@wandelbots/wandelbots-js-react-components 5.5.1 → 5.5.2-pr.fix-performance-issues.594.d053ea2

package/dist/3d.cjs

@@ -1,2 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const r=require("./components/3d-viewport/collider/CollisionSceneRenderer.cjs"),o=require("./components/3d-viewport/PresetEnvironment.cjs"),t=require("./components/3d-viewport/SafetyZonesRenderer.cjs"),n=require("./components/3d-viewport/TrajectoryRenderer.cjs"),i=require("./components/RobotCard.cjs"),u=require("./components/robots/AxisConfig.cjs"),s=require("./components/robots/LinearAxis.cjs"),e=require("./components/robots/manufacturerHomePositions.cjs"),a=require("./components/robots/Robot.cjs"),d=require("./components/robots/robotModelLogic.cjs"),c=require("./components/robots/SupportedLinearAxis.cjs"),R=require("./components/robots/SupportedRobot.cjs"),l=require("./components/robots/MotionGroupVisualizer.cjs");exports.CollisionSceneRenderer=r.default;exports.PresetEnvironment=o.PresetEnvironment;exports.SafetyZonesRenderer=t.SafetyZonesRenderer;exports.TrajectoryRenderer=n.TrajectoryRenderer;exports.RobotCard=i.RobotCard;exports.defaultAxisConfig=u.defaultAxisConfig;exports.LinearAxis=s.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;exports.Robot=a.Robot;exports.defaultGetModel=d.defaultGetModel;exports.SupportedLinearAxis=c.SupportedLinearAxis;exports.SupportedRobot=R.SupportedRobot;exports.MotionGroupVisualizer=l.MotionGroupVisualizer;
-//# sourceMappingURL=3d.cjs.map
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/MotionGroupVisualizer-4AcH6kaR.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;

package/dist/3d.d.ts

@@ -11,4 +11,3 @@ export { defaultGetModel } from "./components/robots/robotModelLogic";
 export * from "./components/robots/SupportedLinearAxis";
 export * from "./components/robots/SupportedRobot";
 export * from "./components/robots/MotionGroupVisualizer";
-//# sourceMappingURL=3d.d.ts.map

package/dist/3d.js

@@ -1,31 +1,18 @@
-import { default as e } from "./components/3d-viewport/collider/CollisionSceneRenderer.js";
-import { PresetEnvironment as f } from "./components/3d-viewport/PresetEnvironment.js";
-import { SafetyZonesRenderer as x } from "./components/3d-viewport/SafetyZonesRenderer.js";
-import { TrajectoryRenderer as n } from "./components/3d-viewport/TrajectoryRenderer.js";
-import { RobotCard as i } from "./components/RobotCard.js";
-import { defaultAxisConfig as u } from "./components/robots/AxisConfig.js";
-import { LinearAxis as s } from "./components/robots/LinearAxis.js";
-import { MANUFACTURER_HOME_CONFIGS as C, extractManufacturer as A, getDefaultHomeConfig as M } from "./components/robots/manufacturerHomePositions.js";
-import { Robot as c } from "./components/robots/Robot.js";
-import { defaultGetModel as g } from "./components/robots/robotModelLogic.js";
-import { SupportedLinearAxis as G } from "./components/robots/SupportedLinearAxis.js";
-import { SupportedRobot as F } from "./components/robots/SupportedRobot.js";
-import { MotionGroupVisualizer as L } from "./components/robots/MotionGroupVisualizer.js";
+import { C as o, L as r, M as s, h as t, P as n, b as i, R as d, S as f, c as u, f as R, T as l, a as C, d as p, e as M, g as S } from "./chunks/MotionGroupVisualizer-om9U-U7G.js";
 export {
-  e as CollisionSceneRenderer,
-  s as LinearAxis,
-  C as MANUFACTURER_HOME_CONFIGS,
-  L as MotionGroupVisualizer,
-  f as PresetEnvironment,
-  c as Robot,
-  i as RobotCard,
-  x as SafetyZonesRenderer,
-  G as SupportedLinearAxis,
-  F as SupportedRobot,
-  n as TrajectoryRenderer,
-  u as defaultAxisConfig,
-  g as defaultGetModel,
-  A as extractManufacturer,
-  M as getDefaultHomeConfig
+  o as CollisionSceneRenderer,
+  r as LinearAxis,
+  s as MANUFACTURER_HOME_CONFIGS,
+  t as MotionGroupVisualizer,
+  n as PresetEnvironment,
+  i as Robot,
+  d as RobotCard,
+  f as SafetyZonesRenderer,
+  u as SupportedLinearAxis,
+  R as SupportedRobot,
+  l as TrajectoryRenderer,
+  C as defaultAxisConfig,
+  p as defaultGetModel,
+  M as extractManufacturer,
+  S as getDefaultHomeConfig
 };
-//# sourceMappingURL=3d.js.map

