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

package/dist/components/robots/DHLinearAxis.js

@@ -1,92 +0,0 @@
-import { jsx as r, jsxs as h } from "react/jsx-runtime";
-import { Line as _ } from "@react-three/drei";
-import { useRef as T } from "react";
-import { Matrix4 as n, Vector3 as s, Quaternion as j } from "three";
-import L from "./LinearAxisAnimator.js";
-function P({
-  rapidlyChangingMotionState: w,
-  dhParameters: a,
-  ...R
-}) {
-  const m = new n(), p = T(null), u = T(null);
-  function g(y) {
-    const c = new n();
-    for (let i = 0; i < a.length; i++) {
-      const t = a[i], d = y[i] ?? 0, o = new n().makeRotationY(t.theta).multiply(
-        new n().makeTranslation(
-          t.a / 1e3,
-          (t.d + d * (t.reverse_rotation_direction ? -1 : 1)) / 1e3,
-          0
-        )
-      ).multiply(new n().makeRotationX(t.alpha));
-      c.multiply(o);
-    }
-    const e = new s(), l = new j(), f = new s();
-    return c.decompose(e, l, f), e;
-  }
-  const x = g(
-    w.joint_position
-  );
-  function k(y, c) {
-    m.identity();
-    let e = new s();
-    for (let t = 0; t < a.length; t++) {
-      const d = c[t] ?? 0, o = a[t], M = new n().makeRotationY(o.theta).multiply(
-        new n().makeTranslation(
-          o.a / 1e3,
-          (o.d + d * (o.reverse_rotation_direction ? -1 : 1)) / 1e3,
-          0
-        )
-      ).multiply(new n().makeRotationX(o.alpha));
-      m.multiply(M);
-    }
-    const l = new s(), f = new j(), i = new s();
-    if (m.decompose(l, f, i), e = l, p.current && p.current.position.set(
-      e.x,
-      e.y,
-      e.z
-    ), u.current) {
-      const t = u.current.geometry;
-      t != null && t.setPositions && t.setPositions([
-        0,
-        0,
-        0,
-        e.x,
-        e.y,
-        e.z
-      ]);
-    }
-  }
-  return /* @__PURE__ */ r(
-    L,
-    {
-      rapidlyChangingMotionState: w,
-      dhParameters: a,
-      onTranslationChanged: k,
-      children: /* @__PURE__ */ h("group", { ...R, name: "Scene", children: [
-        /* @__PURE__ */ h("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: u,
-            points: [new s(0, 0, 0), x],
-            color: "White",
-            lineWidth: 5
-          }
-        ),
-        /* @__PURE__ */ h("mesh", { ref: p, name: "TCP", position: x, children: [
-          /* @__PURE__ */ r("sphereGeometry", { args: [0.025, 32, 32] }),
-          /* @__PURE__ */ r("meshStandardMaterial", { color: "red", depthTest: !0 })
-        ] })
-      ] })
-    }
-  );
-}
-export {
-  P as DHLinearAxis,
-  P as default
-};
-//# sourceMappingURL=DHLinearAxis.js.map

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

@@ -1 +0,0 @@
-{"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;"}

package/dist/components/robots/DHRobot.cjs

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

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

@@ -1 +0,0 @@
-{"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] ?? 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":"uPAYMA,EAAa,OACbC,EAAa,OAEZ,SAASC,EAAQ,CACtB,2BAAAC,EACA,aAAAC,EACA,GAAGC,CACL,EAAiB,CAEf,MAAMC,EAAoB,IAAIC,UAGxBC,EAAWC,EAAAA,OAAc,EAAE,EAC3BC,EAAWD,EAAAA,OAA8B,EAAE,EAGjDE,EAAM,UAAU,IAAM,CACpBH,EAAS,QAAU,IAAI,MAAMJ,EAAa,MAAM,EAAE,KAAK,IAAI,EAC3DM,EAAS,QAAU,IAAI,MAAMN,EAAa,MAAM,EAAE,KAAK,IAAI,CAC7D,EAAG,CAACA,EAAa,MAAM,CAAC,EAIxB,SAASQ,EACPC,EACAC,EAIA,CACA,MAAMC,EAAW,IAAIC,UACfC,EAAa,IAAIC,aACjBC,EAAQ,IAAIH,UAClBV,EAAkB,UAAUS,EAAUE,EAAYE,CAAK,EACvD,MAAMC,EAAeL,EAAS,MAAA,EAExBM,EAAS,IAAId,EAAAA,QAAA,EAChB,cACCM,EAAY,MACVC,GAAiBD,EAAY,2BAA6B,GAAK,EAAA,EAElE,SAAS,IAAIN,EAAAA,UAAU,gBAAgB,EAAGM,EAAY,EAAK,IAAM,CAAC,CAAC,EACnE,SAAS,IAAIN,EAAAA,QAAA,EAAU,gBAAgBM,EAAY,EAAK,IAAM,EAAG,CAAC,CAAC,EACnE,SAAS,IAAIN,EAAAA,QAAA,EAAU,cAAcM,EAAY,KAAM,CAAC,EAG3D,OAAAP,EAAkB,SAASe,CAAM,EACjCf,EAAkB,UAAUS,EAAUE,EAAYE,CAAK,EAChD,CAAE,EAAGC,EAAc,EAAGL,CAAA,CAC/B,CAEA,SAASO,EACPC,EACAC,EACAC,EACAC,EACA,CACA,GAAI,CAACtB,EACH,OAGF,MAAMuB,EAAevB,EAAamB,CAAU,EAC5C,GAAI,CAACI,EACH,OAGF,KAAM,CAAE,EAAAC,EAAG,EAAAC,CAAA,EAAMjB,EAAce,EAAcD,CAAU,EAClCF,EAAK,SACb,aAAa,CAACI,EAAE,QAAA,EAAWC,EAAE,QAAA,CAAS,EAAE,MAAM,EAE3DJ,EAAK,SAAS,IAAII,EAAE,EAAGA,EAAE,EAAGA,EAAE,CAAC,CACjC,CAEA,SAASC,EAAYC,EAA0BC,EAAuB,CACpE1B,EAAkB,SAAA,EAGlB,QACMiB,EAAa,EACjBA,EAAa,KAAK,IAAIQ,EAAO,OAAQC,EAAY,MAAM,EACvDT,IACA,CACA,MAAMC,EAAOhB,EAAS,QAAQe,CAAU,EAClCE,EAAOf,EAAS,QAAQa,CAAU,EAEpCC,GAAQC,GACVH,EAAqBC,EAAYC,EAAMC,EAAMO,EAAYT,CAAU,CAAE,CAEzE,CACF,CAEA,OACEU,EAAAA,IAACC,EAAAA,QAAA,CACC,2BAAA/B,EACA,aAAAC,EACA,kBAAmB0B,EAEnB,SAAAK,EAAAA,KAAC,QAAA,CAAO,GAAG9B,EAAO,KAAK,QACrB,SAAA,CAAA8B,OAAC,OAAA,CACC,SAAA,CAAAF,EAAAA,IAAC,kBAAe,KAAM,CAAC,IAAM,GAAI,EAAE,EAAG,EACtCA,EAAAA,IAAC,uBAAA,CAAqB,MAAO,QAAS,UAAW,EAAA,CAAM,CAAA,EACzD,EACC7B,GAAA,YAAAA,EAAc,IAAI,CAACgC,EAAOC,IAAU,CACnC,KAAM,CAAE,EAAAT,EAAG,EAAAC,CAAA,EAAMjB,EACfwB,EACAjC,EAA2B,eAAekC,CAAK,GAAK,CAAA,EAEhDC,EAAY,aAAaD,CAAK,GACpC,OACEF,EAAAA,KAAC,QAAA,CAAM,KAAMG,EACX,SAAA,CAAAL,EAAAA,IAACM,EAAAA,KAAA,CACC,IAAMC,GAAQ,CACZhC,EAAS,QAAQ6B,CAAK,EAAIG,CAC5B,EACA,KAAMxC,EACN,OAAQ,CAAC4B,EAAGC,CAAC,EACb,MAAO,QACP,UAAW,CAAA,CAAA,EAEbM,EAAAA,KAAC,OAAA,CACC,IAAMK,GAAQ,CACZ9B,EAAS,QAAQ2B,CAAK,EAAIG,CAC5B,EACA,KAAMvC,EAGN,SAAU4B,EAEV,SAAA,CAAAI,EAAAA,IAAC,kBAAe,KAAM,CAAC,IAAM,GAAI,EAAE,EAAG,EACtCA,EAAAA,IAAC,uBAAA,CAAqB,MAAO,QAAS,UAAW,EAAA,CAAM,CAAA,CAAA,EAJlD,QAAQI,CAAK,EAAA,CAKpB,CAAA,EArB2BC,CAsB7B,CAEJ,EAAC,CAAA,CACH,CAAA,CAAA,CAGN"}

