@wandelbots/wandelbots-js-react-components 5.5.2-pr.fix-performance-issues.594.1df0675 → 5.5.2-pr.fix-performance-issues.594.b1018c5

package/dist/3d.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/MotionGroupVisualizer-4AcH6kaR.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/MotionGroupVisualizer-EN8Nw5xP.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;

package/dist/3d.js

@@ -1,4 +1,4 @@
-import { C as o, L as r, M as s, h as t, P as n, b as i, R as d, S as f, c as u, f as R, T as l, a as C, d as p, e as M, g as S } from "./chunks/MotionGroupVisualizer-om9U-U7G.js";
+import { C as o, L as r, M as s, h as t, P as n, b as i, R as d, S as f, c as u, f as R, T as l, a as C, d as p, e as M, g as S } from "./chunks/MotionGroupVisualizer-BXDggjVD.js";
 export {
   o as CollisionSceneRenderer,
   r as LinearAxis,

package/dist/chunks/{MotionGroupVisualizer-om9U-U7G.js → MotionGroupVisualizer-BXDggjVD.js}

@@ -1,10 +1,10 @@
-import { jsx as r, jsxs as w, Fragment as E } from "react/jsx-runtime";
-import * as b from "three";
-import { Matrix4 as R, Vector3 as L, Quaternion as W } from "three";
-import { ConvexGeometry as se, RoundedBoxGeometry as Le } from "three-stdlib";
-import Se, { useMemo as A, useRef as M, useEffect as T, useState as S, useCallback as G, Suspense as ae } from "react";
-import { d as Ge, v as Pe, o as Ae, e as j } from "./externalizeComponent-D6S3WLFc.js";
-import { Environment as Ie, Lightformer as P, Line as $, useGLTF as Fe, Bounds as Z } from "@react-three/drei";
+import { jsx as r, jsxs as b, Fragment as U } from "react/jsx-runtime";
+import * as g from "three";
+import { Matrix4 as R, Vector3 as k, Quaternion as W } from "three";
+import { ConvexGeometry as se, RoundedBoxGeometry as ke } from "three-stdlib";
+import Ge, { useMemo as I, useRef as M, useEffect as T, useState as G, useCallback as L, Suspense as ae } from "react";
+import { d as Le, v as Ae, o as Ie, e as J } from "./externalizeComponent-D6S3WLFc.js";
+import { Environment as Pe, Lightformer as A, Line as $, useGLTF as Fe, Bounds as Z } from "@react-three/drei";
 import { useTheme as De } from "@mui/material/styles";
 import v from "@mui/material/Box";
 import Q from "@mui/material/Button";
@@ -13,16 +13,16 @@ import z from "@mui/material/Divider";
 import ee from "@mui/material/Typography";
 import { useThree as le, useFrame as ce, Canvas as te } from "@react-three/fiber";
 import { observer as Ve } from "mobx-react-lite";
-import { useTranslation as Ue } from "react-i18next";
+import { useTranslation as Ee } from "react-i18next";
 import { V as ue, c as fe, b as re } from "./interpolation-D9WFd-j_.js";
 import { NovaClient as Ce, Manufacturer as _, JointTypeEnum as C } from "@wandelbots/nova-js/v2";
 import { ErrorBoundary as pe } from "react-error-boundary";
-function Ee(e) {
+function Ue(e) {
   switch (e.shape_type) {
     case "convex_hull":
       return new se(
         e.vertices.map(
-          (t) => new b.Vector3(
+          (t) => new g.Vector3(
             t[0] / 1e3,
             t[1] / 1e3,
             t[2] / 1e3
@@ -30,31 +30,31 @@ function Ee(e) {
         )
       );
     case "box":
-      return new b.BoxGeometry(
+      return new g.BoxGeometry(
         e.size_x / 1e3,
         e.size_y / 1e3,
         e.size_z / 1e3
       );
     case "sphere":
-      return new b.SphereGeometry(e.radius / 1e3);
+      return new g.SphereGeometry(e.radius / 1e3);
     case "capsule":
-      return new b.CapsuleGeometry(
+      return new g.CapsuleGeometry(
         e.radius / 1e3,
         e.cylinder_height / 1e3
       );
     case "cylinder":
-      return new b.CylinderGeometry(
+      return new g.CylinderGeometry(
         e.radius / 1e3,
         e.radius / 1e3,
         e.height / 1e3
       );
     case "rectangle":
