: \"4px\",\n flex: \"1 1 0px\",\n minWidth: 0,\n \"&.MuiToggleButtonGroup-firstButton\": {\n borderRadius: \"8px 4px 4px 8px\",\n },\n\n \"&.MuiToggleButtonGroup-lastButton\": {\n borderRadius: \"4px 8px 8px 4px\",\n },\n },\n },\n }))\n"],"names":["JoggingToggleButtonGroup","styled","ToggleButtonGroup","theme","_a"],"mappings":";;AAGO,MAAMA,IACXC,EAAOC,CAAiB,EAAE,CAAC,EAAE,OAAAC,QAAM;;AAAO;AAAA,IACxC,+BAA+B;AAAA,MAC7B,aAAYC,IAAAD,EAAM,QAAQ,6BAAd,gBAAAC,EAAyC;AAAA,MACrD,cAAc;AAAA,MACd,SAAS;AAAA,MACT,KAAK;AAAA,MACL,QAAQ;AAAA,QACN,QAAQ;AAAA,QACR,cAAc;AAAA,QACd,MAAM;AAAA,QACN,UAAU;AAAA,QACV,sCAAsC;AAAA,UACpC,cAAc;AAAA,QAAA;AAAA,QAGhB,qCAAqC;AAAA,UACnC,cAAc;AAAA,QAAA;AAAA,MAChB;AAAA,IACF;AAAA,EAEJ;AAAA,CAAE;"}

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- {"version":3,"file":"JoggingVelocitySlider.cjs","sources":["../../../src/components/jogging/JoggingVelocitySlider.tsx"],"sourcesContent":["import { observer } from \"mobx-react-lite\"\nimport { useTranslation } from \"react-i18next\"\nimport { VelocitySlider, VelocitySliderLabel } from \"../VelocitySlider\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\nexport const JoggingVelocitySlider = observer(\n ({ store, useDegree }: { store: JoggingStore; useDegree: boolean }) => {\n const { t } = useTranslation()\n\n function valueLabelFormat(value: number, useDegree: boolean): string {\n return useDegree\n ? `ω = ${t(\"Jogging.Cartesian.Rotation.velocityDegPerSec.lb\", { amount: value })}`\n : `v = ${t(\"Jogging.Cartesian.Translation.velocityMmPerSec.lb\", { amount: value })}`\n }\n\n return (\n <VelocitySlider\n store={store}\n velocity={store.velocityInDisplayUnits(useDegree)}\n min={store.minVelocityInDisplayUnits(useDegree)}\n max={store.maxVelocityInDisplayUnits(useDegree)}\n onVelocityChange={store.setVelocityFromSlider}\n useDegree={useDegree}\n disabled={store.isLocked}\n renderValue={(value) => (\n <VelocitySliderLabel\n value={valueLabelFormat(value, useDegree)}\n sx={{\n minWidth: \"111px\",\n span: {\n transform: \"translateY(-1.5px)\",\n },\n }}\n />\n )}\n />\n )\n },\n)\n"],"names":["JoggingVelocitySlider","observer","store","useDegree","t","useTranslation","valueLabelFormat","value","jsx","VelocitySlider","VelocitySliderLabel"],"mappings":"gNAKaA,EAAwBC,EAAAA,SACnC,CAAC,CAAE,MAAAC,EAAO,UAAAC,KAA6D,CACrE,KAAM,CAAE,EAAAC,CAAA,EAAMC,iBAAA,EAEd,SAASC,EAAiBC,EAAeJ,EAA4B,CACnE,OAAOA,EACH,OAAOC,EAAE,kDAAmD,CAAE,OAAQG,CAAA,CAAO,CAAC,GAC9E,OAAOH,EAAE,oDAAqD,CAAE,OAAQG,CAAA,CAAO,CAAC,EACtF,CAEA,OACEC,EAAAA,IAACC,EAAAA,eAAA,CACC,MAAAP,EACA,SAAUA,EAAM,uBAAuBC,CAAS,EAChD,IAAKD,EAAM,0BAA0BC,CAAS,EAC9C,IAAKD,EAAM,0BAA0BC,CAAS,EAC9C,iBAAkBD,EAAM,sBACxB,UAAAC,EACA,SAAUD,EAAM,SAChB,YAAcK,GACZC,EAAAA,IAACE,EAAAA,oBAAA,CACC,MAAOJ,EAAiBC,EAAOJ,CAAS,EACxC,GAAI,CACF,SAAU,QACV,KAAM,CACJ,UAAW,oBAAA,CACb,CACF,CAAA,CACF,CAAA,CAIR,CACF"}