package/dist/{components/safetyBar → SafetyBar}/ControllerTypeIndicator.d.ts

@@ -10,4 +10,3 @@ export declare const ControllerTypeIndicator: (({ isVirtual, motionGroupId, anch
     displayName: string;
 };
 export default ControllerTypeIndicator;
-//# sourceMappingURL=ControllerTypeIndicator.d.ts.map

package/dist/{components/safetyBar → SafetyBar}/IndicatorWithExplanation.d.ts

@@ -17,4 +17,3 @@ export declare const IndicatorWithExplanation: (({ id, icon, color, title, name,
     displayName: string;
 };
 export default IndicatorWithExplanation;
-//# sourceMappingURL=IndicatorWithExplanation.d.ts.map

package/dist/{components/safetyBar → SafetyBar}/OperationModeIndicator.d.ts

@@ -10,4 +10,3 @@ export declare const OperationModeIndicator: (({ operationMode, anchorOrigin, tr
     displayName: string;
 };
 export default OperationModeIndicator;
-//# sourceMappingURL=OperationModeIndicator.d.ts.map

package/dist/{components/safetyBar → SafetyBar}/SafetyBar.d.ts

@@ -13,4 +13,3 @@ export declare const SafetyBar: (({ isVirtual, motionGroupId, operationMode, saf
     displayName: string;
 };
 export default SafetyBar;
-//# sourceMappingURL=SafetyBar.d.ts.map

package/dist/{components/safetyBar → SafetyBar}/SafetyStateIndicator.d.ts

@@ -10,4 +10,3 @@ export declare const SafetyStateIndicator: (({ safetyState, anchorOrigin, transf
     displayName: string;
 };
 export default SafetyStateIndicator;
-//# sourceMappingURL=SafetyStateIndicator.d.ts.map

package/dist/{components/safetyBar → SafetyBar}/icons/index.d.ts

@@ -8,4 +8,3 @@ export { default as SafetyStateEstopIcon } from "./safety-state-estop.svg";
 export { default as SafetyStateManualActionRequiredIcon } from "./safety-state-manual-action-required.svg";
 export { default as SafetyStateNormalIcon } from "./safety-state-normal.svg";
 export { default as SafetyStateStopIcon } from "./safety-state-stop.svg";
-//# sourceMappingURL=index.d.ts.map

package/dist/SafetyBar/index.cjs

@@ -0,0 +1 @@
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const e=require("../chunks/SafetyBar-CLm3UQRA.cjs");exports.SafetyBar=e.SafetyBar;exports.default=e.SafetyBar;

package/dist/SafetyBar/index.d.ts

@@ -0,0 +1,2 @@
+export * from "./SafetyBar";
+export { SafetyBar as default } from "./SafetyBar";

package/dist/SafetyBar/index.js

@@ -0,0 +1,5 @@
+import { S as f, S as r } from "../chunks/SafetyBar-C8whliAf.js";
+export {
+  f as SafetyBar,
+  r as default
+};

package/dist/Setup.d.ts

@@ -9,4 +9,3 @@ type Props = React.PropsWithChildren<CanvasProps & {
 }>;
 export declare const Setup: ({ children, cameraFov, cameraPosition, controls, lights, ...restProps }: Props) => import("react/jsx-runtime").JSX.Element;
 export {};
-//# sourceMappingURL=Setup.d.ts.map

