@wandelbots/wandelbots-js-react-components 5.5.1 → 5.5.2

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

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

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

package/dist/components/jogging/JoggingToggleButtonGroup.cjs.map

@@ -1 +0,0 @@
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package/dist/components/jogging/JoggingToggleButtonGroup.d.ts.map

@@ -1 +0,0 @@
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package/dist/components/jogging/JoggingToggleButtonGroup.js

@@ -1,29 +0,0 @@
-import { styled as p } from "@mui/material/styles";
-import r from "@mui/material/ToggleButtonGroup";
-const g = p(r)(({ theme: t }) => {
-  var o;
-  return {
-    "&.MuiToggleButtonGroup-root": {
-      background: (o = t.palette.backgroundPaperElevation) == null ? void 0 : o[8],
-      borderRadius: "8px",
-      padding: "4px",
-      gap: "4px",
-      button: {
-        border: "none",
-        borderRadius: "4px",
-        flex: "1 1 0px",
-        minWidth: 0,
-        "&.MuiToggleButtonGroup-firstButton": {
-          borderRadius: "8px 4px 4px 8px"
-        },
-        "&.MuiToggleButtonGroup-lastButton": {
-          borderRadius: "4px 8px 8px 4px"
-        }
-      }
-    }
-  };
-});
-export {
-  g as JoggingToggleButtonGroup
-};
-//# sourceMappingURL=JoggingToggleButtonGroup.js.map

package/dist/components/jogging/JoggingToggleButtonGroup.js.map

@@ -1 +0,0 @@
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package/dist/components/jogging/JoggingVelocitySlider.cjs

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

package/dist/components/jogging/JoggingVelocitySlider.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"JoggingVelocitySlider.cjs","sources":["../../../src/components/jogging/JoggingVelocitySlider.tsx"],"sourcesContent":["import { observer } from \"mobx-react-lite\"\nimport { useTranslation } from \"react-i18next\"\nimport { VelocitySlider, VelocitySliderLabel } from \"../VelocitySlider\"\nimport type { JoggingStore } from \"./JoggingStore\"\n\nexport const JoggingVelocitySlider = observer(\n  ({ store, useDegree }: { store: JoggingStore; useDegree: boolean }) => {\n    const { t } = useTranslation()\n\n    function valueLabelFormat(value: number, useDegree: boolean): string {\n      return useDegree\n        ? `ω = ${t(\"Jogging.Cartesian.Rotation.velocityDegPerSec.lb\", { amount: value })}`\n        : `v = ${t(\"Jogging.Cartesian.Translation.velocityMmPerSec.lb\", { amount: value })}`\n    }\n\n    return (\n      <VelocitySlider\n        store={store}\n        velocity={store.velocityInDisplayUnits(useDegree)}\n        min={store.minVelocityInDisplayUnits(useDegree)}\n        max={store.maxVelocityInDisplayUnits(useDegree)}\n        onVelocityChange={store.setVelocityFromSlider}\n        useDegree={useDegree}\n        disabled={store.isLocked}\n        renderValue={(value) => (\n          <VelocitySliderLabel\n            value={valueLabelFormat(value, useDegree)}\n            sx={{\n              minWidth: \"111px\",\n              span: {\n                transform: \"translateY(-1.5px)\",\n              },\n            }}\n          />\n        )}\n      />\n    )\n  },\n)\n"],"names":["JoggingVelocitySlider","observer","store","useDegree","t","useTranslation","valueLabelFormat","value","jsx","VelocitySlider","VelocitySliderLabel"],"mappings":"gNAKaA,EAAwBC,EAAAA,SACnC,CAAC,CAAE,MAAAC,EAAO,UAAAC,KAA6D,CACrE,KAAM,CAAE,EAAAC,CAAA,EAAMC,iBAAA,EAEd,SAASC,EAAiBC,EAAeJ,EAA4B,CACnE,OAAOA,EACH,OAAOC,EAAE,kDAAmD,CAAE,OAAQG,CAAA,CAAO,CAAC,GAC9E,OAAOH,EAAE,oDAAqD,CAAE,OAAQG,CAAA,CAAO,CAAC,EACtF,CAEA,OACEC,EAAAA,IAACC,EAAAA,eAAA,CACC,MAAAP,EACA,SAAUA,EAAM,uBAAuBC,CAAS,EAChD,IAAKD,EAAM,0BAA0BC,CAAS,EAC9C,IAAKD,EAAM,0BAA0BC,CAAS,EAC9C,iBAAkBD,EAAM,sBACxB,UAAAC,EACA,SAAUD,EAAM,SAChB,YAAcK,GACZC,EAAAA,IAACE,EAAAA,oBAAA,CACC,MAAOJ,EAAiBC,EAAOJ,CAAS,EACxC,GAAI,CACF,SAAU,QACV,KAAM,CACJ,UAAW,oBAAA,CACb,CACF,CAAA,CACF,CAAA,CAIR,CACF"}