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	@@ -1 +0,0 @@
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@@ -1 +0,0 @@

- {"version":3,"file":"JoggingVelocitySlider.js","sources":["../../../src/components/jogging/JoggingVelocitySlider.tsx"],"sourcesContent":["import { observer } from \"mobx-react-lite\"\nimport { useTranslation } from \"react-i18next\"\nimport { VelocitySlider, VelocitySliderLabel } from \"../VelocitySlider\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\nexport const JoggingVelocitySlider = observer(\n ({ store, useDegree }: { store: JoggingStore; useDegree: boolean }) => {\n const { t } = useTranslation()\n\n function valueLabelFormat(value: number, useDegree: boolean): string {\n return useDegree\n ? `ω = ${t(\"Jogging.Cartesian.Rotation.velocityDegPerSec.lb\", { amount: value })}`\n : `v = ${t(\"Jogging.Cartesian.Translation.velocityMmPerSec.lb\", { amount: value })}`\n }\n\n return (\n <VelocitySlider\n store={store}\n velocity={store.velocityInDisplayUnits(useDegree)}\n min={store.minVelocityInDisplayUnits(useDegree)}\n max={store.maxVelocityInDisplayUnits(useDegree)}\n onVelocityChange={store.setVelocityFromSlider}\n useDegree={useDegree}\n disabled={store.isLocked}\n renderValue={(value) => (\n <VelocitySliderLabel\n value={valueLabelFormat(value, useDegree)}\n sx={{\n minWidth: \"111px\",\n span: {\n transform: \"translateY(-1.5px)\",\n },\n }}\n />\n )}\n />\n )\n },\n)\n"],"names":["JoggingVelocitySlider","observer","store","useDegree","t","useTranslation","valueLabelFormat","value","jsx","VelocitySlider","VelocitySliderLabel"],"mappings":";;;;AAKO,MAAMA,IAAwBC;AAAA,EACnC,CAAC,EAAE,OAAAC,GAAO,WAAAC,QAA6D;AACrE,UAAM,EAAE,GAAAC,EAAA,IAAMC,EAAA;AAEd,aAASC,EAAiBC,GAAeJ,GAA4B;AACnE,aAAOA,IACH,OAAOC,EAAE,mDAAmD,EAAE,QAAQG,EAAA,CAAO,CAAC,KAC9E,OAAOH,EAAE,qDAAqD,EAAE,QAAQG,EAAA,CAAO,CAAC;AAAA,IACtF;AAEA,WACE,gBAAAC;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,OAAAP;AAAA,QACA,UAAUA,EAAM,uBAAuBC,CAAS;AAAA,QAChD,KAAKD,EAAM,0BAA0BC,CAAS;AAAA,QAC9C,KAAKD,EAAM,0BAA0BC,CAAS;AAAA,QAC9C,kBAAkBD,EAAM;AAAA,QACxB,WAAAC;AAAA,QACA,UAAUD,EAAM;AAAA,QAChB,aAAa,CAACK,MACZ,gBAAAC;AAAA,UAACE;AAAA,UAAA;AAAA,YACC,OAAOJ,EAAiBC,GAAOJ,CAAS;AAAA,YACxC,IAAI;AAAA,cACF,UAAU;AAAA,cACV,MAAM;AAAA,gBACJ,WAAW;AAAA,cAAA;AAAA,YACb;AAAA,UACF;AAAA,QAAA;AAAA,MACF;AAAA,IAAA;AAAA,EAIR;AACF;"}