package/dist/chunks/MotionGroupVisualizer-4AcH6kaR.cjs

@@ -0,0 +1 @@
+"use strict";const t=require("react/jsx-runtime"),j=require("three"),O=require("three-stdlib"),d=require("react"),S=require("./externalizeComponent-BHZdH14U.cjs"),M=require("@react-three/drei"),pe=require("@mui/material/styles"),v=require("@mui/material/Box"),Y=require("@mui/material/Button"),he=require("@mui/material/Card"),Q=require("@mui/material/Divider"),X=require("@mui/material/Typography"),T=require("@react-three/fiber"),me=require("mobx-react-lite"),xe=require("react-i18next"),L=require("./interpolation-B84QX33C.cjs"),R=require("@wandelbots/nova-js/v2"),K=require("react-error-boundary");function ye(e){const n=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const o=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(n,r,o.get?o:{enumerable:!0,get:()=>e[r]})}}return n.default=e,Object.freeze(n)}const b=ye(j);function ge(e){switch(e.shape_type){case"convex_hull":return new O.ConvexGeometry(e.vertices.map(r=>new b.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new b.BoxGeometry(e.size_x/1e3,e.size_y/1e3,e.size_z/1e3);case"sphere":return new b.SphereGeometry(e.radius/1e3);case"capsule":return new b.CapsuleGeometry(e.radius/1e3,e.cylinder_height/1e3);case"cylinder":return new b.CylinderGeometry(e.radius/1e3,e.radius/1e3,e.height/1e3);case"rectangle":return new b.BoxGeometry(e.size_x/1e3,e.size_y/1e3,0);default:return console.warn(`${e.shape_type} is not supported`),new b.BufferGeometry}}function je({name:e,collider:n,children:r}){var f,u;const o=((f=n.pose)==null?void 0:f.position)??[0,0,0],i=((u=n.pose)==null?void 0:u.orientation)??[0,0,0];return n.margin&&console.warn(`${e} margin is not supported`),t.jsx("mesh",{name:e,position:new b.Vector3(o[0],o[1],o[2]).divideScalar(1e3),rotation:new b.Euler(i[0],i[1],i[2],"XYZ"),geometry:ge(n.shape),children:r})}function be({name:e,colliders:n,meshChildrenProvider:r,...o}){return t.jsx("group",{name:e,...o,children:Object.entries(n).map(([i,f])=>t.jsx(je,{name:i,collider:f,children:r(i,f)},i))})}function we({scene:e,meshChildrenProvider:n}){const r=e.colliders;return t.jsx("group",{children:r&&t.jsx(be,{meshChildrenProvider:n,colliders:r})})}function V(){return t.jsx(M.Environment,{frames:1,children:t.jsx(Me,{})})}const Re=[2,0,2,0,2,0,2,0];function Me({positions:e=Re}){return t.jsxs(t.Fragment,{children:[t.jsx(M.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),t.jsx("group",{rotation:[0,.5,0],children:t.jsx("group",{children:e.map((n,r)=>t.jsx(M.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[n,4,r*4],scale:[3,1,1]},r))})}),t.jsx(M.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),t.jsx(M.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),t.jsx(M.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}const Z={attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0};function ve({safetyZones:e,dhParameters:n,...r}){const o=d.useMemo(()=>S.dhParametersToPlaneSize(n??[]),[n]),i=(u,s)=>{var l,h;if(!((l=s==null?void 0:s.pose)!=null&&l.position)||!((h=s==null?void 0:s.pose)!=null&&h.orientation))return null;const y=new b.Vector3(s.pose.position[0]/1e3,s.pose.position[1]/1e3,s.pose.position[2]/1e3),a=new b.Vector3(s.pose.orientation[0],s.pose.orientation[1],s.pose.orientation[2]);let x;const c=s.shape.shape_type==="plane"?