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

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package/dist/components/robots/DHRobot.js

@@ -1,94 +0,0 @@
-import { jsx as s, jsxs as a } from "react/jsx-runtime";
-import { Line as k } from "@react-three/drei";
-import L, { useRef as w } from "react";
-import { Matrix4 as u, Vector3 as R, Quaternion as d } from "three";
-import A from "./RobotAnimator.js";
-const M = "line", j = "mesh";
-function E({
-  rapidlyChangingMotionState: h,
-  dhParameters: r,
-  ...g
-}) {
-  const m = new u(), p = w([]), f = w([]);
-  L.useEffect(() => {
-    p.current = new Array(r.length).fill(null), f.current = new Array(r.length).fill(null);
-  }, [r.length]);
-  function y(o, n) {
-    const t = new R(), i = new d(), e = new R();
-    m.decompose(t, i, e);
-    const c = t.clone(), l = new u().makeRotationY(
-      o.theta + n * (o.reverse_rotation_direction ? -1 : 1)
-    ).multiply(new u().makeTranslation(0, o.d / 1e3, 0)).multiply(new u().makeTranslation(o.a / 1e3, 0, 0)).multiply(new u().makeRotationX(o.alpha));
-    return m.multiply(l), m.decompose(t, i, e), { a: c, b: t };
-  }
-  function _(o, n, t, i) {
-    if (!r)
-      return;
-    const e = r[o];
-    if (!e)
-      return;
-    const { a: c, b: l } = y(e, i);
-    n.geometry.setPositions([c.toArray(), l.toArray()].flat()), t.position.set(l.x, l.y, l.z);
-  }
-  function b(o, n) {
-    m.identity();
-    for (let t = 0; t < Math.min(o.length, n.length); t++) {
-      const i = p.current[t], e = f.current[t];
-      i && e && _(t, i, e, n[t]);
-    }
-  }
-  return /* @__PURE__ */ s(
-    A,
-    {
-      rapidlyChangingMotionState: h,
-      dhParameters: r,
-      onRotationChanged: b,
-      children: /* @__PURE__ */ a("group", { ...g, name: "Scene", children: [
-        /* @__PURE__ */ a("mesh", { children: [
-          /* @__PURE__ */ s("sphereGeometry", { args: [0.01, 32, 32] }),
-          /* @__PURE__ */ s("meshStandardMaterial", { color: "black", depthTest: !0 })
-        ] }),
-        r == null ? void 0 : r.map((o, n) => {
-          const { a: t, b: i } = y(
-            o,
-            h.joint_position[n] ?? 0
-          ), e = `dhrobot_J0${n}`;
-          return /* @__PURE__ */ a("group", { name: e, children: [
-            /* @__PURE__ */ s(
-              k,
-              {
-                ref: (c) => {
-                  p.current[n] = c;
-                },
-                name: M,
-                points: [t, i],
-                color: "white",
-                lineWidth: 5
-              }
-            ),
-            /* @__PURE__ */ a(
-              "mesh",
-              {
-                ref: (c) => {
-                  f.current[n] = c;
-                },
-                name: j,
-                position: i,
-                children: [
-                  /* @__PURE__ */ s("sphereGeometry", { args: [0.01, 32, 32] }),
-                  /* @__PURE__ */ s("meshStandardMaterial", { color: "black", depthTest: !0 })
-                ]
-              },
-              `mesh_${n}`
-            )
-          ] }, e);
-        })
-      ] })
-    }
-  );
-}
-export {
-  E as DHRobot,
-  E as default
-};
-//# sourceMappingURL=DHRobot.js.map

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

@@ -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] ?? 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package/dist/components/robots/GenericRobot.cjs

@@ -1,2 +0,0 @@
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-//# sourceMappingURL=GenericRobot.cjs.map

