@wandelbots/wandelbots-js-react-components 5.5.1-pr.fix-standardize-output.591.c5418f1 → 5.5.2-pr.fix-performance-issues.594.c24b644

package/dist/chunks/{MotionGroupVisualizer-DDvhDBEq.js → MotionGroupVisualizer-3kwxPNYU.js}

@@ -1,26 +1,26 @@
-import { jsx as r, jsxs as x, Fragment as C } from "react/jsx-runtime";
+import { jsx as r, jsxs as w, Fragment as E } from "react/jsx-runtime";
 import * as b from "three";
-import { Matrix4 as R, Vector3 as G, Quaternion as W } from "three";
-import { ConvexGeometry as ie, RoundedBoxGeometry as ke } from "three-stdlib";
-import Le, { useMemo as j, useRef as M, useEffect as T, useCallback as L, useState as S, Suspense as se } from "react";
-import { d as Ge, v as Se, o as Ae, e as E } from "./externalizeComponent-BuuzAqKe.js";
-import { Environment as Fe, Lightformer as F, Line as $, useGLTF as Pe, Bounds as Z } from "@react-three/drei";
-import { useTheme as Ie } from "@mui/material/styles";
+import { Matrix4 as R, Vector3 as L, Quaternion as W } from "three";
+import { ConvexGeometry as se, RoundedBoxGeometry as Le } from "three-stdlib";
+import Se, { useMemo as A, useRef as M, useEffect as T, useState as S, useCallback as G, Suspense as ae } from "react";
+import { d as Ge, v as Pe, o as Ae, e as j } from "./externalizeComponent-D6S3WLFc.js";
+import { Environment as Ie, Lightformer as P, Line as $, useGLTF as Fe, Bounds as Z } from "@react-three/drei";
+import { useTheme as De } from "@mui/material/styles";
 import v from "@mui/material/Box";
 import Q from "@mui/material/Button";
-import De from "@mui/material/Card";
+import Oe from "@mui/material/Card";
 import z from "@mui/material/Divider";
 import ee from "@mui/material/Typography";
-import { useThree as ae, useFrame as le, Canvas as te } from "@react-three/fiber";
-import { observer as Oe } from "mobx-react-lite";
-import { useTranslation as Ve } from "react-i18next";
-import { V as ce, c as ue, b as re } from "./interpolation-BfD7X52s.js";
-import { NovaClient as Ue, Manufacturer as _, JointTypeEnum as U } from "@wandelbots/nova-js/v2";
+import { useThree as le, useFrame as ce, Canvas as te } from "@react-three/fiber";
+import { observer as Ve } from "mobx-react-lite";
+import { useTranslation as Ue } from "react-i18next";
+import { V as ue, c as fe, b as re } from "./interpolation-D9WFd-j_.js";
+import { NovaClient as Ce, Manufacturer as _, JointTypeEnum as C } from "@wandelbots/nova-js/v2";
 import { ErrorBoundary as pe } from "react-error-boundary";
-function Ce(e) {
+function Ee(e) {
   switch (e.shape_type) {
     case "convex_hull":
-      return new ie(
+      return new se(
         e.vertices.map(
           (t) => new b.Vector3(
             t[0] / 1e3,
@@ -59,46 +59,46 @@ function je({
   collider: n,
   children: t
 }) {
-  var p, u;
-  const a = ((p = n.pose) == null ? void 0 : p.position) ?? [0, 0, 0], i = ((u = n.pose) == null ? void 0 : u.orientation) ?? [0, 0, 0];
+  var f, c;
+  const l = ((f = n.pose) == null ? void 0 : f.position) ?? [0, 0, 0], i = ((c = n.pose) == null ? void 0 : c.orientation) ?? [0, 0, 0];
   return n.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ r(
     "mesh",
     {
       name: e,
       position: new b.Vector3(
-        a[0],
-        a[1],
-        a[2]
+        l[0],
+        l[1],
+        l[2]
       ).divideScalar(1e3),
       rotation: new b.Euler(i[0], i[1], i[2], "XYZ"),
-      geometry: Ce(n.shape),
+      geometry: Ee(n.shape),
       children: t
     }
   );
 }
-function Ee({
+function Je({
   name: e,
   colliders: n,
   meshChildrenProvider: t,
-  ...a
+  ...l
 }) {
-  return /* @__PURE__ */ r("group", { name: e, ...a, children: Object.entries(n).map(([i, p]) => /* @__PURE__ */ r(