-      return new b.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
+      return new g.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
     default:
-      return console.warn(`${e.shape_type} is not supported`), new b.BufferGeometry();
+      return console.warn(`${e.shape_type} is not supported`), new g.BufferGeometry();
   }
 }
-function je({
+function Je({
   name: e,
   collider: n,
   children: t
@@ -65,25 +65,25 @@ function je({
     "mesh",
     {
       name: e,
-      position: new b.Vector3(
+      position: new g.Vector3(
         l[0],
         l[1],
         l[2]
       ).divideScalar(1e3),
-      rotation: new b.Euler(i[0], i[1], i[2], "XYZ"),
-      geometry: Ee(n.shape),
+      rotation: new g.Euler(i[0], i[1], i[2], "XYZ"),
+      geometry: Ue(n.shape),
       children: t
     }
   );
 }
-function Je({
+function je({
   name: e,
   colliders: n,
   meshChildrenProvider: t,
   ...l
 }) {
   return /* @__PURE__ */ r("group", { name: e, ...l, children: Object.entries(n).map(([i, f]) => /* @__PURE__ */ r(
-    je,
+    Je,
     {
       name: i,
       collider: f,
@@ -92,13 +92,13 @@ function Je({
     i
   )) });
 }
-function bt({
+function wt({
   scene: e,
   meshChildrenProvider: n
 }) {
   const t = e.colliders;
   return /* @__PURE__ */ r("group", { children: t && /* @__PURE__ */ r(
-    Je,
+    je,
     {
       meshChildrenProvider: n,
       colliders: t
@@ -106,13 +106,13 @@ function bt({
   ) });
 }
 function ne() {
-  return /* @__PURE__ */ r(Ie, { frames: 1, children: /* @__PURE__ */ r(We, {}) });
+  return /* @__PURE__ */ r(Pe, { frames: 1, children: /* @__PURE__ */ r(We, {}) });
 }
 const Be = [2, 0, 2, 0, 2, 0, 2, 0];
 function We({ positions: e = Be }) {
-  return /* @__PURE__ */ w(E, { children: [
+  return /* @__PURE__ */ b(U, { children: [
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         intensity: 5,
         "rotation-x": Math.PI / 2,
@@ -121,7 +121,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ r("group", { children: e.map((n, t) => /* @__PURE__ */ r(
-      P,
+      A,
       {
         form: "circle",
         intensity: 5,
@@ -132,7 +132,7 @@ function We({ positions: e = Be }) {
       t
     )) }) }),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -141,7 +141,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -150,7 +150,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -159,7 +159,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -168,7 +168,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         form: "ring",
         color: "white",
@@ -189,50 +189,50 @@ const oe = {
   transparent: !0,
   polygonOffset: !0
 };
-function wt({
+function bt({
   safetyZones: e,
   dhParameters: n,
   ...t
 }) {
-  const l = A(
-    () => Ge(n ?? []),
+  const l = I(
+    () => Le(n ?? []),
     [n]
   ), i = (c, o) => {
     var u, d;
     if (!((u = o == null ? void 0 : o.pose) != null && u.position) || !((d = o == null ? void 0 : o.pose) != null && d.orientation))
       return null;
-    const y = new b.Vector3(
+    const y = new g.Vector3(
       o.pose.position[0] / 1e3,
       o.pose.position[1] / 1e3,
       o.pose.position[2] / 1e3
-    ), s = new b.Vector3(
+    ), s = new g.Vector3(
       o.pose.orientation[0],
       o.pose.orientation[1],
       o.pose.orientation[2]
     );
-    let m;
-    const a = o.shape.shape_type === "plane" ? { ...oe, side: b.DoubleSide } : { ...oe, side: b.FrontSide };
+    let h;
+    const a = o.shape.shape_type === "plane" ? { ...oe, side: g.DoubleSide } : { ...oe, side: g.FrontSide };
     switch (o.shape.shape_type) {
       /**
        * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
        */
       case "plane":
-        m = /* @__PURE__ */ r("planeGeometry", { args: [l, l] });
+        h = /* @__PURE__ */ r("planeGeometry", { args: [l, l] });