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

@@ -1 +0,0 @@
-{"version":3,"file":"GenericRobot.cjs","sources":["../../../src/components/robots/GenericRobot.tsx"],"sourcesContent":["import { useGLTF } from \"@react-three/drei\"\nimport type { ThreeElements } from \"@react-three/fiber\"\nimport type React from \"react\"\nimport { useCallback, useEffect, useState } from \"react\"\nimport type { Group, Mesh, Object3D } from \"three\"\nimport { isFlange, parseRobotModel } from \"./robotModelLogic\"\n\nexport type RobotModelProps = {\n  modelURL: string | Promise<string>\n  /**\n   * Called after a robot model has been loaded and\n   * rendered into the threejs scene\n   */\n  postModelRender?: () => void\n  flangeRef?: React.Ref<Group>\n} & ThreeElements[\"group\"]\n\nfunction isMesh(node: Object3D): node is Mesh {\n  return node.type === \"Mesh\"\n}\n\n// Separate component that only renders when we have a valid URL\nfunction LoadedRobotModel({\n  url,\n  flangeRef,\n  postModelRender,\n  ...props\n}: {\n  url: string\n  flangeRef?: React.Ref<Group>\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]) {\n  const gltfResult = useGLTF(url)\n  const parsed = parseRobotModel(gltfResult, \"robot.glb\")\n  const gltf = parsed.gltf\n\n  const groupRef: React.RefCallback<Group> = useCallback(\n    (group) => {\n      if (group && postModelRender) {\n        postModelRender()\n      }\n    },\n    [postModelRender],\n  )\n\n  function renderNode(node: Object3D): React.ReactNode {\n    try {\n      if (isMesh(node)) {\n        // Defensive: only render mesh if geometry exists\n        if ((node as Mesh).geometry) {\n          return (\n            <mesh\n              name={node.name}\n              key={node.uuid}\n              geometry={(node as Mesh).geometry}\n              material={(node as Mesh).material}\n              position={node.position}\n              rotation={node.rotation}\n            />\n          )\n        }\n        // Fallback to empty group if geometry is missing\n        return (\n          <group\n            name={node.name}\n            key={node.uuid}\n            position={node.position}\n            rotation={node.rotation}\n          />\n        )\n      } else {\n        return (\n          <group\n            name={node.name}\n            key={node.uuid}\n            position={node.position}\n            rotation={node.rotation}\n            ref={isFlange(node) ? flangeRef : undefined}\n          >\n            {node.children.map(renderNode)}\n          </group>\n        )\n      }\n    } catch (e) {\n      console.warn(\"Error rendering node\", node.name, e)\n      return null\n    }\n  }\n\n  return (\n    <group {...props} dispose={null} ref={groupRef}>\n      {renderNode(gltf.scene)}\n    </group>\n  )\n}\n\nexport function GenericRobot({\n  modelURL,\n  flangeRef,\n  postModelRender,\n  ...props\n}: RobotModelProps) {\n  const [resolvedURL, setResolvedURL] = useState<string | null>(null)\n\n  useEffect(() => {\n    const resolveURL = async () => {\n      try {\n        if (typeof modelURL === \"string\") {\n          setResolvedURL(modelURL)\n        } else {\n          const url = await modelURL\n          setResolvedURL(url)\n        }\n      } catch (error) {\n        console.error(\"Failed to resolve model URL:\", error)\n      }\n    }\n\n    resolveURL()\n  }, [modelURL])\n\n  // Don't render until we have a resolved URL\n  if (!resolvedURL) {\n    return null // Loading state\n  }\n\n  return (\n    <LoadedRobotModel\n      url={resolvedURL}\n      flangeRef={flangeRef}\n      postModelRender={postModelRender}\n      {...props}\n    />\n  )\n}\n\nexport default GenericRobot\n"],"names":["isMesh","node","LoadedRobotModel","url","flangeRef","postModelRender","props","gltfResult","useGLTF","gltf","parseRobotModel","groupRef","useCallback","group","renderNode","jsx","isFlange","e","GenericRobot","modelURL","resolvedURL","setResolvedURL","useState","useEffect","error"],"mappings":"sOAiBA,SAASA,EAAOC,EAA8B,CAC5C,OAAOA,EAAK,OAAS,MACvB,CAGA,SAASC,EAAiB,CACxB,IAAAC,EACA,UAAAC,EACA,gBAAAC,EACA,GAAGC,CACL,EAI4B,CAC1B,MAAMC,EAAaC,EAAAA,QAAQL,CAAG,EAExBM,EADSC,EAAAA,gBAAgBH,EAAY,WAAW,EAClC,KAEdI,EAAqCC,EAAAA,YACxCC,GAAU,CACLA,GAASR,GACXA,EAAA,CAEJ,EACA,CAACA,CAAe,CAAA,EAGlB,SAASS,EAAWb,EAAiC,CACnD,GAAI,CACF,OAAID,EAAOC,CAAI,EAERA,EAAc,SAEfc,EAAAA,IAAC,OAAA,CACC,KAAMd,EAAK,KAEX,SAAWA,EAAc,SACzB,SAAWA,EAAc,SACzB,SAAUA,EAAK,SACf,SAAUA,EAAK,QAAA,EAJVA,EAAK,IAAA,EAUdc,EAAAA,IAAC,QAAA,CACC,KAAMd,EAAK,KAEX,SAAUA,EAAK,SACf,SAAUA,EAAK,QAAA,EAFVA,EAAK,IAAA,EAOZc,EAAAA,IAAC,QAAA,CACC,KAAMd,EAAK,KAEX,SAAUA,EAAK,SACf,SAAUA,EAAK,SACf,IAAKe,EAAAA,SAASf,CAAI,EAAIG,EAAY,OAEjC,SAAAH,EAAK,SAAS,IAAIa,CAAU,CAAA,EALxBb,EAAK,IAAA,CASlB,OAASgB,EAAG,CACV,eAAQ,KAAK,uBAAwBhB,EAAK,KAAMgB,CAAC,EAC1C,IACT,CACF,CAEA,OACEF,EAAAA,IAAC,QAAA,CAAO,GAAGT,EAAO,QAAS,KAAM,IAAKK,EACnC,SAAAG,EAAWL,EAAK,KAAK,CAAA,CACxB,CAEJ,CAEO,SAASS,EAAa,CAC3B,SAAAC,EACA,UAAAf,EACA,gBAAAC,EACA,GAAGC,CACL,EAAoB,CAClB,KAAM,CAACc,EAAaC,CAAc,EAAIC,EAAAA,SAAwB,IAAI,EAoBlE,OAlBAC,EAAAA,UAAU,IAAM,EACK,SAAY,CAC7B,GAAI,CACF,GAAI,OAAOJ,GAAa,SACtBE,EAAeF,CAAQ,MAClB,CACL,MAAMhB,EAAM,MAAMgB,EAClBE,EAAelB,CAAG,CACpB,CACF,OAASqB,EAAO,CACd,QAAQ,MAAM,+BAAgCA,CAAK,CACrD,CACF,GAEA,CACF,EAAG,CAACL,CAAQ,CAAC,EAGRC,EAKHL,EAAAA,IAACb,EAAA,CACC,IAAKkB,EACL,UAAAhB,EACA,gBAAAC,EACC,GAAGC,CAAA,CAAA,EARC,IAWX"}

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

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package/dist/components/robots/GenericRobot.js