+  return /* @__PURE__ */ r("group", { name: e, ...l, children: Object.entries(n).map(([i, f]) => /* @__PURE__ */ r(
     je,
     {
       name: i,
-      collider: p,
-      children: t(i, p)
+      collider: f,
+      children: t(i, f)
     },
     i
   )) });
 }
-function yt({
+function bt({
   scene: e,
   meshChildrenProvider: n
 }) {
   const t = e.colliders;
   return /* @__PURE__ */ r("group", { children: t && /* @__PURE__ */ r(
-    Ee,
+    Je,
     {
       meshChildrenProvider: n,
       colliders: t
@@ -106,12 +106,13 @@ function yt({
   ) });
 }
 function ne() {
-  return /* @__PURE__ */ r(Fe, { children: /* @__PURE__ */ r(Je, {}) });
+  return /* @__PURE__ */ r(Ie, { frames: 1, children: /* @__PURE__ */ r(We, {}) });
 }
-function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
-  return /* @__PURE__ */ x(C, { children: [
+const Be = [2, 0, 2, 0, 2, 0, 2, 0];
+function We({ positions: e = Be }) {
+  return /* @__PURE__ */ w(E, { children: [
     /* @__PURE__ */ r(
-      F,
+      P,
       {
         intensity: 5,
         "rotation-x": Math.PI / 2,
@@ -120,7 +121,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ r("group", { children: e.map((n, t) => /* @__PURE__ */ r(
-      F,
+      P,
       {
         form: "circle",
         intensity: 5,
@@ -131,7 +132,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       t
     )) }) }),
     /* @__PURE__ */ r(
-      F,
+      P,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -140,7 +141,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r(
-      F,
+      P,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -149,7 +150,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r(
-      F,
+      P,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -158,7 +159,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r(
-      F,
+      P,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -167,7 +168,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r(
-      F,
+      P,
       {
         form: "ring",
         color: "white",
@@ -179,55 +180,59 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
     )
   ] });
 }
-function gt({
+const oe = {
+  attach: "material",
+  color: "#009f4d",
+  opacity: 0.2,
+  depthTest: !1,
+  depthWrite: !1,
+  transparent: !0,
+  polygonOffset: !0
+};
+function wt({
   safetyZones: e,
   dhParameters: n,
   ...t
 }) {
-  const a = {
-    attach: "material",
-    color: "#009f4d",
-    opacity: 0.2,
-    depthTest: !1,
-    depthWrite: !1,
-    transparent: !0,
-    polygonOffset: !0
-  }, i = Ge(n ?? []), p = (h, l) => {
-    var d, y;
-    if (!((d = l == null ? void 0 : l.pose) != null && d.position) || !((y = l == null ? void 0 : l.pose) != null && y.orientation))
+  const l = A(
+    () => Ge(n ?? []),
+    [n]
+  ), i = (c, o) => {
+    var u, d;
+    if (!((u = o == null ? void 0 : o.pose) != null && u.position) || !((d = o == null ? void 0 : o.pose) != null && d.orientation))
       return null;
-    const s = new b.Vector3(
-      l.pose.position[0] / 1e3,
-      l.pose.position[1] / 1e3,
-      l.pose.position[2] / 1e3
-    ), m = new b.Vector3(
-      l.pose.orientation[0],
-      l.pose.orientation[1],
-      l.pose.orientation[2]
+    const y = new b.Vector3(
+      o.pose.position[0] / 1e3,
+      o.pose.position[1] / 1e3,
+      o.pose.position[2] / 1e3
+    ), s = new b.Vector3(
+      o.pose.orientation[0],
+      o.pose.orientation[1],
+      o.pose.orientation[2]
     );
-    let o;
-    const c = l.shape.shape_type === "plane" ? { ...a, side: b.DoubleSide } : { ...a, side: b.FrontSide };
-    switch (l.shape.shape_type) {
+    let m;