{...Z,side:b.DoubleSide}:{...Z,side:b.FrontSide};switch(s.shape.shape_type){case"plane":x=t.jsx("planeGeometry",{args:[o,o]});break;case"sphere":{const p=(s==null?void 0:s.shape).radius/1e3;x=t.jsx("sphereGeometry",{args:[p]});break}case"capsule":{const p=(s==null?void 0:s.shape).radius/1e3,m=(s==null?void 0:s.shape).cylinder_height/1e3;x=t.jsx("capsuleGeometry",{args:[p,m]});break}case"convex_hull":{const p=(s==null?void 0:s.shape).vertices.map(g=>new b.Vector3(g[0]/1e3,g[1]/1e3,g[2]/1e3)),m=S.verticesToCoplanarity(p);if(m.isCoplanar&&m.normal){const w=new b.Vector3().addVectors(p[0],m.normal.multiplyScalar(1e-4));p.push(w)}try{x=t.jsx("primitive",{object:new O.ConvexGeometry(p),attach:"geometry"})}catch(g){return console.log("Error creating ConvexGeometry:",g),null}break}case"rectangular_capsule":{const p=s.shape,m=p.radius/1e3,g=p.sphere_center_distance_x/1e3,w=p.sphere_center_distance_y/1e3,k=m*2;x=t.jsx("primitive",{object:new O.RoundedBoxGeometry(g,w,k,2,m),attach:"geometry"});break}default:console.warn("Unsupported safety zone shape type:",s.shape.shape_type),x=null}return t.jsxs("mesh",{renderOrder:u,position:y,quaternion:S.orientationToQuaternion(a),children:[x,t.jsx("meshStandardMaterial",{...c,polygonOffsetFactor:-u})]},`safety-zone-${s.shape.shape_type}-${u}`)},f=d.useMemo(()=>Object.values(e??{}).map((u,s)=>i(s,u)),[e,o]);return t.jsx("group",{...r,children:f})}function _e({trajectory:e,...n}){const r=(e==null?void 0:e.map(o=>{if(o.position&&o.position.length>=3){const[i,f,u]=o.position;if(Number.isFinite(i)&&Number.isFinite(f)&&Number.isFinite(u))return new b.Vector3(i/1e3,u/1e3,-f/1e3)}return null}).filter(o=>o!==null))||[];return t.jsx("group",{...n,children:r.length>0&&t.jsx(M.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}const P=new Map;async function G(e,n){if(P.has(e))return P.get(e);const r=(async()=>{var u;const o=n||"",i=new R.NovaClient({instanceUrl:o}),f=i.api.motionGroupModels;(u=f.axios)!=null&&u.interceptors&&f.axios.interceptors.request.use(s=>{var y;return(y=s.url)!=null&&y.includes("/glb")&&(s.responseType="blob"),s});try{const s=await i.api.motionGroupModels.getMotionGroupGlbModel(e);return URL.createObjectURL(s)}catch(s){throw console.error("Failed to fetch model:",s),s}})();return P.set(e,r),r}function z(e){function n(r){return r.children.length===0?[r]:[r,...r.children.flatMap(o=>n(o))]}return n(e).filter(r=>te(r))}function ee(e){return e.name.endsWith("_FLG")}function te(e){return/_J[0-9]+$/.test(e.name)}function Se(e,n){let r;function o(i){if(ee(i)){if(r)throw Error(`Found multiple flange groups in robot model ${n}; first ${r.name} then ${i.name}. Only one _FLG group is allowed.`);r=i}te(i),i.children.map(o)}if(o(e.scene),!r)throw Error(`No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`);return{gltf:e}}function re({rapidlyChangingMotionState:e,dhParameters:n,onRotationChanged:r,children:o}){const i=d.useRef([]),f=d.useRef(null),{invalidate:u}=T.useThree(),s=d.useRef(e);s.current=e,d.useEffect(()=>{const c=e.joint_position.filter(l=>l!==void 0);return f.current=new L.ValueInterpolator(c,{tension:120,friction:20,threshold:.001}),()=>{var l;(l=f.current)==null||l.destroy()}},[]),T.useFrame((c,l)=>{if(f.current){const h=f.current.update(l);a(),h||u()}});function y(c){c&&(i.current=z(c),a(),u())}function a(){var l;const c=((l=f.current)==null?void 0:l.getCurrentValues())||[];if(r)r(i.current,c);else for(const[h,p]of i.current.entries()){const m=n[h],g=m.theta||0,w=m.reverse_rotation_direction?-1:1;p.rotation.y=w*(c[h]||0)+g}}function x(c){var h;const l=c.joint_position.filter(p=>p!