         break;
       /**
        * Sphere shape
        */
       case "sphere": {
         const p = (o == null ? void 0 : o.shape).radius / 1e3;
-        m = /* @__PURE__ */ r("sphereGeometry", { args: [p] });
+        h = /* @__PURE__ */ r("sphereGeometry", { args: [p] });
         break;
       }
       /**
        * Capsule shape
        */
       case "capsule": {
-        const p = (o == null ? void 0 : o.shape).radius / 1e3, h = (o == null ? void 0 : o.shape).cylinder_height / 1e3;
-        m = /* @__PURE__ */ r("capsuleGeometry", { args: [p, h] });
+        const p = (o == null ? void 0 : o.shape).radius / 1e3, m = (o == null ? void 0 : o.shape).cylinder_height / 1e3;
+        h = /* @__PURE__ */ r("capsuleGeometry", { args: [p, m] });
         break;
       }
       /**
@@ -241,25 +241,25 @@ function wt({
        */
       case "convex_hull": {
         const p = (o == null ? void 0 : o.shape).vertices.map(
-          (g) => new b.Vector3(g[0] / 1e3, g[1] / 1e3, g[2] / 1e3)
-        ), h = Pe(p);
-        if (h.isCoplanar && h.normal) {
-          const x = new b.Vector3().addVectors(
+          (w) => new g.Vector3(w[0] / 1e3, w[1] / 1e3, w[2] / 1e3)
+        ), m = Ae(p);
+        if (m.isCoplanar && m.normal) {
+          const x = new g.Vector3().addVectors(
             p[0],
-            h.normal.multiplyScalar(1e-4)
+            m.normal.multiplyScalar(1e-4)
           );
           p.push(x);
         }
         try {
-          m = /* @__PURE__ */ r(
+          h = /* @__PURE__ */ r(
             "primitive",
             {
               object: new se(p),
               attach: "geometry"
             }
           );
-        } catch (g) {
-          return console.log("Error creating ConvexGeometry:", g), null;
+        } catch (w) {
+          return console.log("Error creating ConvexGeometry:", w), null;
         }
         break;
       }
@@ -271,11 +271,11 @@ function wt({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        const p = o.shape, h = p.radius / 1e3, g = p.sphere_center_distance_x / 1e3, x = p.sphere_center_distance_y / 1e3, I = h * 2;
-        m = /* @__PURE__ */ r(
+        const p = o.shape, m = p.radius / 1e3, w = p.sphere_center_distance_x / 1e3, x = p.sphere_center_distance_y / 1e3, P = m * 2;
+        h = /* @__PURE__ */ r(
           "primitive",
           {
-            object: new Le(g, x, I, 2, h),
+            object: new ke(w, x, P, 2, m),
             attach: "geometry"
           }
         );
@@ -285,22 +285,22 @@ function wt({
         console.warn(
           "Unsupported safety zone shape type:",
           o.shape.shape_type
-        ), m = null;
+        ), h = null;
     }
-    return /* @__PURE__ */ w(
+    return /* @__PURE__ */ b(
       "mesh",
       {
         renderOrder: c,
         position: y,
-        quaternion: Ae(s),
+        quaternion: Ie(s),
         children: [
-          m,
+          h,
           /* @__PURE__ */ r("meshStandardMaterial", { ...a, polygonOffsetFactor: -c })
         ]
       },
       `safety-zone-${o.shape.shape_type}-${c}`
     );
-  }, f = A(() => Object.values(e ?? {}).map(
+  }, f = I(() => Object.values(e ?? {}).map(
     (c, o) => i(o, c)
   ), [e, l]);
   return /* @__PURE__ */ r("group", { ...t, children: f });
@@ -313,7 +313,7 @@ function xt({
     if (l.position && l.position.length >= 3) {
       const [i, f, c] = l.position;
       if (Number.isFinite(i) && Number.isFinite(f) && Number.isFinite(c))
-        return new b.Vector3(i / 1e3, c / 1e3, -f / 1e3);
+        return new g.Vector3(i / 1e3, c / 1e3, -f / 1e3);
     }
     return null;
   }).filter((l) => l !== null)) || [];
@@ -329,7 +329,7 @@ function xt({
   ) });
 }
 const B = /* @__PURE__ */ new Map();
-async function J(e, n) {
+async function j(e, n) {
   if (B.has(e))
     return B.get(e);