+    const a = o.shape.shape_type === "plane" ? { ...oe, side: b.DoubleSide } : { ...oe, side: b.FrontSide };
+    switch (o.shape.shape_type) {
       /**
        * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
        */
       case "plane":
-        o = /* @__PURE__ */ r("planeGeometry", { args: [i, i] });
+        m = /* @__PURE__ */ r("planeGeometry", { args: [l, l] });
         break;
       /**
        * Sphere shape
        */
       case "sphere": {
-        const f = (l == null ? void 0 : l.shape).radius / 1e3;
-        o = /* @__PURE__ */ r("sphereGeometry", { args: [f] });
+        const p = (o == null ? void 0 : o.shape).radius / 1e3;
+        m = /* @__PURE__ */ r("sphereGeometry", { args: [p] });
         break;
       }
       /**
        * Capsule shape
        */
       case "capsule": {
-        const f = (l == null ? void 0 : l.shape).radius / 1e3, w = (l == null ? void 0 : l.shape).cylinder_height / 1e3;
-        o = /* @__PURE__ */ r("capsuleGeometry", { args: [f, w] });
+        const p = (o == null ? void 0 : o.shape).radius / 1e3, h = (o == null ? void 0 : o.shape).cylinder_height / 1e3;
+        m = /* @__PURE__ */ r("capsuleGeometry", { args: [p, h] });
         break;
       }
       /**
@@ -235,21 +240,21 @@ function gt({
        * renderer to be able to visualize the convex hull.
        */
       case "convex_hull": {
-        const f = (l == null ? void 0 : l.shape).vertices.map(
+        const p = (o == null ? void 0 : o.shape).vertices.map(
           (g) => new b.Vector3(g[0] / 1e3, g[1] / 1e3, g[2] / 1e3)
-        ), w = Se(f);
-        if (w.isCoplanar && w.normal) {
-          const A = new b.Vector3().addVectors(
-            f[0],
-            w.normal.multiplyScalar(1e-4)
+        ), h = Pe(p);
+        if (h.isCoplanar && h.normal) {
+          const x = new b.Vector3().addVectors(
+            p[0],
+            h.normal.multiplyScalar(1e-4)
           );
-          f.push(A);
+          p.push(x);
         }
         try {
-          o = /* @__PURE__ */ r(
+          m = /* @__PURE__ */ r(
             "primitive",
             {
-              object: new ie(f),
+              object: new se(p),
               attach: "geometry"
             }
           );
@@ -266,11 +271,11 @@ function gt({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        const f = l.shape, w = f.radius / 1e3, g = f.sphere_center_distance_x / 1e3, A = f.sphere_center_distance_y / 1e3, P = w * 2;
-        o = /* @__PURE__ */ r(
+        const p = o.shape, h = p.radius / 1e3, g = p.sphere_center_distance_x / 1e3, x = p.sphere_center_distance_y / 1e3, I = h * 2;
+        m = /* @__PURE__ */ r(
           "primitive",
           {
-            object: new ke(g, A, P, 2, w),
+            object: new Le(g, x, I, 2, h),
             attach: "geometry"
           }
         );
@@ -279,39 +284,39 @@ function gt({
       default:
         console.warn(
           "Unsupported safety zone shape type:",
-          l.shape.shape_type
-        ), o = null;
+          o.shape.shape_type
+        ), m = null;
     }
-    return /* @__PURE__ */ x(
+    return /* @__PURE__ */ w(
       "mesh",
       {
-        renderOrder: h,
-        position: s,
-        quaternion: Ae(m),
+        renderOrder: c,
+        position: y,
+        quaternion: Ae(s),
         children: [
-          o,
-          /* @__PURE__ */ r("meshStandardMaterial", { ...c, polygonOffsetFactor: -h })
+          m,
+          /* @__PURE__ */ r("meshStandardMaterial", { ...a, polygonOffsetFactor: -c })
         ]
       },
-      `safety-zone-${l.shape.shape_type}-${h}`
+      `safety-zone-${o.shape.shape_type}-${c}`
     );