@@ -1,91 +0,0 @@
-import { jsx as i } from "react/jsx-runtime";
-import { useGLTF as m } from "@react-three/drei";
-import { useState as p, useEffect as g, useCallback as h } from "react";
-import { parseRobotModel as y, isFlange as b } from "./robotModelLogic.js";
-function v(t) {
-  return t.type === "Mesh";
-}
-function R({
-  url: t,
-  flangeRef: s,
-  postModelRender: e,
-  ...a
-}) {
-  const n = m(t), l = y(n, "robot.glb").gltf, o = h(
-    (r) => {
-      r && e && e();
-    },
-    [e]
-  );
-  function c(r) {
-    try {
-      return v(r) ? r.geometry ? /* @__PURE__ */ i(
-        "mesh",
-        {
-          name: r.name,
-          geometry: r.geometry,
-          material: r.material,
-          position: r.position,
-          rotation: r.rotation
-        },
-        r.uuid
-      ) : /* @__PURE__ */ i(
-        "group",
-        {
-          name: r.name,
-          position: r.position,
-          rotation: r.rotation
-        },
-        r.uuid
-      ) : /* @__PURE__ */ i(
-        "group",
-        {
-          name: r.name,
-          position: r.position,
-          rotation: r.rotation,
-          ref: b(r) ? s : void 0,
-          children: r.children.map(c)
-        },
-        r.uuid
-      );
-    } catch (f) {
-      return console.warn("Error rendering node", r.name, f), null;
-    }
-  }
-  return /* @__PURE__ */ i("group", { ...a, dispose: null, ref: o, children: c(l.scene) });
-}
-function E({
-  modelURL: t,
-  flangeRef: s,
-  postModelRender: e,
-  ...a
-}) {
-  const [n, u] = p(null);
-  return g(() => {
-    (async () => {
-      try {
-        if (typeof t == "string")
-          u(t);
-        else {
-          const o = await t;
-          u(o);
-        }
-      } catch (o) {
-        console.error("Failed to resolve model URL:", o);
-      }
-    })();
-  }, [t]), n ? /* @__PURE__ */ i(
-    R,
-    {
-      url: n,
-      flangeRef: s,
-      postModelRender: e,
-      ...a
-    }
-  ) : null;
-}
-export {
-  E as GenericRobot,
-  E as default
-};
-//# sourceMappingURL=GenericRobot.js.map

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

@@ -1 +0,0 @@
-{"version":3,"file":"GenericRobot.js","sources":["../../../src/components/robots/GenericRobot.tsx"],"sourcesContent":["import { useGLTF } from \"@react-three/drei\"\nimport type { ThreeElements } from \"@react-three/fiber\"\nimport type React from \"react\"\nimport { useCallback, useEffect, useState } from \"react\"\nimport type { Group, Mesh, Object3D } from \"three\"\nimport { isFlange, parseRobotModel } from \"./robotModelLogic\"\n\nexport type RobotModelProps = {\n  modelURL: string | Promise<string>\n  /**\n   * Called after a robot model has been loaded and\n   * rendered into the threejs scene\n   */\n  postModelRender?: () => void\n  flangeRef?: React.Ref<Group>\n} & ThreeElements[\"group\"]\n\nfunction isMesh(node: Object3D): node is Mesh {\n  return node.type === \"Mesh\"\n}\n\n// Separate component that only renders when we have a valid URL\nfunction LoadedRobotModel({\n  url,\n  flangeRef,\n  postModelRender,\n  ...props\n}: {\n  url: string\n  flangeRef?: React.Ref<Group>\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]) {\n  const gltfResult = useGLTF(url)\n  const parsed = parseRobotModel(gltfResult, \"robot.glb\")\n  const gltf = parsed.gltf\n\n  const groupRef: React.RefCallback<Group> = useCallback(\n    (group) => {\n      if (group && postModelRender) {\n        postModelRender()\n      }\n    },\n    [postModelRender],\n  )\n\n  function renderNode(node: Object3D): React.ReactNode {\n    try {\n      if (isMesh(node)) {\n        // Defensive: only render mesh if geometry exists\n        if ((node as Mesh).geometry) {\n          return (\n            <mesh\n              name={node.name}\n              key={node.uuid}\n              geometry={(node as Mesh).geometry}\n              material={(node as Mesh).material}\n              position={node.position}\n              rotation={node.rotation}\n            />\n          )\n        }\n        // Fallback to empty group if geometry is missing\n        return (\n          <group\n            name={node.name}\n            key={node.uuid}\n            position={node.position}\n            rotation={node.rotation}\n          />\n        )\n      } else {\n        return (\n          <group\n            name={node.name}\n            key={node.uuid}\n            position={node.position}\n            rotation={node.rotation}\n            ref={isFlange(node) ? flangeRef : undefined}\n          >\n            {node.children.map(renderNode)}\n          </group>\n        )\n      }\n    } catch (e) {\n      console.warn(\"Error rendering node\", node.name, e)\n      return null\n    }\n  }\n\n  return (\n    <group {...props} dispose={null} ref={groupRef}>\n      {renderNode(gltf.scene)}\n    </group>\n  )\n}\n\nexport function GenericRobot({\n  modelURL,\n  flangeRef,\n  postModelRender,\n  ...props\n}: RobotModelProps) {\n  const [resolvedURL, setResolvedURL] = useState<string | null>(null)\n\n  useEffect(() => {\n    const resolveURL = async () => {\n      try {\n        if (typeof modelURL === \"string\") {\n          setResolvedURL(modelURL)\n        } else {\n          const url = await modelURL\n          setResolvedURL(url)\n        }\n      } catch (error) {\n        console.error(\"Failed to resolve model URL:\", error)\n      }\n    }\n\n    resolveURL()\n  }, [modelURL])\n\n  // Don't render until we have a resolved URL\n  if (!resolvedURL) {\n    return null // Loading state\n  }\n\n  return (\n    <LoadedRobotModel\n      url={resolvedURL}\n      flangeRef={flangeRef}\n      postModelRender={postModelRender}\n      {...props}\n    />\n  )\n}\n\nexport default GenericRobot\n"],"names":["isMesh","node","LoadedRobotModel","url","flangeRef","postModelRender","props","gltfResult","useGLTF","gltf","parseRobotModel","groupRef","useCallback","group","renderNode","jsx","isFlange","e","GenericRobot","modelURL","resolvedURL","setResolvedURL","useState","useEffect","error"],"mappings":";;;;AAiBA,SAASA,EAAOC,GAA8B;AAC5C,SAAOA,EAAK,SAAS;AACvB;AAGA,SAASC,EAAiB;AAAA,EACxB,KAAAC;AAAA,EACA,WAAAC;AAAA,EACA,iBAAAC;AAAA,EACA,GAAGC;AACL,GAI4B;AAC1B,QAAMC,IAAaC,EAAQL,CAAG,GAExBM,IADSC,EAAgBH,GAAY,WAAW,EAClC,MAEdI,IAAqCC;AAAA,IACzC,CAACC,MAAU;AACT,MAAIA,KAASR,KACXA,EAAA;AAAA,IAEJ;AAAA,IACA,CAACA,CAAe;AAAA,EAAA;AAGlB,WAASS,EAAWb,GAAiC;AACnD,QAAI;AACF,aAAID,EAAOC,CAAI,IAERA,EAAc,WAEf,gBAAAc;AAAA,QAAC;AAAA,QAAA;AAAA,UACC,MAAMd,EAAK;AAAA,UAEX,UAAWA,EAAc;AAAA,UACzB,UAAWA,EAAc;AAAA,UACzB,UAAUA,EAAK;AAAA,UACf,UAAUA,EAAK;AAAA,QAAA;AAAA,QAJVA,EAAK;AAAA,MAAA,IAUd,gBAAAc;AAAA,QAAC;AAAA,QAAA;AAAA,UACC,MAAMd,EAAK;AAAA,UAEX,UAAUA,EAAK;AAAA,UACf,UAAUA,EAAK;AAAA,QAAA;AAAA,QAFVA,EAAK;AAAA,MAAA,IAOZ,gBAAAc;AAAA,QAAC;AAAA,QAAA;AAAA,UACC,MAAMd,EAAK;AAAA,UAEX,UAAUA,EAAK;AAAA,UACf,UAAUA,EAAK;AAAA,UACf,KAAKe,EAASf,CAAI,IAAIG,IAAY;AAAA,UAEjC,UAAAH,EAAK,SAAS,IAAIa,CAAU;AAAA,QAAA;AAAA,QALxBb,EAAK;AAAA,MAAA;AAAA,IASlB,SAASgB,GAAG;AACV,qBAAQ,KAAK,wBAAwBhB,EAAK,MAAMgB,CAAC,GAC1C;AAAA,IACT;AAAA,EACF;AAEA,SACE,gBAAAF,EAAC,SAAA,EAAO,GAAGT,GAAO,SAAS,MAAM,KAAKK,GACnC,UAAAG,EAAWL,EAAK,KAAK,EAAA,CACxB;AAEJ;AAEO,SAASS,EAAa;AAAA,EAC3B,UAAAC;AAAA,EACA,WAAAf;AAAA,EACA,iBAAAC;AAAA,EACA,GAAGC;AACL,GAAoB;AAClB,QAAM,CAACc,GAAaC,CAAc,IAAIC,EAAwB,IAAI;AAoBlE,SAlBAC,EAAU,MAAM;AAcd,KAbmB,YAAY;AAC7B,UAAI;AACF,YAAI,OAAOJ,KAAa;AACtB,UAAAE,EAAeF,CAAQ;AAAA,aAClB;AACL,gBAAMhB,IAAM,MAAMgB;AAClB,UAAAE,EAAelB,CAAG;AAAA,QACpB;AAAA,MACF,SAASqB,GAAO;AACd,gBAAQ,MAAM,gCAAgCA,CAAK;AAAA,MACrD;AAAA,IACF,GAEA;AAAA,EACF,GAAG,CAACL,CAAQ,CAAC,GAGRC,IAKH,gBAAAL;AAAA,IAACb;AAAA,IAAA;AAAA,MACC,KAAKkB;AAAA,MACL,WAAAhB;AAAA,MACA,iBAAAC;AAAA,MACC,GAAGC;AAAA,IAAA;AAAA,EAAA,IARC;AAWX;"}