==void 0);(h=f.current)==null||h.setTarget(l),u()}return L.useAutorun(()=>{x(s.current)}),d.useEffect(()=>{x(e)},[e]),t.jsx("group",{ref:y,children:o})}const Te="line",Le="mesh";function ke({rapidlyChangingMotionState:e,dhParameters:n,...r}){const o=new j.Matrix4,i=d.useRef([]),f=d.useRef([]);d.useEffect(()=>{i.current=new Array(n.length).fill(null),f.current=new Array(n.length).fill(null)},[n.length]);function u(a,x){const c=new j.Vector3,l=new j.Quaternion,h=new j.Vector3;o.decompose(c,l,h);const p=c.clone(),m=new j.Matrix4().makeRotationY(a.theta+x*(a.reverse_rotation_direction?-1:1)).multiply(new j.Matrix4().makeTranslation(0,a.d/1e3,0)).multiply(new j.Matrix4().makeTranslation(a.a/1e3,0,0)).multiply(new j.Matrix4().makeRotationX(a.alpha));return o.multiply(m),o.decompose(c,l,h),{a:p,b:c}}function s(a,x,c,l){if(!n)return;const h=n[a];if(!h)return;const{a:p,b:m}=u(h,l);x.geometry.setPositions([p.toArray(),m.toArray()].flat()),c.position.set(m.x,m.y,m.z)}function y(a,x){o.identity();for(let c=0;c<Math.min(a.length,x.length);c++){const l=i.current[c],h=f.current[c];l&&h&&s(c,l,h,x[c])}}return t.jsx(re,{rapidlyChangingMotionState:e,dhParameters:n,onRotationChanged:y,children:t.jsxs("group",{...r,name:"Scene",children:[t.jsxs("mesh",{children:[t.jsx("sphereGeometry",{args:[.01,32,32]}),t.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),n==null?void 0:n.map((a,x)=>{const{a:c,b:l}=u(a,e.joint_position[x]??0),h=`dhrobot_J0${x}`;return t.jsxs("group",{name:h,children:[t.jsx(M.Line,{ref:p=>{i.current[x]=p},name:Te,points:[c,l],color:"white",lineWidth:5}),t.jsxs("mesh",{ref:p=>{f.current[x]=p},name:Le,position:l,children:[t.jsx("sphereGeometry",{args:[.01,32,32]}),t.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},`mesh_${x}`)]},h)})]})})}const Ge=console.warn;function ne(){return d.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&Ge(e)}},[]),null}function Ce(e){return e.type==="Mesh"}function Ee({url:e,flangeRef:n,postModelRender:r,...o}){const i=M.useGLTF(e),u=Se(i,"robot.glb").gltf,s=d.useCallback(a=>{a&&r&&r()},[r]);function y(a){try{return Ce(a)?a.geometry?t.jsx("mesh",{name:a.name,geometry:a.geometry,material:a.material,position:a.position,rotation:a.rotation},a.uuid):t.jsx("group",{name:a.name,position:a.position,rotation:a.rotation},a.uuid):t.jsx("group",{name:a.name,position:a.position,rotation:a.rotation,ref:ee(a)?n:void 0,children:a.children.map(y)},a.uuid)}catch(x){return console.warn("Error rendering node",a.name,x),null}}return t.jsx("group",{...o,dispose:null,ref:s,children:y(u.scene)})}function se({modelURL:e,flangeRef:n,postModelRender:r,...o}){const[i,f]=d.useState(null);return d.useEffect(()=>{let u=!1;return(async()=>{try{const y=typeof e=="string"?e:await e;u||f(a=>a===y?a:y)}catch(y){console.error("Failed to resolve model URL:",y)}})(),()=>{u=!0}},[e]),i?t.jsx(Ee,{url:i,flangeRef:n,postModelRender:r,...o}):null}const oe=(e,n)=>{e.userData.isGhost||(e.traverse(r=>{if(r instanceof b.Mesh){r.material instanceof b.Material&&(r.material.colorWrite=!1);const o=r.clone(),i=r.clone();o.material=new b.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:-1,side:b.DoubleSide}),o.userData.isGhost=!0,i.material=new b.MeshStandardMaterial({color:n,opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-2,side:b.DoubleSide}),i.userData.isGhost=!0,r.parent&&(r.parent.add(o),r.parent.add(i))}}),e.userData.isGhost=!0)},ie=e=>{if(!e.userData.isGhost)return;const n=[];e.traverse(r=>{var o;r instanceof b.Mesh&&((o=r.userData)!