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- {"version":3,"file":"PoseCartesianValues.cjs","sources":["../../../src/components/jogging/PoseCartesianValues.tsx"],"sourcesContent":["import Button from \"@mui/material/Button\"\nimport Stack from \"@mui/material/Stack\"\nimport { poseToWandelscriptString, type Pose } from \"@wandelbots/nova-js/v2\"\nimport { observer } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { CopyableText } from \"../CopyableText\"\n\nexport type PoseCartesianValuesProps = {\n tcpPose: Pose\n showCopyButton?: boolean\n}\n\nexport const PoseCartesianValues = externalizeComponent(\n observer(({ tcpPose, showCopyButton = false }: PoseCartesianValuesProps) => {\n const [copyMessage, setCopyMessage] = useState<string | null>(null)\n const poseString = poseToWandelscriptString(tcpPose)\n\n const handleCopy = async () => {\n try {\n await navigator.clipboard.writeText(poseString)\n setCopyMessage(\"Copied!\")\n setTimeout(() => setCopyMessage(null), 2000)\n } catch {\n setCopyMessage(\"Copy failed\")\n setTimeout(() => setCopyMessage(null), 2000)\n }\n }\n\n return (\n <Stack\n direction=\"row\"\n alignItems=\"center\"\n spacing={1}\n sx={{ flexGrow: 1, minWidth: 0, overflow: \"hidden\" }}\n data-testid=\"pose-cartesian-values\"\n >\n <CopyableText value={poseString} />\n {showCopyButton && (\n <Button\n variant=\"contained\"\n color=\"secondary\"\n size=\"small\"\n onClick={handleCopy}\n sx={{ flexShrink: 0 }}\n >\n {copyMessage ? copyMessage : \"Copy\"}\n </Button>\n )}\n </Stack>\n )\n }),\n)\n\nexport default PoseCartesianValues\n"],"names":["PoseCartesianValues","externalizeComponent","observer","tcpPose","showCopyButton","copyMessage","setCopyMessage","useState","poseString","poseToWandelscriptString","handleCopy","jsxs","Stack","jsx","CopyableText","Button"],"mappings":"qXAaaA,EAAsBC,EAAAA,qBACjCC,EAAAA,SAAS,CAAC,CAAE,QAAAC,EAAS,eAAAC,EAAiB,MAAsC,CAC1E,KAAM,CAACC,EAAaC,CAAc,EAAIC,EAAAA,SAAwB,IAAI,EAC5DC,EAAaC,EAAAA,yBAAyBN,CAAO,EAE7CO,EAAa,SAAY,CAC7B,GAAI,CACF,MAAM,UAAU,UAAU,UAAUF,CAAU,EAC9CF,EAAe,SAAS,EACxB,WAAW,IAAMA,EAAe,IAAI,EAAG,GAAI,CAC7C,MAAQ,CACNA,EAAe,aAAa,EAC5B,WAAW,IAAMA,EAAe,IAAI,EAAG,GAAI,CAC7C,CACF,EAEA,OACEK,EAAAA,KAACC,EAAA,CACC,UAAU,MACV,WAAW,SACX,QAAS,EACT,GAAI,CAAE,SAAU,EAAG,SAAU,EAAG,SAAU,QAAA,EAC1C,cAAY,wBAEZ,SAAA,CAAAC,EAAAA,IAACC,EAAAA,aAAA,CAAa,MAAON,CAAA,CAAY,EAChCJ,GACCS,EAAAA,IAACE,EAAA,CACC,QAAQ,YACR,MAAM,YACN,KAAK,QACL,QAASL,EACT,GAAI,CAAE,WAAY,CAAA,EAEjB,YAA4B,MAAA,CAAA,CAC/B,CAAA,CAAA,CAIR,CAAC,CACH"}

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	@@ -1 +0,0 @@
1	- {"version":3,"file":"PoseCartesianValues.d.ts","sourceRoot":"","sources":["../../../src/components/jogging/PoseCartesianValues.tsx"],"names":[],"mappings":"AAEA,OAAO,EAA4B,KAAK,IAAI,EAAE,MAAM,wBAAwB,CAAA;AAM5E,MAAM,MAAM,wBAAwB,GAAG;IACrC,OAAO,EAAE,IAAI,CAAA;IACb,cAAc,CAAC,EAAE,OAAO,CAAA;CACzB,CAAA;AAED,eAAO,MAAM,mBAAmB,iCACiB,wBAAwB;;CAsCxE,CAAA;AAED,eAAe,mBAAmB,CAAA"}