-  }, u = j(() => Object.values(e ?? {}).map(
-    (h, l) => p(l, h)
-  ), [e, i]);
-  return /* @__PURE__ */ r("group", { ...t, children: u });
+  }, f = A(() => Object.values(e ?? {}).map(
+    (c, o) => i(o, c)
+  ), [e, l]);
+  return /* @__PURE__ */ r("group", { ...t, children: f });
 }
-function bt({
+function xt({
   trajectory: e,
   ...n
 }) {
-  const t = (e == null ? void 0 : e.map((a) => {
-    if (a.position && a.position.length >= 3) {
-      const [i, p, u] = a.position;
-      if (Number.isFinite(i) && Number.isFinite(p) && Number.isFinite(u))
-        return new b.Vector3(i / 1e3, u / 1e3, -p / 1e3);
+  const t = (e == null ? void 0 : e.map((l) => {
+    if (l.position && l.position.length >= 3) {
+      const [i, f, c] = l.position;
+      if (Number.isFinite(i) && Number.isFinite(f) && Number.isFinite(c))
+        return new b.Vector3(i / 1e3, c / 1e3, -f / 1e3);
     }
     return null;
-  }).filter((a) => a !== null)) || [];
+  }).filter((l) => l !== null)) || [];
   return /* @__PURE__ */ r("group", { ...n, children: t.length > 0 && /* @__PURE__ */ r(
     $,
     {
@@ -328,180 +333,178 @@ async function J(e, n) {
   if (B.has(e))
     return B.get(e);
   const t = (async () => {
-    var u;
-    const a = n || "", i = new Ue({ instanceUrl: a }), p = i.api.motionGroupModels;
-    (u = p.axios) != null && u.interceptors && p.axios.interceptors.request.use((h) => {
-      var l;
-      return (l = h.url) != null && l.includes("/glb") && (h.responseType = "blob"), h;
+    var c;
+    const l = n || "", i = new Ce({ instanceUrl: l }), f = i.api.motionGroupModels;
+    (c = f.axios) != null && c.interceptors && f.axios.interceptors.request.use((o) => {
+      var y;
+      return (y = o.url) != null && y.includes("/glb") && (o.responseType = "blob"), o;
     });
     try {
-      const h = await i.api.motionGroupModels.getMotionGroupGlbModel(
+      const o = await i.api.motionGroupModels.getMotionGroupGlbModel(
         e
       );
-      return URL.createObjectURL(h);
-    } catch (h) {
-      throw console.error("Failed to fetch model:", h), h;
+      return URL.createObjectURL(o);
+    } catch (o) {
+      throw console.error("Failed to fetch model:", o), o;
     }
   })();
   return B.set(e, t), t;
 }
-function fe(e) {
+function de(e) {
   function n(t) {
-    return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((a) => n(a))];
+    return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((l) => n(l))];
   }
-  return n(e).filter((t) => he(t));
+  return n(e).filter((t) => me(t));
 }
-function de(e) {
+function he(e) {
   return e.name.endsWith("_FLG");
 }
-function he(e) {
+function me(e) {
   return /_J[0-9]+$/.test(e.name);
 }
-function Be(e, n) {
+function $e(e, n) {
   let t;
-  function a(i) {
-    if (de(i)) {
+  function l(i) {
+    if (he(i)) {
       if (t)
         throw Error(
           `Found multiple flange groups in robot model ${n}; first ${t.name} then ${i.name}. Only one _FLG group is allowed.`
         );
       t = i;
     }
-    he(i), i.children.map(a);
+    me(i), i.children.map(l);
   }
-  if (a(e.scene), !t)
+  if (l(e.scene), !t)
     throw Error(
       `No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`
     );
   return { gltf: e };
 }
-function me({
+function ye({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   onRotationChanged: t,
-  children: a
+  children: l
 }) {
-  const i = M([]), p = M([]), u = M(null), { invalidate: h } = ae();
-  T(() => {
-    const o = e.joint_position.filter(
-      (c) => c !== void 0
+  const i = M([]), f = M(null), { invalidate: c } = le(), o = M(e);
+  o.current = e, T(() => {
+    const a = e.joint_position.filter(