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

@@ -1 +0,0 @@
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package/dist/components/jogging/JoggingVelocitySlider.js

@@ -1,40 +0,0 @@
-import { jsx as l } from "react/jsx-runtime";
-import { observer as m } from "mobx-react-lite";
-import { useTranslation as e } from "react-i18next";
-import { VelocitySlider as c, VelocitySliderLabel as y } from "../VelocitySlider.js";
-const g = m(
-  ({ store: i, useDegree: t }) => {
-    const { t: o } = e();
-    function a(n, r) {
-      return r ? `ω = ${o("Jogging.Cartesian.Rotation.velocityDegPerSec.lb", { amount: n })}` : `v = ${o("Jogging.Cartesian.Translation.velocityMmPerSec.lb", { amount: n })}`;
-    }
-    return /* @__PURE__ */ l(
-      c,
-      {
-        store: i,
-        velocity: i.velocityInDisplayUnits(t),
-        min: i.minVelocityInDisplayUnits(t),
-        max: i.maxVelocityInDisplayUnits(t),
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-        useDegree: t,
-        disabled: i.isLocked,
-        renderValue: (n) => /* @__PURE__ */ l(
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-              }
-            }
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-        )
-      }
-    );
-  }
-);
-export {
-  g as JoggingVelocitySlider
-};
-//# sourceMappingURL=JoggingVelocitySlider.js.map

package/dist/components/jogging/JoggingVelocitySlider.js.map

@@ -1 +0,0 @@
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package/dist/components/jogging/PoseCartesianValues.cjs

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

package/dist/components/jogging/PoseCartesianValues.cjs.map

@@ -1 +0,0 @@
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package/dist/components/jogging/PoseCartesianValues.d.ts.map

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package/dist/components/jogging/PoseCartesianValues.js

@@ -1,48 +0,0 @@
-import { jsxs as s, jsx as r } from "react/jsx-runtime";
-import n from "@mui/material/Button";
-import l from "@mui/material/Stack";
-import { poseToWandelscriptString as p } from "@wandelbots/nova-js/v2";
-import { observer as m } from "mobx-react-lite";
-import { useState as c } from "react";
-import { externalizeComponent as d } from "../../externalizeComponent.js";
-import { CopyableText as f } from "../CopyableText.js";
-const T = d(
-  m(({ tcpPose: i, showCopyButton: a = !1 }) => {
-    const [o, e] = c(null), t = p(i);
-    return /* @__PURE__ */ s(
-      l,
-      {
-        direction: "row",
-        alignItems: "center",
-        spacing: 1,
-        sx: { flexGrow: 1, minWidth: 0, overflow: "hidden" },
-        "data-testid": "pose-cartesian-values",
-        children: [
-          /* @__PURE__ */ r(f, { value: t }),
-          a && /* @__PURE__ */ r(
-            n,
-            {
-              variant: "contained",
-              color: "secondary",
-              size: "small",
-              onClick: async () => {
-                try {
-                  await navigator.clipboard.writeText(t), e("Copied!"), setTimeout(() => e(null), 2e3);
-                } catch {
-                  e("Copy failed"), setTimeout(() => e(null), 2e3);
-                }
-              },
-              sx: { flexShrink: 0 },
-              children: o || "Copy"
-            }
-          )
-        ]
-      }
-    );
-  })
-);
-export {
-  T as PoseCartesianValues,
-  T as default
-};
-//# sourceMappingURL=PoseCartesianValues.js.map

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

@@ -1 +0,0 @@
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package/dist/components/jogging/PoseJointValues.cjs

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

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

@@ -1 +0,0 @@
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package/dist/components/jogging/PoseJointValues.d.ts.map

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package/dist/components/jogging/PoseJointValues.js

@@ -1,47 +0,0 @@
-import { jsxs as s, jsx as r } from "react/jsx-runtime";
-import l from "@mui/material/Button";
-import p from "@mui/material/Stack";
-import { observer as m } from "mobx-react-lite";
-import { useState as c } from "react";
-import { externalizeComponent as d } from "../../externalizeComponent.js";
-import { CopyableText as f } from "../CopyableText.js";
-const j = d(
-  m(({ joints: i, showCopyButton: a = !1 }) => {
-    const [o, e] = c(null), t = `[${i.map((n) => parseFloat(n.toFixed(4))).join(", ")}]`;
-    return /* @__PURE__ */ s(
-      p,
-      {
-        direction: "row",
-        alignItems: "center",
-        spacing: 1,
-        sx: { flexGrow: 1, minWidth: 0, overflow: "hidden" },
-        "data-testid": "pose-joint-values",
-        children: [
-          /* @__PURE__ */ r(f, { value: t }),
-          a && /* @__PURE__ */ r(
-            l,
-            {
-              variant: "contained",
-              color: "secondary",
-              size: "small",
-              onClick: async () => {
-                try {
-                  await navigator.clipboard.writeText(t), e("Copied!"), setTimeout(() => e(null), 2e3);
-                } catch {
-                  e("Copy failed"), setTimeout(() => e(null), 2e3);
-                }
-              },
-              sx: { flexShrink: 0 },
-              children: o || "Copy"
-            }
-          )
-        ]
-      }
-    );
-  })
-);
-export {
-  j as PoseJointValues,
-  j as default
-};
-//# sourceMappingURL=PoseJointValues.js.map