package/dist/components/jogging/PoseCartesianValues.js.map DELETED Viewed

@@ -1 +0,0 @@

- {"version":3,"file":"PoseCartesianValues.js","sources":["../../../src/components/jogging/PoseCartesianValues.tsx"],"sourcesContent":["import Button from \"@mui/material/Button\"\nimport Stack from \"@mui/material/Stack\"\nimport { poseToWandelscriptString, type Pose } from \"@wandelbots/nova-js/v2\"\nimport { observer } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { CopyableText } from \"../CopyableText\"\n\nexport type PoseCartesianValuesProps = {\n tcpPose: Pose\n showCopyButton?: boolean\n}\n\nexport const PoseCartesianValues = externalizeComponent(\n observer(({ tcpPose, showCopyButton = false }: PoseCartesianValuesProps) => {\n const [copyMessage, setCopyMessage] = useState<string | null>(null)\n const poseString = poseToWandelscriptString(tcpPose)\n\n const handleCopy = async () => {\n try {\n await navigator.clipboard.writeText(poseString)\n setCopyMessage(\"Copied!\")\n setTimeout(() => setCopyMessage(null), 2000)\n } catch {\n setCopyMessage(\"Copy failed\")\n setTimeout(() => setCopyMessage(null), 2000)\n }\n }\n\n return (\n <Stack\n direction=\"row\"\n alignItems=\"center\"\n spacing={1}\n sx={{ flexGrow: 1, minWidth: 0, overflow: \"hidden\" }}\n data-testid=\"pose-cartesian-values\"\n >\n <CopyableText value={poseString} />\n {showCopyButton && (\n <Button\n variant=\"contained\"\n color=\"secondary\"\n size=\"small\"\n onClick={handleCopy}\n sx={{ flexShrink: 0 }}\n >\n {copyMessage ? copyMessage : \"Copy\"}\n </Button>\n )}\n </Stack>\n )\n }),\n)\n\nexport default PoseCartesianValues\n"],"names":["PoseCartesianValues","externalizeComponent","observer","tcpPose","showCopyButton","copyMessage","setCopyMessage","useState","poseString","poseToWandelscriptString","jsxs","Stack","jsx","CopyableText","Button"],"mappings":";;;;;;;;AAaO,MAAMA,IAAsBC;AAAA,EACjCC,EAAS,CAAC,EAAE,SAAAC,GAAS,gBAAAC,IAAiB,SAAsC;AAC1E,UAAM,CAACC,GAAaC,CAAc,IAAIC,EAAwB,IAAI,GAC5DC,IAAaC,EAAyBN,CAAO;AAanD,WACE,gBAAAO;AAAA,MAACC;AAAA,MAAA;AAAA,QACC,WAAU;AAAA,QACV,YAAW;AAAA,QACX,SAAS;AAAA,QACT,IAAI,EAAE,UAAU,GAAG,UAAU,GAAG,UAAU,SAAA;AAAA,QAC1C,eAAY;AAAA,QAEZ,UAAA;AAAA,UAAA,gBAAAC,EAACC,GAAA,EAAa,OAAOL,EAAA,CAAY;AAAA,UAChCJ,KACC,gBAAAQ;AAAA,YAACE;AAAA,YAAA;AAAA,cACC,SAAQ;AAAA,cACR,OAAM;AAAA,cACN,MAAK;AAAA,cACL,SAzBW,YAAY;AAC7B,oBAAI;AACF,wBAAM,UAAU,UAAU,UAAUN,CAAU,GAC9CF,EAAe,SAAS,GACxB,WAAW,MAAMA,EAAe,IAAI,GAAG,GAAI;AAAA,gBAC7C,QAAQ;AACN,kBAAAA,EAAe,aAAa,GAC5B,WAAW,MAAMA,EAAe,IAAI,GAAG,GAAI;AAAA,gBAC7C;AAAA,cACF;AAAA,cAiBQ,IAAI,EAAE,YAAY,EAAA;AAAA,cAEjB,eAA4B;AAAA,YAAA;AAAA,UAAA;AAAA,QAC/B;AAAA,MAAA;AAAA,IAAA;AAAA,EAIR,CAAC;AACH;"}