+      (u) => u !== void 0
     );
-    return u.current = new ce(o, {
+    return f.current = new ue(a, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
       // Controls damping - higher values reduce oscillation and create smoother settling
       threshold: 1e-3
     }), () => {
-      var c;
-      (c = u.current) == null || c.destroy();
+      var u;
+      (u = f.current) == null || u.destroy();
     };
-  }, []), le((o, c) => {
-    if (u.current) {
-      const d = u.current.update(c);
-      s(), d || h();
+  }, []), ce((a, u) => {
+    if (f.current) {
+      const d = f.current.update(u);
+      s(), d || c();
     }
   });
-  function l(o) {
-    o && (p.current = fe(o), s(), h());
+  function y(a) {
+    a && (i.current = de(a), s(), c());
   }
   function s() {
-    var c;
-    const o = ((c = u.current) == null ? void 0 : c.getCurrentValues()) || [];
+    var u;
+    const a = ((u = f.current) == null ? void 0 : u.getCurrentValues()) || [];
     if (t)
-      t(p.current, o);
+      t(i.current, a);
     else
-      for (const [d, y] of p.current.entries()) {
-        const f = n[d], w = f.theta || 0, g = f.reverse_rotation_direction ? -1 : 1;
-        y.rotation.y = g * (o[d] || 0) + w;
+      for (const [d, p] of i.current.entries()) {
+        const h = n[d], g = h.theta || 0, x = h.reverse_rotation_direction ? -1 : 1;
+        p.rotation.y = x * (a[d] || 0) + g;
       }
   }
-  const m = L(() => {
-    const o = e.joint_position.filter(
-      (c) => c !== void 0
+  function m(a) {
+    var d;
+    const u = a.joint_position.filter(
+      (p) => p !== void 0
     );
-    requestAnimationFrame(() => {
-      var c;
-      i.current = o, (c = u.current) == null || c.setTarget(o);
-    });
-  }, [e]);
-  return T(() => {
-    m();
-  }, [e, m]), ue(() => {
-    m();
-  }), /* @__PURE__ */ r("group", { ref: l, children: a });
+    (d = f.current) == null || d.setTarget(u), c();
+  }
+  return fe(() => {
+    m(o.current);
+  }), T(() => {
+    m(e);
+  }, [e]), /* @__PURE__ */ r("group", { ref: y, children: l });
 }
-const We = "line", $e = "mesh";
-function Ne({
+const Ne = "line", He = "mesh";
+function Ye({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...t
 }) {
-  const a = new R(), i = M([]), p = M([]);
-  Le.useEffect(() => {
-    i.current = new Array(n.length).fill(null), p.current = new Array(n.length).fill(null);
+  const l = new R(), i = M([]), f = M([]);
+  Se.useEffect(() => {
+    i.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
   }, [n.length]);
-  function u(s, m) {
-    const o = new G(), c = new W(), d = new G();
-    a.decompose(o, c, d);
-    const y = o.clone(), f = new R().makeRotationY(
+  function c(s, m) {
+    const a = new L(), u = new W(), d = new L();
+    l.decompose(a, u, d);
+    const p = a.clone(), h = new R().makeRotationY(
       s.theta + m * (s.reverse_rotation_direction ? -1 : 1)
     ).multiply(new R().makeTranslation(0, s.d / 1e3, 0)).multiply(new R().makeTranslation(s.a / 1e3, 0, 0)).multiply(new R().makeRotationX(s.alpha));
-    return a.multiply(f), a.decompose(o, c, d), { a: y, b: o };
+    return l.multiply(h), l.decompose(a, u, d), { a: p, b: a };
   }
-  function h(s, m, o, c) {
+  function o(s, m, a, u) {
     if (!n)
       return;
     const d = n[s];
     if (!d)
       return;
-    const { a: y, b: f } = u(d, c);
-    m.geometry.setPositions([y.toArray(), f.toArray()].flat()), o.position.set(f.x, f.y, f.z);
+    const { a: p, b: h } = c(d, u);
+    m.geometry.setPositions([p.toArray(), h.toArray()].flat()), a.position.set(h.x, h.y, h.z);
   }
-  function l(s, m) {
-    a.identity();
-    for (let o = 0; o < Math.min(s.length, m.length); o++) {