package/dist/components/robots/LinearAxis.cjs

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

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

@@ -1 +0,0 @@
-{"version":3,"file":"LinearAxis.cjs","sources":["../../../src/components/robots/LinearAxis.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\n\nimport type { Group } from \"three\"\nimport type { ConnectedMotionGroup } from \"../../lib/ConnectedMotionGroup\"\nimport { DHLinearAxis } from \"./DHLinearAxis\"\nimport { defaultGetModel } from \"./robotModelLogic\"\nimport { SupportedLinearAxis } from \"./SupportedLinearAxis\"\n\nexport type LinearAxisProps = {\n  connectedMotionGroup: ConnectedMotionGroup\n  getModel?: (modelFromController: string) => Promise<string>\n  flangeRef?: React.Ref<Group>\n  transparentColor?: string\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]\n\n/**\n * The LinearAxis component is a wrapper that renders SupportedLinearAxis if a model is available,\n * otherwise falls back to DHLinearAxis for usage with @wandelbots/nova-js ConnectedMotionGroup object.\n *\n * @param {LinearAxisProps} props - The properties for the LinearAxis component.\n * @param {ConnectedMotionGroup} props.connectedMotionGroup - The connected motion group containing motion state and parameters.\n * @param {Function} [props.getModel=defaultGetModel] - Optional function to get the model URL. Defaults to defaultGetModel.\n * @param {Object} props - Additional properties passed to the underlying component.\n *\n * @returns {JSX.Element} The rendered SupportedLinearAxis or DHLinearAxis component.\n */\nexport function LinearAxis({\n  connectedMotionGroup,\n  getModel = defaultGetModel,\n  flangeRef,\n  transparentColor,\n  postModelRender,\n  ...props\n}: LinearAxisProps) {\n  if (!connectedMotionGroup.dhParameters) {\n    return null\n  }\n\n  const modelFromController = connectedMotionGroup.modelFromController || \"\"\n  const hasModel = modelFromController && getModel(modelFromController)\n\n  // Use SupportedLinearAxis if model is available, otherwise fall back to DHLinearAxis\n  if (hasModel) {\n    return (\n      <SupportedLinearAxis\n        rapidlyChangingMotionState={\n          connectedMotionGroup.rapidlyChangingMotionState\n        }\n        modelFromController={modelFromController}\n        dhParameters={connectedMotionGroup.dhParameters}\n        getModel={getModel}\n        flangeRef={flangeRef}\n        transparentColor={transparentColor}\n        postModelRender={postModelRender}\n        {...props}\n      />\n    )\n  }\n\n  return (\n    <DHLinearAxis\n      rapidlyChangingMotionState={\n        connectedMotionGroup.rapidlyChangingMotionState\n      }\n      dhParameters={connectedMotionGroup.dhParameters}\n      {...props}\n    />\n  )\n}\n\nexport { defaultGetModel }\n\nexport default LinearAxis\n"],"names":["LinearAxis","connectedMotionGroup","getModel","defaultGetModel","flangeRef","transparentColor","postModelRender","props","modelFromController","jsx","SupportedLinearAxis","DHLinearAxis"],"mappings":"2PA2BO,SAASA,EAAW,CACzB,qBAAAC,EACA,SAAAC,EAAWC,EAAAA,gBACX,UAAAC,EACA,iBAAAC,EACA,gBAAAC,EACA,GAAGC,CACL,EAAoB,CAClB,GAAI,CAACN,EAAqB,aACxB,OAAO,KAGT,MAAMO,EAAsBP,EAAqB,qBAAuB,GAIxE,OAHiBO,GAAuBN,EAASM,CAAmB,EAKhEC,EAAAA,IAACC,EAAAA,oBAAA,CACC,2BACET,EAAqB,2BAEvB,oBAAAO,EACA,aAAcP,EAAqB,aACnC,SAAAC,EACA,UAAAE,EACA,iBAAAC,EACA,gBAAAC,EACC,GAAGC,CAAA,CAAA,EAMRE,EAAAA,IAACE,EAAAA,aAAA,CACC,2BACEV,EAAqB,2BAEvB,aAAcA,EAAqB,aAClC,GAAGM,CAAA,CAAA,CAGV"}

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

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package/dist/components/robots/LinearAxis.js

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-import { jsx as i } from "react/jsx-runtime";
-import { DHLinearAxis as d } from "./DHLinearAxis.js";
-import { defaultGetModel as h } from "./robotModelLogic.js";
-import { SupportedLinearAxis as n } from "./SupportedLinearAxis.js";
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-  connectedMotionGroup: r,
-  getModel: t = h,
-  flangeRef: m,
-  transparentColor: l,
-  postModelRender: s,
-  ...e
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-    return null;
-  const a = r.modelFromController || "";
-  return a && t(a) ? /* @__PURE__ */ i(
-    n,
-    {
-      rapidlyChangingMotionState: r.rapidlyChangingMotionState,
-      modelFromController: a,
-      dhParameters: r.dhParameters,
-      getModel: t,
-      flangeRef: m,
-      transparentColor: l,
-      postModelRender: s,
-      ...e
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-  ) : /* @__PURE__ */ i(
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-      rapidlyChangingMotionState: r.rapidlyChangingMotionState,
-      dhParameters: r.dhParameters,
-      ...e
-    }
-  );
-}
-export {
-  P as LinearAxis,
-  P as default,
-  h as defaultGetModel
-};
-//# sourceMappingURL=LinearAxis.js.map