   const t = (async () => {
@@ -417,11 +417,11 @@ function ye({
       t(i.current, a);
     else
       for (const [d, p] of i.current.entries()) {
-        const h = n[d], g = h.theta || 0, x = h.reverse_rotation_direction ? -1 : 1;
-        p.rotation.y = x * (a[d] || 0) + g;
+        const m = n[d], w = m.theta || 0, x = m.reverse_rotation_direction ? -1 : 1;
+        p.rotation.y = x * (a[d] || 0) + w;
       }
   }
-  function m(a) {
+  function h(a) {
     var d;
     const u = a.joint_position.filter(
       (p) => p !== void 0
@@ -429,9 +429,9 @@ function ye({
     (d = f.current) == null || d.setTarget(u), c();
   }
   return fe(() => {
-    m(o.current);
+    h(o.current);
   }), T(() => {
-    m(e);
+    h(e);
   }, [e]), /* @__PURE__ */ r("group", { ref: y, children: l });
 }
 const Ne = "line", He = "mesh";
@@ -441,31 +441,31 @@ function Ye({
   ...t
 }) {
   const l = new R(), i = M([]), f = M([]);
-  Se.useEffect(() => {
+  Ge.useEffect(() => {
     i.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
   }, [n.length]);
-  function c(s, m) {
-    const a = new L(), u = new W(), d = new L();
+  function c(s, h) {
+    const a = new k(), u = new W(), d = new k();
     l.decompose(a, u, d);
-    const p = a.clone(), h = new R().makeRotationY(
-      s.theta + m * (s.reverse_rotation_direction ? -1 : 1)
+    const p = a.clone(), m = new R().makeRotationY(
+      s.theta + h * (s.reverse_rotation_direction ? -1 : 1)
     ).multiply(new R().makeTranslation(0, s.d / 1e3, 0)).multiply(new R().makeTranslation(s.a / 1e3, 0, 0)).multiply(new R().makeRotationX(s.alpha));
-    return l.multiply(h), l.decompose(a, u, d), { a: p, b: a };
+    return l.multiply(m), l.decompose(a, u, d), { a: p, b: a };
   }
-  function o(s, m, a, u) {
+  function o(s, h, a, u) {
     if (!n)
       return;
     const d = n[s];
     if (!d)
       return;
-    const { a: p, b: h } = c(d, u);
-    m.geometry.setPositions([p.toArray(), h.toArray()].flat()), a.position.set(h.x, h.y, h.z);
+    const { a: p, b: m } = c(d, u);
+    h.geometry.setPositions([p.toArray(), m.toArray()].flat()), a.position.set(m.x, m.y, m.z);
   }
-  function y(s, m) {
+  function y(s, h) {
     l.identity();
-    for (let a = 0; a < Math.min(s.length, m.length); a++) {
+    for (let a = 0; a < Math.min(s.length, h.length); a++) {
       const u = i.current[a], d = f.current[a];
-      u && d && o(a, u, d, m[a]);
+      u && d && o(a, u, d, h[a]);
     }
   }
   return /* @__PURE__ */ r(
@@ -474,22 +474,22 @@ function Ye({
       rapidlyChangingMotionState: e,
       dhParameters: n,
       onRotationChanged: y,
-      children: /* @__PURE__ */ w("group", { ...t, name: "Scene", children: [
-        /* @__PURE__ */ w("mesh", { children: [
+      children: /* @__PURE__ */ b("group", { ...t, name: "Scene", children: [
+        /* @__PURE__ */ b("mesh", { children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.01, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "black", depthTest: !0 })
         ] }),
-        n == null ? void 0 : n.map((s, m) => {
+        n == null ? void 0 : n.map((s, h) => {
           const { a, b: u } = c(
             s,
-            e.joint_position[m] ?? 0
-          ), d = `dhrobot_J0${m}`;
-          return /* @__PURE__ */ w("group", { name: d, children: [
+            e.joint_position[h] ?? 0
+          ), d = `dhrobot_J0${h}`;
+          return /* @__PURE__ */ b("group", { name: d, children: [
             /* @__PURE__ */ r(
               $,
               {
                 ref: (p) => {
-                  i.current[m] = p;
+                  i.current[h] = p;
                 },
                 name: Ne,
                 points: [a, u],
@@ -497,11 +497,11 @@ function Ye({
                 lineWidth: 5
               }
             ),
-            /* @__PURE__ */ w(