-      const c = i.current[o], d = p.current[o];
-      c && d && h(o, c, d, m[o]);
+  function y(s, m) {
+    l.identity();
+    for (let a = 0; a < Math.min(s.length, m.length); a++) {
+      const u = i.current[a], d = f.current[a];
+      u && d && o(a, u, d, m[a]);
     }
   }
   return /* @__PURE__ */ r(
-    me,
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             overflow: "hidden",
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-            minHeight: g ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
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             // Allow progressive hiding in portrait mode
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-                                    onMouseUp: D,
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   function s() {
-    var c;
-    const o = ((c = u.current) == null ? void 0 : c.getCurrentValues()) || [];
+    var u;
+    const a = ((u = c.current) == null ? void 0 : u.getCurrentValues()) || [];
     if (t)
-      t(p.current, o);
+      t(f.current, a);
     else
-      for (const [d, y] of p.current.entries()) {
-        const w = n[d].reverse_rotation_direction ? -1 : 1;
-        y.position.y = w * (o[d] || 0) / 1e3;
+      for (const [d, p] of f.current.entries()) {
+        const g = n[d].reverse_rotation_direction ? -1 : 1;
+        p.position.y = g * (a[d] || 0) / 1e3;
       }
   }
-  const m = L(() => {
-    const o = e.joint_position.filter(
-      (c) => c !== void 0
+  const m = G(() => {
+    const a = e.joint_position.filter(
+      (u) => u !== void 0
     );
     requestAnimationFrame(() => {
-      var c;
-      i.current = o, (c = u.current) == null || c.setTarget(o);
+      var u;
+      i.current = a, (u = c.current) == null || u.setTarget(a);
     });
   }, [e]);
   return T(() => {
     m();
-  }, [e, m]), ue(() => {
+  }, [e, m]), fe(() => {
     m();
-  }), /* @__PURE__ */ r("group", { ref: l, children: a });
+  }), /* @__PURE__ */ r("group", { ref: y, children: l });
 }
-function ve({
+function Me({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...t
 }) {
-  const a = new R(), i = M(null), p = M(null);
-  function u(s) {
+  const l = new R(), i = M(null), f = M(null);
+  function c(s) {
     const m = new R();
-    for (let y = 0; y < n.length; y++) {
-      const f = n[y], w = s[y] ?? 0, g = new R().makeRotationY(f.theta).multiply(
+    for (let p = 0; p < n.length; p++) {
+      const h = n[p], g = s[p] ?? 0, x = new R().makeRotationY(h.theta).multiply(
         new R().makeTranslation(
-          f.a / 1e3,
-          (f.d + w * (f.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          h.a / 1e3,
+          (h.d + g * (h.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(f.alpha));
-      m.multiply(g);
+      ).multiply(new R().makeRotationX(h.alpha));
+      m.multiply(x);
     }
-    const o = new G(), c = new W(), d = new G();
-    return m.decompose(o, c, d), o;
+    const a = new L(), u = new W(), d = new L();
+    return m.decompose(a, u, d), a;
   }
-  const h = u(
+  const o = c(
     e.joint_position
   );
-  function l(s, m) {
-    a.identity();
-    let o = new G();
-    for (let f = 0; f < n.length; f++) {
-      const w = m[f] ?? 0, g = n[f], A = new R().makeRotationY(g.theta).multiply(
+  function y(s, m) {
+    l.identity();
+    let a = new L();
+    for (let h = 0; h < n.length; h++) {
+      const g = m[h] ?? 0, x = n[h], I = new R().makeRotationY(x.theta).multiply(
         new R().makeTranslation(
-          g.a / 1e3,
-          (g.d + w * (g.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          x.a / 1e3,