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

@@ -1 +0,0 @@
-{"version":3,"file":"LinearAxis.js","sources":["../../../src/components/robots/LinearAxis.tsx"],"sourcesContent":["import type { ThreeElements } from \"@react-three/fiber\"\n\nimport type { Group } from \"three\"\nimport type { ConnectedMotionGroup } from \"../../lib/ConnectedMotionGroup\"\nimport { DHLinearAxis } from \"./DHLinearAxis\"\nimport { defaultGetModel } from \"./robotModelLogic\"\nimport { SupportedLinearAxis } from \"./SupportedLinearAxis\"\n\nexport type LinearAxisProps = {\n  connectedMotionGroup: ConnectedMotionGroup\n  getModel?: (modelFromController: string) => Promise<string>\n  flangeRef?: React.Ref<Group>\n  transparentColor?: string\n  postModelRender?: () => void\n} & ThreeElements[\"group\"]\n\n/**\n * The LinearAxis component is a wrapper that renders SupportedLinearAxis if a model is available,\n * otherwise falls back to DHLinearAxis for usage with @wandelbots/nova-js ConnectedMotionGroup object.\n *\n * @param {LinearAxisProps} props - The properties for the LinearAxis component.\n * @param {ConnectedMotionGroup} props.connectedMotionGroup - The connected motion group containing motion state and parameters.\n * @param {Function} [props.getModel=defaultGetModel] - Optional function to get the model URL. Defaults to defaultGetModel.\n * @param {Object} props - Additional properties passed to the underlying component.\n *\n * @returns {JSX.Element} The rendered SupportedLinearAxis or DHLinearAxis component.\n */\nexport function LinearAxis({\n  connectedMotionGroup,\n  getModel = defaultGetModel,\n  flangeRef,\n  transparentColor,\n  postModelRender,\n  ...props\n}: LinearAxisProps) {\n  if (!connectedMotionGroup.dhParameters) {\n    return null\n  }\n\n  const modelFromController = connectedMotionGroup.modelFromController || \"\"\n  const hasModel = modelFromController && getModel(modelFromController)\n\n  // Use SupportedLinearAxis if model is available, otherwise fall back to DHLinearAxis\n  if (hasModel) {\n    return (\n      <SupportedLinearAxis\n        rapidlyChangingMotionState={\n          connectedMotionGroup.rapidlyChangingMotionState\n        }\n        modelFromController={modelFromController}\n        dhParameters={connectedMotionGroup.dhParameters}\n        getModel={getModel}\n        flangeRef={flangeRef}\n        transparentColor={transparentColor}\n        postModelRender={postModelRender}\n        {...props}\n      />\n    )\n  }\n\n  return (\n    <DHLinearAxis\n      rapidlyChangingMotionState={\n        connectedMotionGroup.rapidlyChangingMotionState\n      }\n      dhParameters={connectedMotionGroup.dhParameters}\n      {...props}\n    />\n  )\n}\n\nexport { defaultGetModel }\n\nexport default LinearAxis\n"],"names":["LinearAxis","connectedMotionGroup","getModel","defaultGetModel","flangeRef","transparentColor","postModelRender","props","modelFromController","jsx","SupportedLinearAxis","DHLinearAxis"],"mappings":";;;;AA2BO,SAASA,EAAW;AAAA,EACzB,sBAAAC;AAAA,EACA,UAAAC,IAAWC;AAAA,EACX,WAAAC;AAAA,EACA,kBAAAC;AAAA,EACA,iBAAAC;AAAA,EACA,GAAGC;AACL,GAAoB;AAClB,MAAI,CAACN,EAAqB;AACxB,WAAO;AAGT,QAAMO,IAAsBP,EAAqB,uBAAuB;AAIxE,SAHiBO,KAAuBN,EAASM,CAAmB,IAKhE,gBAAAC;AAAA,IAACC;AAAA,IAAA;AAAA,MACC,4BACET,EAAqB;AAAA,MAEvB,qBAAAO;AAAA,MACA,cAAcP,EAAqB;AAAA,MACnC,UAAAC;AAAA,MACA,WAAAE;AAAA,MACA,kBAAAC;AAAA,MACA,iBAAAC;AAAA,MACC,GAAGC;AAAA,IAAA;AAAA,EAAA,IAMR,gBAAAE;AAAA,IAACE;AAAA,IAAA;AAAA,MACC,4BACEV,EAAqB;AAAA,MAEvB,cAAcA,EAAqB;AAAA,MAClC,GAAGM;AAAA,IAAA;AAAA,EAAA;AAGV;"}

package/dist/components/robots/LinearAxisAnimator.cjs

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const R=require("react/jsx-runtime"),f=require("@react-three/fiber"),n=require("react"),v=require("../utils/hooks.cjs"),V=require("../utils/interpolation.cjs"),_=require("./robotModelLogic.cjs");function J({rapidlyChangingMotionState:o,dhParameters:d,onTranslationChanged:c,children:j}){const m=n.useRef([]),i=n.useRef([]),r=n.useRef(null),{invalidate:l}=f.useThree();n.useEffect(()=>{const t=o.joint_position.filter(e=>e!==void 0);return r.current=new V.ValueInterpolator(t,{tension:120,friction:20,threshold:.001}),()=>{var e;(e=r.current)==null||e.destroy()}},[]),f.useFrame((t,e)=>{if(r.current){const s=r.current.update(e);a(),s||l()}});function p(t){t&&(i.current=_.collectJoints(t),a(),l())}function a(){var e;const t=((e=r.current)==null?void 0:e.getCurrentValues())||[];if(c)c(i.current,t);else for(const[s,b]of i.current.entries()){const q=d[s].reverse_rotation_direction?-1:1;b.position.y=q*(t[s]||0)/1e3}}const u=n.useCallback(()=>{const t=o.joint_position.filter(e=>e!==void 0);requestAnimationFrame(()=>{var e;m.current=t,(e=r.current)==null||e.setTarget(t)})},[o]);return n.useEffect(()=>{u()},[o,u]),v.useAutorun(()=>{u()}),R.jsx("group",{ref:p,children:j})}exports.default=J;
-//# sourceMappingURL=LinearAxisAnimator.cjs.map