=null&&o.isGhost?n.push(r):r.material instanceof b.Material&&(r.material.colorWrite=!0))}),n.forEach(r=>{r.parent&&r.parent.remove(r)}),e.userData.isGhost=!1},q=S.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:o=G,flangeRef:i,postModelRender:f,transparentColor:u,instanceUrl:s,...y})=>{const[a,x]=d.useState(null),c=d.useCallback(p=>{x(p)},[]);d.useEffect(()=>{a&&(u?oe(a,u):ie(a))},[a,u]);const l=d.useMemo(()=>{const p=o(n,s);if(!p){const m=new Blob([],{type:"model/gltf-binary"}),g=new File([m],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(g))}return p},[n,s,o]),h=t.jsx(ke,{rapidlyChangingMotionState:e,dhParameters:r,...y});return t.jsxs(K.ErrorBoundary,{fallback:h,onError:p=>{console.warn(p)},children:[t.jsx(d.Suspense,{fallback:h,children:t.jsx("group",{ref:c,children:t.jsx(re,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsx(se,{modelURL:l,postModelRender:f,flangeRef:i,...y})})})}),t.jsx(ne,{})]})});function ae({connectedMotionGroup:e,getModel:n=G,flangeRef:r,transparentColor:o,postModelRender:i,...f}){return e.dhParameters?t.jsx(q,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:e.modelFromController||"",dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:i,...f}):null}const Ae=S.externalizeComponent(me.observer(({robotName:e,programState:n,safetyState:r,operationMode:o,driveToHomeEnabled:i=!1,onDriveToHomePress:f,onDriveToHomeRelease:u,connectedMotionGroup:s,robotComponent:y=ae,customContentComponent:a,className:x})=>{var W;const c=pe.useTheme(),{t:l}=xe.useTranslation(),[h,p]=d.useState(!1),m=d.useRef(null),g=d.useRef(null),[w,k]=d.useState(!1),[C,fe]=d.useState({width:400,height:600}),[Ve,de]=d.useState(0);d.useEffect(()=>{const I=()=>{if(g.current){const{offsetWidth:$,offsetHeight:H}=g.current;k($>H),fe({width:$,height:H})}};I();const N=new ResizeObserver(I);return g.current&&N.observe(g.current),()=>{N.disconnect()}},[]);const J=d.useCallback(()=>{de(I=>I+1)},[]),E=d.useCallback(()=>{!i||!f||(p(!0),f())},[i,f]),A=d.useCallback(()=>{!i||!u||(p(!1),u())},[i,u]),B=d.useCallback(()=>{h&&u&&(p(!1),u())},[h,u]),_=w?C.width<350:C.height<200,F=w?C.height<310:C.height<450;return t.jsx(he,{ref:g,className:x,sx:{width:"100%",height:"100%",display:"flex",flexDirection:w?"row":"column",position:"relative",overflow:"hidden",minWidth:{xs:180,sm:220,md:250},minHeight:w?{xs:200,sm:240,md:260}:{xs:150,sm:180,md:220},border:`1px solid ${c.palette.divider}`,borderRadius:"18px",boxShadow:"none",backgroundColor:((W=c.palette.backgroundPaperElevation)==null?void 0:W[8])||"#2A2A3F",backgroundImage:"none"},children:w?t.jsxs(t.Fragment,{children:[t.jsx(v,{sx:{flex:"0 0 50%",position:"relative",height:"100%",minHeight:"100%",maxHeight:"100%",borderRadius:1,m:{xs:1.5,sm:2,md:3},mr:{xs:.75,sm:1,md:1.5},overflow:"hidden",display:_?"none":"block"},children:!_&&t.jsxs(T.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:c.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute",top:0,left:0},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[t.jsx(V,{}),t.jsx(M.Bounds,{fit:!0,observe:!0,margin:1,maxDuration:1,children:t.jsx(y,{connectedMotionGroup:s,postModelRender:J})})]})}),t.jsxs(v,{sx:{flex:"1",display:"flex",flexDirection:"column",justifyContent:"flex-start",width:_?"100%":"50%"},children:[t.jsxs(v,{sx:{p:{xs:1.5,sm:2,md:3},pb:{xs:1,sm:1.5,md:2},textAlign:"left"},children:[t.jsx(X,{variant:"h6",component:"h2",sx:{mb:1},children:e}),t.jsx(L.