+          (x.d + g * (x.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(g.alpha));
-      a.multiply(A);
+      ).multiply(new R().makeRotationX(x.alpha));
+      l.multiply(I);
     }
-    const c = new G(), d = new W(), y = new G();
-    if (a.decompose(c, d, y), o = c, i.current && i.current.position.set(
-      o.x,
-      o.y,
-      o.z
-    ), p.current) {
-      const f = p.current.geometry;
-      f != null && f.setPositions && f.setPositions([
+    const u = new L(), d = new W(), p = new L();
+    if (l.decompose(u, d, p), a = u, i.current && i.current.position.set(
+      a.x,
+      a.y,
+      a.z
+    ), f.current) {
+      const h = f.current.geometry;
+      h != null && h.setPositions && h.setPositions([
         0,
         0,
         0,
-        o.x,
-        o.y,
-        o.z
+        a.x,
+        a.y,
+        a.z
       ]);
     }
   }
   return /* @__PURE__ */ r(
-    Re,
+    ve,
     {
       rapidlyChangingMotionState: e,
       dhParameters: n,
-      onTranslationChanged: l,
-      children: /* @__PURE__ */ x("group", { ...t, name: "Scene", children: [
-        /* @__PURE__ */ x("mesh", { name: "Base", position: [0, 0, 0], children: [
+      onTranslationChanged: y,
+      children: /* @__PURE__ */ w("group", { ...t, name: "Scene", children: [
+        /* @__PURE__ */ w("mesh", { name: "Base", position: [0, 0, 0], children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.02, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "green", depthTest: !0 })
         ] }),
         /* @__PURE__ */ r(
           $,
           {
-            ref: p,
-            points: [new G(0, 0, 0), h],
+            ref: f,
+            points: [new L(0, 0, 0), o],
             color: "White",
             lineWidth: 5
           }
         ),
-        /* @__PURE__ */ x("mesh", { ref: i, name: "TCP", position: h, children: [
+        /* @__PURE__ */ w("mesh", { ref: i, name: "TCP", position: o, children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.025, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "red", depthTest: !0 })
         ] })
@@ -1204,106 +1206,106 @@ function ve({
     }
   );
 }
-const Me = E(
+const _e = j(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: a = J,
+    getModel: l = J,
     flangeRef: i,
-    postModelRender: p,
-    transparentColor: u,
-    instanceUrl: h,
-    ...l
+    postModelRender: f,
+    transparentColor: c,
+    instanceUrl: o,
+    ...y
   }) => {
-    const [s, m] = S(null), o = L((d) => {
+    const [s, m] = S(null), a = G((d) => {
       m(d);
     }, []);
     T(() => {
-      s && (u ? be(s, u) : we(s));
-    }, [s, u]);
-    const c = /* @__PURE__ */ r(
-      ve,
+      s && (c ? we(s, c) : xe(s));
+    }, [s, c]);
+    const u = /* @__PURE__ */ r(
+      Me,
       {
         rapidlyChangingMotionState: e,
         dhParameters: t,
-        ...l
+        ...y
       }
     );
-    return /* @__PURE__ */ x(
+    return /* @__PURE__ */ w(
       pe,
       {
-        fallback: c,
+        fallback: u,
         onError: (d) => {
           console.warn(d);
         },
         children: [
-          /* @__PURE__ */ r(se, { fallback: c, children: /* @__PURE__ */ r("group", { ref: o, children: /* @__PURE__ */ r(
-            Re,
+          /* @__PURE__ */ r(ae, { fallback: u, children: /* @__PURE__ */ r("group", { ref: a, children: /* @__PURE__ */ r(
+            ve,
             {
               rapidlyChangingMotionState: e,
               dhParameters: t,
               children: /* @__PURE__ */ r(
-                ge,
+                be,
                 {
                   modelURL: (() => {
-                    const d = a(n, h);