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

@@ -1 +0,0 @@
-{"version":3,"file":"LinearAxisAnimator.cjs","sources":["../../../src/components/robots/LinearAxisAnimator.tsx"],"sourcesContent":["import { useFrame, useThree } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport { useCallback, useEffect, useRef } from \"react\"\nimport type { Group, Object3D } from \"three\"\nimport { useAutorun } from \"../utils/hooks\"\nimport { ValueInterpolator } from \"../utils/interpolation\"\nimport { collectJoints } from \"./robotModelLogic\"\n\ntype LinearAxisAnimatorProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: DHParameter[]\n  onTranslationChanged?: (joints: Object3D[], jointValues: number[]) => void\n  children: React.ReactNode\n}\n\nexport default function LinearAxisAnimator({\n  rapidlyChangingMotionState,\n  dhParameters,\n  onTranslationChanged,\n  children,\n}: LinearAxisAnimatorProps) {\n  const jointValues = useRef<number[]>([])\n  const jointObjects = useRef<Object3D[]>([])\n  const interpolatorRef = useRef<ValueInterpolator | null>(null)\n  const { invalidate } = useThree()\n\n  // Initialize interpolator\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    interpolatorRef.current = new ValueInterpolator(initialJointValues, {\n      tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion\n      friction: 20, // Controls damping - higher values reduce oscillation and create smoother settling\n      threshold: 0.001,\n    })\n\n    return () => {\n      interpolatorRef.current?.destroy()\n    }\n  }, [])\n\n  // Animation loop that runs at the display's refresh rate\n  useFrame((state, delta) => {\n    if (interpolatorRef.current) {\n      const isComplete = interpolatorRef.current.update(delta)\n      setTranslation()\n\n      // Trigger a re-render only if the animation is still running\n      if (!isComplete) {\n        invalidate()\n      }\n    }\n  })\n\n  function setGroupRef(group: Group | null) {\n    if (!group) return\n\n    jointObjects.current = collectJoints(group)\n\n    // Set initial position\n    setTranslation()\n    invalidate()\n  }\n\n  function setTranslation() {\n    const updatedJointValues = interpolatorRef.current?.getCurrentValues() || []\n\n    if (onTranslationChanged) {\n      onTranslationChanged(jointObjects.current, updatedJointValues)\n    } else {\n      // For linear axes, we apply translation instead of rotation\n      for (const [index, object] of jointObjects.current.entries()) {\n        const dhParam = dhParameters[index]\n        const translationSign = dhParam.reverse_rotation_direction ? 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package/dist/components/robots/LinearAxisAnimator.d.ts.map

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package/dist/components/robots/LinearAxisAnimator.js

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-import { jsx as v } from "react/jsx-runtime";
-import { useThree as x, useFrame as A } from "@react-three/fiber";
-import { useRef as u, useEffect as l, useCallback as _ } from "react";
-import { useAutorun as b } from "../utils/hooks.js";
-import { ValueInterpolator as R } from "../utils/interpolation.js";
-import { collectJoints as w } from "./robotModelLogic.js";
-function G({
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-  dhParameters: m,
-  onTranslationChanged: c,
-  children: p
-}) {
-  const d = u([]), i = u([]), r = u(null), { invalidate: f } = x();
-  l(() => {
-    const e = o.joint_position.filter(
-      (t) => t !== void 0
-    );
-    return r.current = new R(e, {
-      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 t;
-      (t = r.current) == null || t.destroy();
-    };
-  }, []), A((e, t) => {
-    if (r.current) {
-      const n = r.current.update(t);
-      a(), n || f();
-    }
-  });
-  function j(e) {
-    e && (i.current = w(e), a(), f());
-  }
-  function a() {
-    var t;
-    const e = ((t = r.current) == null ? void 0 : t.getCurrentValues()) || [];
-    if (c)
-      c(i.current, e);
-    else
-      for (const [n, V] of i.current.entries()) {
-        const J = m[n].reverse_rotation_direction ? -1 : 1;
-        V.position.y = J * (e[n] || 0) / 1e3;
-      }
-  }
-  const s = _(() => {
-    const e = o.joint_position.filter(
-      (t) => t !== void 0
-    );
-    requestAnimationFrame(() => {
-      var t;
-      d.current = e, (t = r.current) == null || t.setTarget(e);
-    });
-  }, [o]);
-  return l(() => {
-    s();
-  }, [o, s]), b(() => {
-    s();
-  }), /* @__PURE__ */ v("group", { ref: j, children: p });
-}
-export {
-  G as default
-};
-//# sourceMappingURL=LinearAxisAnimator.js.map

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

@@ -1 +0,0 @@
-{"version":3,"file":"LinearAxisAnimator.js","sources":["../../../src/components/robots/LinearAxisAnimator.tsx"],"sourcesContent":["import { useFrame, useThree } from \"@react-three/fiber\"\nimport type { DHParameter, MotionGroupState } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport { useCallback, useEffect, useRef } from \"react\"\nimport type { Group, Object3D } from \"three\"\nimport { useAutorun } from \"../utils/hooks\"\nimport { ValueInterpolator } from \"../utils/interpolation\"\nimport { collectJoints } from \"./robotModelLogic\"\n\ntype LinearAxisAnimatorProps = {\n  rapidlyChangingMotionState: MotionGroupState\n  dhParameters: DHParameter[]\n  onTranslationChanged?: (joints: Object3D[], jointValues: number[]) => void\n  children: React.ReactNode\n}\n\nexport default function LinearAxisAnimator({\n  rapidlyChangingMotionState,\n  dhParameters,\n  onTranslationChanged,\n  children,\n}: LinearAxisAnimatorProps) {\n  const jointValues = useRef<number[]>([])\n  const jointObjects = useRef<Object3D[]>([])\n  const interpolatorRef = useRef<ValueInterpolator | null>(null)\n  const { invalidate } = useThree()\n\n  // Initialize interpolator\n  // biome-ignore lint/correctness/useExhaustiveDependencies: pre-biome code\n  useEffect(() => {\n    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(\n      (item) => item !== undefined,\n    )\n\n    interpolatorRef.current = new ValueInterpolator(initialJointValues, {\n      tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion\n      friction: 20, // Controls damping - higher values reduce oscillation and create smoother settling\n      threshold: 0.001,\n    })\n\n    return () => {\n      interpolatorRef.current?.destroy()\n    }\n  }, [])\n\n  // Animation loop that runs at the display's refresh rate\n  useFrame((state, delta) => {\n    if (interpolatorRef.current) {\n      const isComplete = interpolatorRef.current.update(delta)\n      setTranslation()\n\n      // Trigger a re-render only if the animation is still running\n      if (!isComplete) {\n        invalidate()\n      }\n    }\n  })\n\n  function setGroupRef(group: Group | null) {\n    if (!group) return\n\n    jointObjects.current = collectJoints(group)\n\n    // Set initial position\n    setTranslation()\n    invalidate()\n  }\n\n  function setTranslation() {\n    const updatedJointValues = interpolatorRef.current?.getCurrentValues() || []\n\n    if (onTranslationChanged) {\n      onTranslationChanged(jointObjects.current, updatedJointValues)\n    } else {\n      // For linear axes, we apply translation instead of rotation\n      for (const [index, object] of jointObjects.current.entries()) {\n        const dhParam = dhParameters[index]\n        const translationSign = dhParam.reverse_rotation_direction ? 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package/dist/components/robots/MotionGroupVisualizer.cjs