+            /* @__PURE__ */ b(
               "mesh",
               {
                 ref: (p) => {
-                  f.current[m] = p;
+                  f.current[h] = p;
                 },
                 name: He,
                 position: u,
@@ -510,7 +510,7 @@ function Ye({
                   /* @__PURE__ */ r("meshStandardMaterial", { color: "black", depthTest: !0 })
                 ]
               },
-              `mesh_${m}`
+              `mesh_${h}`
             )
           ] }, d);
         })
@@ -535,7 +535,7 @@ function Ke({
   postModelRender: t,
   ...l
 }) {
-  const i = Fe(e), c = $e(i, "robot.glb").gltf, o = G(
+  const i = Fe(e), c = $e(i, "robot.glb").gltf, o = L(
     (s) => {
       s && t && t();
     },
@@ -572,19 +572,19 @@ function Ke({
         },
         s.uuid
       );
-    } catch (m) {
-      return console.warn("Error rendering node", s.name, m), null;
+    } catch (h) {
+      return console.warn("Error rendering node", s.name, h), null;
     }
   }
   return /* @__PURE__ */ r("group", { ...l, dispose: null, ref: o, children: y(c.scene) });
 }
-function be({
+function we({
   modelURL: e,
   flangeRef: n,
   postModelRender: t,
   ...l
 }) {
-  const [i, f] = S(null);
+  const [i, f] = G(null);
   return T(() => {
     let c = !1;
     return (async () => {
@@ -607,19 +607,19 @@ function be({
     }
   ) : null;
 }
-const we = (e, n) => {
+const be = (e, n) => {
   e.userData.isGhost || (e.traverse((t) => {
-    if (t instanceof b.Mesh) {
-      t.material instanceof b.Material && (t.material.colorWrite = !1);
+    if (t instanceof g.Mesh) {
+      t.material instanceof g.Material && (t.material.colorWrite = !1);
       const l = t.clone(), i = t.clone();
-      l.material = new b.MeshStandardMaterial({
+      l.material = new g.MeshStandardMaterial({
         depthTest: !0,
         depthWrite: !0,
         colorWrite: !1,
         polygonOffset: !0,
         polygonOffsetFactor: -1,
-        side: b.DoubleSide
-      }), l.userData.isGhost = !0, i.material = new b.MeshStandardMaterial({
+        side: g.DoubleSide
+      }), l.userData.isGhost = !0, i.material = new g.MeshStandardMaterial({
         color: n,
         opacity: 0.3,
         depthTest: !0,
@@ -627,7 +627,7 @@ const we = (e, n) => {
         transparent: !0,
         polygonOffset: !0,
         polygonOffsetFactor: -2,
-        side: b.DoubleSide
+        side: g.DoubleSide
       }), i.userData.isGhost = !0, t.parent && (t.parent.add(l), t.parent.add(i));
     }
   }), e.userData.isGhost = !0);
@@ -636,36 +636,34 @@ const we = (e, n) => {
   const n = [];
   e.traverse((t) => {
     var l;
-    t instanceof b.Mesh && ((l = t.userData) != null && l.isGhost ? n.push(t) : t.material instanceof b.Material && (t.material.colorWrite = !0));
+    t instanceof g.Mesh && ((l = t.userData) != null && l.isGhost ? n.push(t) : t.material instanceof g.Material && (t.material.colorWrite = !0));
   }), n.forEach((t) => {
     t.parent && t.parent.remove(t);
   }), e.userData.isGhost = !1;
-}, Re = j(
+}, Re = J(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: l = J,
+    getModel: l = j,
     flangeRef: i,
     postModelRender: f,
     transparentColor: c,
     instanceUrl: o,
     ...y
   }) => {
-    const [s, m] = S(null), a = G((p) => {
-      m(p);
+    const [s, h] = G(null), a = L((p) => {
+      h(p);
     }, []);
     T(() => {
-      s && (c ? we(s, c) : xe(s));
+      s && (c ? be(s, c) : xe(s));
     }, [s, c]);
-    const u = A(() => {
+    const u = I(() => {
       const p = l(n, o);
-      if (!p) {
-        const h = new Blob([], { type: "model/gltf-binary" }), g = new File([h], `${n}.glb`, {
-          type: "model/gltf-binary"
-        });
-        return Promise.resolve(URL.createObjectURL(g));
-      }
+      if (!p)