package/dist/components/jogging/PoseJointValues.cjs.map DELETED Viewed

@@ -1 +0,0 @@

- {"version":3,"file":"PoseJointValues.cjs","sources":["../../../src/components/jogging/PoseJointValues.tsx"],"sourcesContent":["import Button from \"@mui/material/Button\"\nimport Stack from \"@mui/material/Stack\"\nimport { observer } from \"mobx-react-lite\"\nimport { useState } from \"react\"\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport { CopyableText } from \"../CopyableText\"\n\nexport type PoseJointValuesProps = {\n joints: Array<number>\n showCopyButton?: boolean\n}\n\nexport const PoseJointValues = externalizeComponent(\n observer(({ joints, showCopyButton = false }: PoseJointValuesProps) => {\n const [copyMessage, setCopyMessage] = useState<string | null>(null)\n const poseString = `[${joints.map((j: number) => parseFloat(j.toFixed(4))).join(\", \")}]`\n\n const handleCopy = async () => {\n try {\n await navigator.clipboard.writeText(poseString)\n setCopyMessage(\"Copied!\")\n setTimeout(() => setCopyMessage(null), 2000)\n } catch {\n setCopyMessage(\"Copy failed\")\n setTimeout(() => setCopyMessage(null), 2000)\n }\n }\n\n return (\n <Stack\n direction=\"row\"\n alignItems=\"center\"\n spacing={1}\n sx={{ flexGrow: 1, minWidth: 0, overflow: \"hidden\" }}\n data-testid=\"pose-joint-values\"\n >\n <CopyableText value={poseString} />\n {showCopyButton && (\n <Button\n variant=\"contained\"\n color=\"secondary\"\n size=\"small\"\n onClick={handleCopy}\n sx={{ flexShrink: 0 }}\n >\n {copyMessage ? copyMessage : \"Copy\"}\n </Button>\n )}\n </Stack>\n )\n }),\n)\n\nexport default PoseJointValues\n"],"names":["PoseJointValues","externalizeComponent","observer","joints","showCopyButton","copyMessage","setCopyMessage","useState","poseString","j","handleCopy","jsxs","Stack","jsx","CopyableText","Button"],"mappings":"iVAYaA,EAAkBC,EAAAA,qBAC7BC,EAAAA,SAAS,CAAC,CAAE,OAAAC,EAAQ,eAAAC,EAAiB,MAAkC,CACrE,KAAM,CAACC,EAAaC,CAAc,EAAIC,EAAAA,SAAwB,IAAI,EAC5DC,EAAa,IAAIL,EAAO,IAAKM,GAAc,WAAWA,EAAE,QAAQ,CAAC,CAAC,CAAC,EAAE,KAAK,IAAI,CAAC,IAE/EC,EAAa,SAAY,CAC7B,GAAI,CACF,MAAM,UAAU,UAAU,UAAUF,CAAU,EAC9CF,EAAe,SAAS,EACxB,WAAW,IAAMA,EAAe,IAAI,EAAG,GAAI,CAC7C,MAAQ,CACNA,EAAe,aAAa,EAC5B,WAAW,IAAMA,EAAe,IAAI,EAAG,GAAI,CAC7C,CACF,EAEA,OACEK,EAAAA,KAACC,EAAA,CACC,UAAU,MACV,WAAW,SACX,QAAS,EACT,GAAI,CAAE,SAAU,EAAG,SAAU,EAAG,SAAU,QAAA,EAC1C,cAAY,oBAEZ,SAAA,CAAAC,EAAAA,IAACC,EAAAA,aAAA,CAAa,MAAON,CAAA,CAAY,EAChCJ,GACCS,EAAAA,IAACE,EAAA,CACC,QAAQ,YACR,MAAM,YACN,KAAK,QACL,QAASL,EACT,GAAI,CAAE,WAAY,CAAA,EAEjB,YAA4B,MAAA,CAAA,CAC/B,CAAA,CAAA,CAIR,CAAC,CACH"}

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	@@ -1 +0,0 @@
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package/dist/components/jogging/PoseJointValues.js.map DELETED Viewed

@@ -1 +0,0 @@

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

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@@ -1,11 +0,0 @@
-import type { MotionGroupState, MotionGroupDescription, DHParameter } from "@wandelbots/nova-js/v2";
-export declare const ur5eMotionGroupState: MotionGroupState;
-export declare const ur5eDhParameters: DHParameter[];
-export declare const ur5eDescription: MotionGroupDescription;
-export declare const turnMockMotionGroupState: MotionGroupState;
-export declare const turnMockDhParameters: DHParameter[];
-export declare const turnMockDescription: MotionGroupDescription;
-export declare const linearAxisMotionGroupState: MotionGroupState;
-export declare const linearAxisDhParameters: DHParameter[];
-export declare const linearAxisDescription: MotionGroupDescription;
-//# sourceMappingURL=motionStreamMockData.d.ts.map