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:o})]}),t.jsxs(v,{sx:{p:{xs:1.5,sm:2,md:3},pt:0,flex:"1",display:"flex",flexDirection:"column",justifyContent:"space-between"},children:[!F&&a&&t.jsxs(v,{children:[t.jsx(a,{}),t.jsx(Q,{sx:{mt:1,mb:0,borderColor:c.palette.divider,opacity:.5}})]}),t.jsx(v,{sx:{mt:!F&&a?"auto":0},children:t.jsx(v,{sx:{display:"flex",justifyContent:"flex-start",mt:{xs:1,sm:1.5,md:2},mb:{xs:.5,sm:.75,md:1}},children:t.jsx(Y,{ref:m,variant:"contained",color:"secondary",size:"small",disabled:!i,onMouseDown:E,onMouseUp:A,onMouseLeave:B,onTouchStart:E,onTouchEnd:A,sx:{textTransform:"none",px:1.5,py:.5},children:l("RobotCard.DriveToHome.bt")})})})]})]})]}):t.jsx(t.Fragment,{children:t.jsxs(v,{sx:{p:3,height:"100%",display:"flex",flexDirection:"column"},children:[t.jsxs(v,{children:[t.jsx(X,{variant:"h6",component:"h2",sx:{mb:1},children:e}),t.jsx(L.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:o})]}),t.jsx(v,{sx:{flex:_?0:1,position:"relative",minHeight:_?0:{xs:120,sm:150,md:200},height:_?0:"auto",borderRadius:1,overflow:"hidden",display:_?"none":"block"},children:!_&&t.jsxs(T.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:c.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute"},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[t.jsx(V,{}),t.jsx(M.Bounds,{fit:!0,clip:!0,observe:!0,margin:1,maxDuration:1,children:t.jsx(y,{connectedMotionGroup:s,postModelRender:J})})]})}),t.jsxs(v,{children:[!F&&a&&t.jsxs(t.Fragment,{children:[t.jsx(a,{}),t.jsx(Q,{sx:{mt:1,mb:0,borderColor:c.palette.divider,opacity:.5}})]}),t.jsx(v,{sx:{display:"flex",justifyContent:"flex-start",mt:!F&&a?{xs:1,sm:2,md:5}:{xs:.5,sm:1,md:2},mb:{xs:.5,sm:.75,md:1}},children:t.jsx(Y,{ref:m,variant:"contained",color:"secondary",size:"small",disabled:!i,onMouseDown:E,onMouseUp:A,onMouseLeave:B,onTouchStart:E,onTouchEnd:A,sx:{textTransform:"none",px:1.5,py:.5},children:l("RobotCard.DriveToHome.bt")})})]})]})})})})),Fe=Array(6).fill(2*Math.PI);function ce({rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:r,children:o}){const i=d.useRef([]),f=d.useRef([]),u=d.useRef(null),{invalidate:s}=T.useThree();d.useEffect(()=>{const c=e.joint_position.filter(l=>l!==void 0);return u.current=new L.ValueInterpolator(c,{tension:120,friction:20,threshold:.001}),()=>{var l;(l=u.current)==null||l.destroy()}},[]),T.useFrame((c,l)=>{if(u.current){const h=u.current.update(l);a(),h||s()}});function y(c){c&&(f.current=z(c),a(),s())}function a(){var l;const c=((l=u.current)==null?void 0:l.getCurrentValues())||[];if(r)r(f.current,c);else for(const[h,p]of f.current.entries()){const g=n[h].reverse_rotation_direction?-1:1;p.position.y=g*(c[h]||0)/1e3}}const x=d.useCallback(()=>{const c=e.joint_position.filter(l=>l!==void 0);requestAnimationFrame(()=>{var l;i.current=c,(l=u.current)==null||l.setTarget(c)})},[e]);return d.useEffect(()=>{x()},[e,x]),L.useAutorun(()=>{x()}),t.jsx("group",{ref:y,children:o})}function ue({rapidlyChangingMotionState:e,dhParameters:n,...r}){const o=new j.Matrix4,i=d.useRef(null),f=d.useRef(null);function u(a){const x=new j.Matrix4;for(let p=0;p<n.length;p++){const m=n[p],g=a[p]??0,w=new j.Matrix4().makeRotationY(m.theta).multiply(new j.Matrix4().makeTranslation(m.a/1e3,(m.d+g*(m.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new j.Matrix4().makeRotationX(m.alpha));x.multiply(w)}const c=new j.Vector3,l=new j.Quaternion,h=new j.Vector3;return x.decompose(c,l,h),c}const s=u(e.joint_position);function y(a,x){o.identity();let c=new j.Vector3;for(let m=0;m<n.length;m++){const g=x[m]??0,w=n[m],k=new j.Matrix4().makeRotationY(w.theta).multiply(new j.Matrix4().makeTranslation(w.a/1e3,(w.d+g*(w.