+        throw new Error(
+          `No model found for robot "${n}". Ensure the model is available or provide a custom getModel function.`
+        );
       return p;
     }, [n, o, l]), d = /* @__PURE__ */ r(
       Ye,
@@ -675,7 +673,7 @@ const we = (e, n) => {
         ...y
       }
     );
-    return /* @__PURE__ */ w(
+    return /* @__PURE__ */ b(
       pe,
       {
         fallback: d,
@@ -689,7 +687,7 @@ const we = (e, n) => {
               rapidlyChangingMotionState: e,
               dhParameters: t,
               children: /* @__PURE__ */ r(
-                be,
+                we,
                 {
                   modelURL: u,
                   postModelRender: f,
@@ -707,7 +705,7 @@ const we = (e, n) => {
 );
 function Ze({
   connectedMotionGroup: e,
-  getModel: n = J,
+  getModel: n = j,
   flangeRef: t,
   transparentColor: l,
   postModelRender: i,
@@ -727,7 +725,7 @@ function Ze({
     }
   ) : null;
 }
-const Rt = j(
+const Rt = J(
   Ve(
     ({
       robotName: e,
@@ -740,37 +738,37 @@ const Rt = j(
       connectedMotionGroup: o,
       robotComponent: y = Ze,
       customContentComponent: s,
-      className: m
+      className: h
     }) => {
       var Y;
-      const a = De(), { t: u } = Ue(), [d, p] = S(!1), h = M(null), g = M(null), [x, I] = S(!1), [F, Te] = S({ width: 400, height: 600 }), [ze, ke] = S(0);
+      const a = De(), { t: u } = Ee(), [d, p] = G(!1), m = M(null), w = M(null), [x, P] = G(!1), [F, Te] = G({ width: 400, height: 600 }), [ze, Se] = G(0);
       T(() => {
-        const U = () => {
-          if (g.current) {
-            const { offsetWidth: X, offsetHeight: K } = g.current;
-            I(X > K), Te({ width: X, height: K });
+        const E = () => {
+          if (w.current) {
+            const { offsetWidth: X, offsetHeight: K } = w.current;
+            P(X > K), Te({ width: X, height: K });
           }
         };
-        U();
-        const q = new ResizeObserver(U);
-        return g.current && q.observe(g.current), () => {
+        E();
+        const q = new ResizeObserver(E);
+        return w.current && q.observe(w.current), () => {
           q.disconnect();
         };
       }, []);
-      const N = G(() => {
-        ke((U) => U + 1);
-      }, []), D = G(() => {
+      const N = L(() => {
+        Se((E) => E + 1);
+      }, []), D = L(() => {
         !i || !f || (p(!0), f());
-      }, [i, f]), O = G(() => {
+      }, [i, f]), O = L(() => {
         !i || !c || (p(!1), c());
-      }, [i, c]), H = G(() => {
+      }, [i, c]), H = L(() => {
         d && c && (p(!1), c());
-      }, [d, c]), k = x ? F.width < 350 : F.height < 200, V = x ? F.height < 310 : F.height < 450;
+      }, [d, c]), S = x ? F.width < 350 : F.height < 200, V = x ? F.height < 310 : F.height < 450;
       return /* @__PURE__ */ r(
         Oe,
         {
-          ref: g,
-          className: m,
+          ref: w,
+          className: h,
           sx: {
             width: "100%",
             height: "100%",
@@ -788,7 +786,7 @@ const Rt = j(
             backgroundImage: "none"
             // Override any gradient from elevation
           },
-          children: x ? /* @__PURE__ */ w(E, { children: [
+          children: x ? /* @__PURE__ */ b(U, { children: [
             /* @__PURE__ */ r(
               v,
               {
@@ -803,9 +801,9 @@ const Rt = j(
                   mr: { xs: 0.75, sm: 1, md: 1.5 },
                   overflow: "hidden",
                   // Prevent content from affecting container size
-                  display: k ? "none" : "block"
+                  display: S ? "none" : "block"
                 },
-                children: !k && /* @__PURE__ */ w(
+                children: !S && /* @__PURE__ */ b(
                   te,
                   {
                     orthographic: !0,