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@@ -1 +0,0 @@

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@@ -1 +0,0 @@

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

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	@@ -1 +0,0 @@
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@@ -1 +0,0 @@

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

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

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

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

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

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

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

	@@ -1 +0,0 @@
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package/dist/components/robots/DHRobot.js.map DELETED Viewed

@@ -1 +0,0 @@

- {"version":3,"file":"DHRobot.js","sources":["../../../src/components/robots/DHRobot.tsx"],"sourcesContent":["/* biome-ignore-all lint/style/noNonNullAssertion: pre-biome code */\n/* biome-ignore-all lint/suspicious/noExplicitAny: pre-biome code */\n\nimport { Line } from \"@react-three/drei\"\nimport type { DHParameter } from \"@wandelbots/nova-js/v2\"\nimport React, { useRef } from \"react\"\nimport type * as THREE from \"three\"\nimport { Matrix4, Quaternion, Vector3 } from \"three\"\nimport type { LineGeometry } from \"three/examples/jsm/lines/LineGeometry.js\"\nimport RobotAnimator from \"./RobotAnimator\"\nimport type { DHRobotProps } from \"./SupportedRobot\"\n\nconst CHILD_LINE = \"line\"\nconst CHILD_MESH = \"mesh\"\n\nexport function DHRobot({\n rapidlyChangingMotionState,\n dhParameters,\n ...props\n}: DHRobotProps) {\n // reused in every update\n const accumulatedMatrix = new Matrix4()\n\n // Store direct references to avoid searching by name\n const lineRefs = useRef<any[]>([])\n const meshRefs = useRef<(THREE.Mesh | null)[]>([])\n\n // Initialize refs array when dhParameters change\n React.useEffect(() => {\n lineRefs.current = new Array(dhParameters.length).fill(null)\n meshRefs.current = new Array(dhParameters.length).fill(null)\n }, [dhParameters.length])\n\n // Updates accumulatedMatrix with every execution\n // Reset the matrix to identity if you start a new position update\n function getLinePoints(\n dhParameter: DHParameter,\n jointRotation: number,\n ): {\n a: THREE.Vector3\n b: THREE.Vector3\n } {\n const position = new Vector3()\n const quaternion = new Quaternion()\n const scale = new Vector3()\n accumulatedMatrix.decompose(position, quaternion, scale)\n const prevPosition = position.clone() // Update the previous position\n\n const matrix = new Matrix4()\n .makeRotationY(\n dhParameter.theta! +\n jointRotation * (dhParameter.reverse_rotation_direction ? -1 : 1),\n ) // Rotate around Z\n .multiply(new