package/dist/components/jogging/PoseJointValues.js.map

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

package/dist/components/jogging/__fixtures__/motionStreamMockData.d.ts

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

package/dist/components/jogging/__fixtures__/motionStreamMockData.d.ts.map

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package/dist/components/modal/NoMotionGroupModal.cjs

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

package/dist/components/modal/NoMotionGroupModal.cjs.map

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

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package/dist/components/modal/NoMotionGroupModal.js

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-import e from "@mui/material/Button";
-import n from "@mui/material/Dialog";
-import a from "@mui/material/DialogActions";
-import d from "@mui/material/DialogContent";
-import l from "@mui/material/DialogTitle";
-import m from "@mui/material/Stack";
-import i from "@mui/material/Typography";
-function c() {
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-  return o.substring(
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-    o.indexOf("/", o.indexOf("//") + 2)
-  );
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-        },
-        "& .MuiDialog-paper": {
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-            width: "100%",
-            background: "linear-gradient(90deg, #FF0E65 0%, #47D3FF 100%)"
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-          d,
-          {
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-              marginTop: "3rem",
-              marginBottom: "1.5rem",
-              textAlign: "center"
-            },
-            children: [
-              /* @__PURE__ */ r(i, { color: "#fff", children: "Found no devices to connect to." }),
-              /* @__PURE__ */ r(i, { color: "#fff", children: "Please ensure a motion group has been created." })
-            ]
-          }
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-                borderRadius: "8px",
-                width: "100%"
-              },
-              children: "Go to settings app"
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-          ),
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-                textDecoration: "underline",
-                fontSize: "0.75rem"
-              },
-              children: "Back to Homescreen"
-            }
-          )
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-      ]
-    }
-  );
-}
-export {
-  k as NoMotionGroupModal,
-  k as default
-};
-//# sourceMappingURL=NoMotionGroupModal.js.map

package/dist/components/modal/NoMotionGroupModal.js.map

@@ -1 +0,0 @@
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package/dist/components/robots/AxisConfig.cjs

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const t=Array(6).fill(2*Math.PI);exports.defaultAxisConfig=t;
-//# sourceMappingURL=AxisConfig.cjs.map

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

@@ -1 +0,0 @@
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package/dist/components/robots/AxisConfig.d.ts.map

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package/dist/components/robots/AxisConfig.js

@@ -1,5 +0,0 @@
-const t = Array(6).fill(2 * Math.PI);
-export {
-  t as defaultAxisConfig
-};
-//# sourceMappingURL=AxisConfig.js.map

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

@@ -1 +0,0 @@
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package/dist/components/robots/DHLinearAxis.cjs

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

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

@@ -1 +0,0 @@
-{"version":3,"file":"DHLinearAxis.cjs","sources":["../../../src/components/robots/DHLinearAxis.tsx"],"sourcesContent":["/* biome-ignore-all lint/style/noNonNullAssertion: pre-biome code */\n/* biome-ignore-all lint/suspicious/noExplicitAny: pre-biome code */\n\nimport { Line } from \"@react-three/drei\"\nimport { useRef } from \"react\"\nimport type * as THREE from \"three\"\nimport { Matrix4, Quaternion, Vector3 } from \"three\"\nimport LinearAxisAnimator from \"./LinearAxisAnimator\"\nimport type { DHLinearAxisProps } from \"./SupportedLinearAxis\"\n\nexport function DHLinearAxis({\n  rapidlyChangingMotionState,\n  dhParameters,\n  ...props\n}: DHLinearAxisProps) {\n  // reused in every update\n  const accumulatedMatrix = new Matrix4()\n\n  const tcpMeshRef = useRef<THREE.Mesh | null>(null)\n  const tcpLineRef = useRef<any>(null)\n\n  // Calculate initial TCP position\n  function calculateTcpPosition(jointValues: number[]): Vector3 {\n    const tempMatrix = new Matrix4()\n\n    for (let i = 0; i < dhParameters.length; i++) {\n      const param = dhParameters[i]\n      const jointValue = jointValues[i] ?? 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package/dist/components/robots/DHLinearAxis.d.ts.map

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