@@ -840,7 +838,7 @@ const Rt = j(
                 )
               }
             ),
-            /* @__PURE__ */ w(
+            /* @__PURE__ */ b(
               v,
               {
                 sx: {
@@ -848,10 +846,10 @@ const Rt = j(
                   display: "flex",
                   flexDirection: "column",
                   justifyContent: "flex-start",
-                  width: k ? "100%" : "50%"
+                  width: S ? "100%" : "50%"
                 },
                 children: [
-                  /* @__PURE__ */ w(
+                  /* @__PURE__ */ b(
                     v,
                     {
                       sx: {
@@ -872,7 +870,7 @@ const Rt = j(
                       ]
                     }
                   ),
-                  /* @__PURE__ */ w(
+                  /* @__PURE__ */ b(
                     v,
                     {
                       sx: {
@@ -884,7 +882,7 @@ const Rt = j(
                         justifyContent: "space-between"
                       },
                       children: [
-                        !V && s && /* @__PURE__ */ w(v, { children: [
+                        !V && s && /* @__PURE__ */ b(v, { children: [
                           /* @__PURE__ */ r(s, {}),
                           /* @__PURE__ */ r(
                             z,
@@ -916,7 +914,7 @@ const Rt = j(
                                 children: /* @__PURE__ */ r(
                                   Q,
                                   {
-                                    ref: h,
+                                    ref: m,
                                     variant: "contained",
                                     color: "secondary",
                                     size: "small",
@@ -944,7 +942,7 @@ const Rt = j(
                 ]
               }
             )
-          ] }) : /* @__PURE__ */ r(E, { children: /* @__PURE__ */ w(
+          ] }) : /* @__PURE__ */ r(U, { children: /* @__PURE__ */ b(
             v,
             {
               sx: {
@@ -954,7 +952,7 @@ const Rt = j(
                 flexDirection: "column"
               },
               children: [
-                /* @__PURE__ */ w(v, { children: [
+                /* @__PURE__ */ b(v, { children: [
                   /* @__PURE__ */ r(ee, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
                   /* @__PURE__ */ r(
                     re,
@@ -969,15 +967,15 @@ const Rt = j(
                   v,
                   {
                     sx: {
-                      flex: k ? 0 : 1,
+                      flex: S ? 0 : 1,
                       position: "relative",
-                      minHeight: k ? 0 : { xs: 120, sm: 150, md: 200 },
-                      height: k ? 0 : "auto",
+                      minHeight: S ? 0 : { xs: 120, sm: 150, md: 200 },
+                      height: S ? 0 : "auto",
                       borderRadius: 1,
                       overflow: "hidden",
-                      display: k ? "none" : "block"
+                      display: S ? "none" : "block"
                     },
-                    children: !k && /* @__PURE__ */ w(
+                    children: !S && /* @__PURE__ */ b(
                       te,
                       {
                         orthographic: !0,
@@ -1010,8 +1008,8 @@ const Rt = j(
                     )
                   }
                 ),
-                /* @__PURE__ */ w(v, { children: [
-                  !V && s && /* @__PURE__ */ w(E, { children: [
+                /* @__PURE__ */ b(v, { children: [
+                  !V && s && /* @__PURE__ */ b(U, { children: [
                     /* @__PURE__ */ r(s, {}),
                     /* @__PURE__ */ r(
                       z,
@@ -1037,7 +1035,7 @@ const Rt = j(