+                    const d = l(n, o);
                     if (!d) {
-                      const y = new Blob([], { type: "model/gltf-binary" }), f = new File(
-                        [y],
+                      const p = new Blob([], { type: "model/gltf-binary" }), h = new File(
+                        [p],
                         `${n}.glb`,
                         { type: "model/gltf-binary" }
                       );
-                      return Promise.resolve(URL.createObjectURL(f));
+                      return Promise.resolve(URL.createObjectURL(h));
                     }
                     return d;
                   })(),
-                  postModelRender: p,
+                  postModelRender: f,
                   flangeRef: i,
-                  ...l
+                  ...y
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ r(ye, {})
+          /* @__PURE__ */ r(ge, {})
         ]
       }
     );
   }
 );
-function Rt({
+function Mt({
   connectedMotionGroup: e,
   getModel: n = J,
   flangeRef: t,
-  transparentColor: a,
+  transparentColor: l,
   postModelRender: i,
-  ...p
+  ...f
 }) {
   if (!e.dhParameters)
     return null;
-  const u = e.modelFromController || "";
-  return u && n(u) ? /* @__PURE__ */ r(
-    Me,
+  const c = e.modelFromController || "";
+  return c && n(c) ? /* @__PURE__ */ r(
+    _e,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
-      modelFromController: u,
+      modelFromController: c,
       dhParameters: e.dhParameters,
       getModel: n,
       flangeRef: t,
-      transparentColor: a,
+      transparentColor: l,
       postModelRender: i,
-      ...p
+      ...f
     }
   ) : /* @__PURE__ */ r(
-    ve,
+    Me,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       dhParameters: e.dhParameters,
-      ...p
+      ...f
     }
   );
 }
-const oe = {
+const ie = {
   [_.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
   [_.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
   [_.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
@@ -1326,7 +1328,7 @@ const oe = {
     0
   ]
 };
-function Ke(e) {
+function Qe(e) {
   const [n] = e.split("_");
   switch (n) {
     case "ABB":
@@ -1343,34 +1345,34 @@ function Ke(e) {
       return null;
   }
 }
-function vt(e, n) {
-  const t = Ke(e);
-  return t && t in oe ? oe[t] : n || null;
+function _t(e, n) {
+  const t = Qe(e);
+  return t && t in ie ? ie[t] : n || null;
 }
-const Mt = E((e) => {
-  const { inverseSolver: n, dhParameters: t, ...a } = e, [i, p] = S(
-    U.RevoluteJoint
+const Tt = j((e) => {
+  const { inverseSolver: n, dhParameters: t, ...l } = e, [i, f] = S(
+    C.RevoluteJoint
   );
   T(() => {
-    t.length && p(t[0].type ?? U.RevoluteJoint);
+    t.length && f(t[0].type ?? C.RevoluteJoint);
   }, [t]);
-  const u = j(() => n === null && i === U.RevoluteJoint, [n, i]), h = j(() => n === null && i === U.PrismaticJoint, [n, i]);
-  return j(() => !!n, [n]) || u ? /* @__PURE__ */ r(xe, { dhParameters: t, ...a }) : h ? /* @__PURE__ */ r(Me, { dhParameters: t, ...a }) : null;
+  const c = A(() => n === null && i === C.RevoluteJoint, [n, i]), o = A(() => n === null && i === C.PrismaticJoint, [n, i]);
+  return A(() => !!n, [n]) || c ? /* @__PURE__ */ r(Re, { dhParameters: t, ...l }) : o ? /* @__PURE__ */ r(_e, { dhParameters: t, ...l }) : null;
 });
 export {
-  yt as C,
-  Rt as L,
-  oe as M,
+  bt as C,
+  Mt as L,
+  ie as M,
   ne as P,
-  wt as R,
-  gt as S,
-  bt as T,
-  xt as a,
-  Xe as b,
-  Me as c,
+  Rt as R,
+  wt as S,
+  xt as T,
+  vt as a,
+  Ze as b,
+  _e as c,
   J as d,
-  Ke as e,
-  xe as f,
-  vt as g,
-  Mt as h
+  Qe as e,
+  Re as f,
+  _t as g,
+  Tt as h
 };