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new j.Matrix4().makeRotationX(w.alpha));o.multiply(k)}const l=new j.Vector3,h=new j.Quaternion,p=new j.Vector3;if(o.decompose(l,h,p),c=l,i.current&&i.current.position.set(c.x,c.y,c.z),f.current){const m=f.current.geometry;m!=null&&m.setPositions&&m.setPositions([0,0,0,c.x,c.y,c.z])}}return t.jsx(ce,{rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:y,children:t.jsxs("group",{...r,name:"Scene",children:[t.jsxs("mesh",{name:"Base",position:[0,0,0],children:[t.jsx("sphereGeometry",{args:[.02,32,32]}),t.jsx("meshStandardMaterial",{color:"green",depthTest:!0})]}),t.jsx(M.Line,{ref:f,points:[new j.Vector3(0,0,0),s],color:"White",lineWidth:5}),t.jsxs("mesh",{ref:i,name:"TCP",position:s,children:[t.jsx("sphereGeometry",{args:[.025,32,32]}),t.jsx("meshStandardMaterial",{color:"red",depthTest:!0})]})]})})}const U=S.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:o=G,flangeRef:i,postModelRender:f,transparentColor:u,instanceUrl:s,...y})=>{const[a,x]=d.useState(null),c=d.useCallback(h=>{x(h)},[]);d.useEffect(()=>{a&&(u?oe(a,u):ie(a))},[a,u]);const l=t.jsx(ue,{rapidlyChangingMotionState:e,dhParameters:r,...y});return t.jsxs(K.ErrorBoundary,{fallback:l,onError:h=>{console.warn(h)},children:[t.jsx(d.Suspense,{fallback:l,children:t.jsx("group",{ref:c,children:t.jsx(ce,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsx(se,{modelURL:(()=>{const h=o(n,s);if(!h){const p=new Blob([],{type:"model/gltf-binary"}),m=new File([p],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(m))}return h})(),postModelRender:f,flangeRef:i,...y})})})}),t.jsx(ne,{})]})});function Ie({connectedMotionGroup:e,getModel:n=G,flangeRef:r,transparentColor:o,postModelRender:i,...f}){if(!e.dhParameters)return null;const u=e.modelFromController||"";return u&&n(u)?t.jsx(U,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:u,dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:i,...f}):t.jsx(ue,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,dhParameters:e.dhParameters,...f})}const D={[R.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[R.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[R.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0]};function le(e){const[n]=e.split("_");switch(n){case"ABB":return R.Manufacturer.Abb;case"FANUC":return R.Manufacturer.Fanuc;case"YASKAWA":return R.Manufacturer.Yaskawa;case"KUKA":return R.Manufacturer.Kuka;case"UniversalRobots":return R.Manufacturer.Universalrobots;default:return null}}function Pe(e,n){const r=le(e);return r&&r in D?D[r]:n||null}const Oe=S.externalizeComponent(e=>{const{inverseSolver:n,dhParameters:r,...o}=e,[i,f]=d.useState(R.JointTypeEnum.RevoluteJoint);d.useEffect(()=>{r.length&&f(r[0].type??R.JointTypeEnum.RevoluteJoint)},[r]);const u=d.useMemo(()=>n===null&&i===R.JointTypeEnum.RevoluteJoint,[n,i]),s=d.useMemo(()=>n===null&&i===R.JointTypeEnum.PrismaticJoint,[n,i]);return d.useMemo(()=>!!n,[n])||u?t.jsx(q,{dhParameters:r,...o}):s?t.jsx(U,{dhParameters:r,...o}):null});exports.CollisionSceneRenderer=we;exports.LinearAxis=Ie;exports.MANUFACTURER_HOME_CONFIGS=D;exports.MotionGroupVisualizer=Oe;exports.PresetEnvironment=V;exports.Robot=ae;exports.RobotCard=Ae;exports.SafetyZonesRenderer=ve;exports.SupportedLinearAxis=U;exports.SupportedRobot=q;exports.TrajectoryRenderer=_e;exports.defaultAxisConfig=Fe;exports.defaultGetModel=G;exports.extractManufacturer=le;exports.getDefaultHomeConfig=Pe;