Matrix4().makeTranslation(0, dhParameter.d! / 1000, 0)) // Translate along Z\n .multiply(new Matrix4().makeTranslation(dhParameter.a! / 1000, 0, 0)) // Translate along X\n .multiply(new Matrix4().makeRotationX(dhParameter.alpha!)) // Rotate around X\n\n // Accumulate transformations\n accumulatedMatrix.multiply(matrix)\n accumulatedMatrix.decompose(position, quaternion, scale)\n return { a: prevPosition, b: position }\n }\n\n function setJointLineRotation(\n jointIndex: number,\n line: any, // Use any for drei Line component\n mesh: THREE.Mesh,\n jointValue: number,\n ) {\n if (!dhParameters) {\n return\n }\n\n const dh_parameter = dhParameters[jointIndex]\n if (!dh_parameter) {\n return\n }\n\n const { a, b } = getLinePoints(dh_parameter, jointValue)\n const lineGeometry = line.geometry as LineGeometry\n lineGeometry.setPositions([a.toArray(), b.toArray()].flat())\n\n mesh.position.set(b.x, b.y, b.z)\n }\n\n function setRotation(joints: THREE.Object3D[], jointValues: number[]) {\n accumulatedMatrix.identity()\n\n // Use direct refs instead of searching by name\n for (\n let jointIndex = 0;\n jointIndex < Math.min(joints.length, jointValues.length);\n jointIndex++\n ) {\n const line = lineRefs.current[jointIndex]\n const mesh = meshRefs.current[jointIndex]\n\n if (line && mesh) {\n setJointLineRotation(jointIndex, line, mesh, jointValues[jointIndex]!)\n }\n }\n }\n\n return (\n <RobotAnimator\n rapidlyChangingMotionState={rapidlyChangingMotionState}\n dhParameters={dhParameters}\n onRotationChanged={setRotation}\n >\n <group {...props} name=\"Scene\">\n <mesh>\n <sphereGeometry args={[0.01, 32, 32]} />\n <meshStandardMaterial color={\"black\"} depthTest={true} />\n </mesh>\n {dhParameters?.map((param, index) => {\n const { a, b } = getLinePoints(\n param,\n rapidlyChangingMotionState.joint_position[index] ?? 0,\n )\n const jointName = `dhrobot_J0${index}`\n return (\n <group name={jointName} key={jointName}>\n <Line\n ref={(ref) => {\n lineRefs.current[index] = ref\n }}\n name={CHILD_LINE}\n points={[a, b]}\n color={\"white\"}\n lineWidth={5}\n />\n <mesh\n ref={(ref) => {\n meshRefs.current[index] = ref\n }}\n name={CHILD_MESH}\n // biome-ignore lint/suspicious/noArrayIndexKey: pre-biome code\n key={`mesh_${index}`}\n position={b}\n >\n <sphereGeometry args={[0.01, 32, 32]} />\n <meshStandardMaterial color={\"black\"} depthTest={true} />\n </mesh>\n </group>\n )\n })}\n </group>\n </RobotAnimator>\n )\n}\n\nexport default