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const u=require("react/jsx-runtime"),r=require("@wandelbots/nova-js/v2"),o=require("react"),m=require("../../externalizeComponent.cjs"),d=require("./SupportedLinearAxis.cjs"),J=require("./SupportedRobot.cjs"),s=m.externalizeComponent(l=>{const{inverseSolver:e,dhParameters:t,...i}=l,[n,p]=o.useState(r.JointTypeEnum.RevoluteJoint);o.useEffect(()=>{t.length&&p(t[0].type??r.JointTypeEnum.RevoluteJoint)},[t]);const a=o.useMemo(()=>e===null&&n===r.JointTypeEnum.RevoluteJoint,[e,n]),c=o.useMemo(()=>e===null&&n===r.JointTypeEnum.PrismaticJoint,[e,n]);return o.useMemo(()=>!!e,[e])||a?u.jsx(J.SupportedRobot,{dhParameters:t,...i}):c?u.jsx(d.SupportedLinearAxis,{dhParameters:t,...i}):null});exports.MotionGroupVisualizer=s;exports.default=s;
-//# sourceMappingURL=MotionGroupVisualizer.cjs.map

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

@@ -1 +0,0 @@
-{"version":3,"file":"MotionGroupVisualizer.cjs","sources":["../../../src/components/robots/MotionGroupVisualizer.tsx"],"sourcesContent":["import { JointTypeEnum } from \"@wandelbots/nova-js/v2\"\nimport type React from \"react\"\nimport { useEffect, useMemo, useState } from \"react\"\n\nimport { externalizeComponent } from \"../../externalizeComponent\"\nimport {\n  SupportedLinearAxis,\n  type SupportedLinearAxisProps,\n} from \"./SupportedLinearAxis\"\nimport { SupportedRobot, type SupportedRobotProps } from \"./SupportedRobot\"\n\nexport type MotionGroupVisualizerProps = {\n  instanceUrl: string\n  inverseSolver?: string | null\n} & (SupportedRobotProps | SupportedLinearAxisProps)\n\nexport const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps> =\n  externalizeComponent((props: MotionGroupVisualizerProps) => {\n    const { inverseSolver, dhParameters, ...rest } = props\n\n    /**\n     * Joint type to find out - in combination with inverseSolver - whether the\n     * active robot is a turn table\n     */\n    const [jointType, setJointType] = useState<JointTypeEnum>(\n      JointTypeEnum.RevoluteJoint,\n    )\n\n    /**\n     * Sets the joint type according to delivered dh parameter type\n     */\n    useEffect(() => {\n      if (dhParameters.length) {\n        setJointType(dhParameters[0].type ?? JointTypeEnum.RevoluteJoint)\n      }\n    }, [dhParameters])\n\n    /**\n     * The turntable models return inverseSolver = null - however these models\n     * should be rendered with SupportedRobot instead of SupportedLinearAxis\n     */\n    const isTurnTable = useMemo(() => {\n      return inverseSolver === null && jointType === JointTypeEnum.RevoluteJoint\n    }, [inverseSolver, jointType])\n\n    /**\n     * Linear axis check\n     */\n    const isLinearAxis = useMemo(() => {\n      return (\n        inverseSolver === null && jointType === JointTypeEnum.PrismaticJoint\n      )\n    }, [inverseSolver, jointType])\n\n    /**\n     * Robot differentiation for readability reasons\n     */\n    const isRobot = useMemo(() => {\n      return !!inverseSolver\n    }, [inverseSolver])\n\n    if (isRobot || isTurnTable) {\n      return <SupportedRobot dhParameters={dhParameters} {...rest} />\n    }\n\n    if (isLinearAxis) {\n      return <SupportedLinearAxis dhParameters={dhParameters} {...rest} />\n    }\n\n    return null\n  })\n\nexport default MotionGroupVisualizer\n"],"names":["MotionGroupVisualizer","externalizeComponent","props","inverseSolver","dhParameters","rest","jointType","setJointType","useState","JointTypeEnum","useEffect","isTurnTable","useMemo","isLinearAxis","jsx","SupportedRobot","SupportedLinearAxis"],"mappings":"6TAgBaA,EACXC,EAAAA,qBAAsBC,GAAsC,CAC1D,KAAM,CAAE,cAAAC,EAAe,aAAAC,EAAc,GAAGC,GAASH,EAM3C,CAACI,EAAWC,CAAY,EAAIC,EAAAA,SAChCC,gBAAc,aAAA,EAMhBC,EAAAA,UAAU,IAAM,CACVN,EAAa,QACfG,EAAaH,EAAa,CAAC,EAAE,MAAQK,EAAAA,cAAc,aAAa,CAEpE,EAAG,CAACL,CAAY,CAAC,EAMjB,MAAMO,EAAcC,EAAAA,QAAQ,IACnBT,IAAkB,MAAQG,IAAcG,EAAAA,cAAc,cAC5D,CAACN,EAAeG,CAAS,CAAC,EAKvBO,EAAeD,EAAAA,QAAQ,IAEzBT,IAAkB,MAAQG,IAAcG,EAAAA,cAAc,eAEvD,CAACN,EAAeG,CAAS,CAAC,EAS7B,OAJgBM,EAAAA,QAAQ,IACf,CAAC,CAACT,EACR,CAACA,CAAa,CAAC,GAEHQ,EACNG,EAAAA,IAACC,EAAAA,eAAA,CAAe,aAAAX,EAA6B,GAAGC,CAAA,CAAM,EAG3DQ,EACKC,EAAAA,IAACE,EAAAA,oBAAA,CAAoB,aAAAZ,EAA6B,GAAGC,CAAA,CAAM,EAG7D,IACT,CAAC"}

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

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package/dist/components/robots/MotionGroupVisualizer.js

@@ -1,21 +0,0 @@
-import { jsx as s } from "react/jsx-runtime";
-import { JointTypeEnum as r } from "@wandelbots/nova-js/v2";
-import { useState as f, useEffect as a, useMemo as n } from "react";
-import { externalizeComponent as c } from "../../externalizeComponent.js";
-import { SupportedLinearAxis as J } from "./SupportedLinearAxis.js";
-import { SupportedRobot as R } from "./SupportedRobot.js";
-const h = c((u) => {
-  const { inverseSolver: t, dhParameters: o, ...i } = u, [e, m] = f(
-    r.RevoluteJoint
-  );
-  a(() => {
-    o.length && m(o[0].type ?? r.RevoluteJoint);
-  }, [o]);
-  const p = n(() => t === null && e === r.RevoluteJoint, [t, e]), l = n(() => t === null && e === r.PrismaticJoint, [t, e]);
-  return n(() => !!t, [t]) || p ? /* @__PURE__ */ s(R, { dhParameters: o, ...i }) : l ? /* @__PURE__ */ s(J, { dhParameters: o, ...i }) : null;
-});
-export {
-  h as MotionGroupVisualizer,
-  h as default
-};
-//# sourceMappingURL=MotionGroupVisualizer.js.map