DHRobot\n"],"names":["CHILD_LINE","CHILD_MESH","DHRobot","rapidlyChangingMotionState","dhParameters","props","accumulatedMatrix","Matrix4","lineRefs","useRef","meshRefs","React","getLinePoints","dhParameter","jointRotation","position","Vector3","quaternion","Quaternion","scale","prevPosition","matrix","setJointLineRotation","jointIndex","line","mesh","jointValue","dh_parameter","a","b","setRotation","joints","jointValues","jsx","RobotAnimator","jsxs","param","index","jointName","Line","ref"],"mappings":";;;;;AAYA,MAAMA,IAAa,QACbC,IAAa;AAEZ,SAASC,EAAQ;AAAA,EACtB,4BAAAC;AAAA,EACA,cAAAC;AAAA,EACA,GAAGC;AACL,GAAiB;AAEf,QAAMC,IAAoB,IAAIC,EAAA,GAGxBC,IAAWC,EAAc,EAAE,GAC3BC,IAAWD,EAA8B,EAAE;AAGjDE,EAAAA,EAAM,UAAU,MAAM;AACpB,IAAAH,EAAS,UAAU,IAAI,MAAMJ,EAAa,MAAM,EAAE,KAAK,IAAI,GAC3DM,EAAS,UAAU,IAAI,MAAMN,EAAa,MAAM,EAAE,KAAK,IAAI;AAAA,EAC7D,GAAG,CAACA,EAAa,MAAM,CAAC;AAIxB,WAASQ,EACPC,GACAC,GAIA;AACA,UAAMC,IAAW,IAAIC,EAAA,GACfC,IAAa,IAAIC,EAAA,GACjBC,IAAQ,IAAIH,EAAA;AAClB,IAAAV,EAAkB,UAAUS,GAAUE,GAAYE,CAAK;AACvD,UAAMC,IAAeL,EAAS,MAAA,GAExBM,IAAS,IAAId,EAAA,EAChB;AAAA,MACCM,EAAY,QACVC,KAAiBD,EAAY,6BAA6B,KAAK;AAAA,IAAA,EAElE,SAAS,IAAIN,IAAU,gBAAgB,GAAGM,EAAY,IAAK,KAAM,CAAC,CAAC,EACnE,SAAS,IAAIN,EAAA,EAAU,gBAAgBM,EAAY,IAAK,KAAM,GAAG,CAAC,CAAC,EACnE,SAAS,IAAIN,EAAA,EAAU,cAAcM,EAAY,KAAM,CAAC;AAG3D,WAAAP,EAAkB,SAASe,CAAM,GACjCf,EAAkB,UAAUS,GAAUE,GAAYE,CAAK,GAChD,EAAE,GAAGC,GAAc,GAAGL,EAAA;AAAA,EAC/B;AAEA,WAASO,EACPC,GACAC,GACAC,GACAC,GACA;AACA,QAAI,CAACtB;AACH;AAGF,UAAMuB,IAAevB,EAAamB,CAAU;AAC5C,QAAI,CAACI;AACH;AAGF,UAAM,EAAE,GAAAC,GAAG,GAAAC,EAAA,IAAMjB,EAAce,GAAcD,CAAU;AAEvD,IADqBF,EAAK,SACb,aAAa,CAACI,EAAE,QAAA,GAAWC,EAAE,QAAA,CAAS,EAAE,MAAM,GAE3DJ,EAAK,SAAS,IAAII,EAAE,GAAGA,EAAE,GAAGA,EAAE,CAAC;AAAA,EACjC;AAEA,WAASC,EAAYC,GAA0BC,GAAuB;AACpE,IAAA1B,EAAkB,SAAA;AAGlB,aACMiB,IAAa,GACjBA,IAAa,KAAK,IAAIQ,EAAO,QAAQC,EAAY,MAAM,GACvDT,KACA;AACA,YAAMC,IAAOhB,EAAS,QAAQe,CAAU,GAClCE,IAAOf,EAAS,QAAQa,CAAU;AAExC,MAAIC,KAAQC,KACVH,EAAqBC,GAAYC,GAAMC,GAAMO,EAAYT,CAAU,CAAE;AAAA,IAEzE;AAAA,EACF;AAEA,SACE,gBAAAU;AAAA,IAACC;AAAA,IAAA;AAAA,MACC,4BAAA/B;AAAA,MACA,cAAAC;AAAA,MACA,mBAAmB0B;AAAA,MAEnB,UAAA,gBAAAK,EAAC,SAAA,EAAO,GAAG9B,GAAO,MAAK,SACrB,UAAA;AAAA,QAAA,gBAAA8B,EAAC,QAAA,EACC,UAAA;AAAA,UAAA,gBAAAF,EAAC,oBAAe,MAAM,CAAC,MAAM,IAAI,EAAE,GAAG;AAAA,UACtC,gBAAAA,EAAC,wBAAA,EAAqB,OAAO,SAAS,WAAW,GAAA,CAAM;AAAA,QAAA,GACzD;AAAA,QACC7B,KAAA,gBAAAA,EAAc,IAAI,CAACgC,GAAOC,MAAU;AACnC,gBAAM,EAAE,GAAAT,GAAG,GAAAC,EAAA,IAAMjB;AAAA,YACfwB;AAAA,YACAjC,EAA2B,eAAekC,CAAK,KAAK;AAAA,UAAA,GAEhDC,IAAY,aAAaD,CAAK;AACpC,iBACE,gBAAAF,EAAC,SAAA,EAAM,MAAMG,GACX,UAAA;AAAA,YAAA,gBAAAL;AAAA,cAACM;AAAA,cAAA;AAAA,gBACC,KAAK,CAACC,MAAQ;AACZ,kBAAAhC,EAAS,QAAQ6B,CAAK,IAAIG;AAAA,gBAC5B;AAAA,gBACA,MAAMxC;AAAA,gBACN,QAAQ,CAAC4B,GAAGC,CAAC;AAAA,gBACb,OAAO;AAAA,gBACP,WAAW;AAAA,cAAA;AAAA,YAAA;AAAA,YAEb,gBAAAM;AAAA,cAAC;AAAA,cAAA;AAAA,gBACC,KAAK,CAACK,MAAQ;AACZ,kBAAA9B,EAAS,QAAQ2B,CAAK,IAAIG;AAAA,gBAC5B;AAAA,gBACA,MAAMvC;AAAA,gBAGN,UAAU4B;AAAA,gBAEV,UAAA;AAAA,kBAAA,gBAAAI,EAAC,oBAAe,MAAM,CAAC,MAAM,IAAI,EAAE,GAAG;AAAA,kBACtC,gBAAAA,EAAC,wBAAA,EAAqB,OAAO,SAAS,WAAW,GAAA,CAAM;AAAA,gBAAA;AAAA,cAAA;AAAA,cAJlD,QAAQI,CAAK;AAAA,YAAA;AAAA,UAKpB,EAAA,GArB2BC,CAsB7B;AAAA,QAEJ;AAAA,MAAC,EAAA,CACH;AAAA,IAAA;AAAA,EAAA;AAGN;"}