                       children: /* @__PURE__ */ r(
                         Q,
                         {
-                          ref: h,
+                          ref: m,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
@@ -1103,11 +1101,11 @@ function ve({
       t(f.current, a);
     else
       for (const [d, p] of f.current.entries()) {
-        const g = n[d].reverse_rotation_direction ? -1 : 1;
-        p.position.y = g * (a[d] || 0) / 1e3;
+        const w = n[d].reverse_rotation_direction ? -1 : 1;
+        p.position.y = w * (a[d] || 0) / 1e3;
       }
   }
-  const m = G(() => {
+  const h = L(() => {
     const a = e.joint_position.filter(
       (u) => u !== void 0
     );
@@ -1117,9 +1115,9 @@ function ve({
     });
   }, [e]);
   return T(() => {
-    m();
-  }, [e, m]), fe(() => {
-    m();
+    h();
+  }, [e, h]), fe(() => {
+    h();
   }), /* @__PURE__ */ r("group", { ref: y, children: l });
 }
 function Me({
@@ -1129,44 +1127,44 @@ function Me({
 }) {
   const l = new R(), i = M(null), f = M(null);
   function c(s) {
-    const m = new R();
+    const h = new R();
     for (let p = 0; p < n.length; p++) {
-      const h = n[p], g = s[p] ?? 0, x = new R().makeRotationY(h.theta).multiply(
+      const m = n[p], w = s[p] ?? 0, x = new R().makeRotationY(m.theta).multiply(
         new R().makeTranslation(
-          h.a / 1e3,
-          (h.d + g * (h.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          m.a / 1e3,
+          (m.d + w * (m.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(h.alpha));
-      m.multiply(x);
+      ).multiply(new R().makeRotationX(m.alpha));
+      h.multiply(x);
     }
-    const a = new L(), u = new W(), d = new L();
-    return m.decompose(a, u, d), a;
+    const a = new k(), u = new W(), d = new k();
+    return h.decompose(a, u, d), a;
   }
   const o = c(
     e.joint_position
   );
-  function y(s, m) {
+  function y(s, h) {
     l.identity();
-    let a = new L();
-    for (let h = 0; h < n.length; h++) {
-      const g = m[h] ?? 0, x = n[h], I = new R().makeRotationY(x.theta).multiply(
+    let a = new k();
+    for (let m = 0; m < n.length; m++) {
+      const w = h[m] ?? 0, x = n[m], P = new R().makeRotationY(x.theta).multiply(
         new R().makeTranslation(
           x.a / 1e3,
-          (x.d + g * (x.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          (x.d + w * (x.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
       ).multiply(new R().makeRotationX(x.alpha));
-      l.multiply(I);
+      l.multiply(P);
     }
-    const u = new L(), d = new W(), p = new L();
+    const u = new k(), d = new W(), p = new k();
     if (l.decompose(u, d, p), a = u, i.current && i.current.position.set(
       a.x,
       a.y,
       a.z
     ), f.current) {
-      const h = f.current.geometry;
-      h != null && h.setPositions && h.setPositions([
+      const m = f.current.geometry;
+      m != null && m.setPositions && m.setPositions([
         0,
         0,
         0,
@@ -1182,8 +1180,8 @@ function Me({
       rapidlyChangingMotionState: e,
       dhParameters: n,
       onTranslationChanged: y,
-      children: /* @__PURE__ */ w("group", { ...t, name: "Scene", children: [
-        /* @__PURE__ */ w("mesh", { name: "Base", position: [0, 0, 0], children: [
+      children: /* @__PURE__ */ b("group", { ...t, name: "Scene", children: [
+        /* @__PURE__ */ b("mesh", { name: "Base", position: [0, 0, 0], children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.02, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "green", depthTest: !0 })
         ] }),
@@ -1191,12 +1189,12 @@ function Me({
           $,
           {
             ref: f,
-            points: [new L(0, 0, 0), o],
+            points: [new k(0, 0, 0), o],
             color: "White",
             lineWidth: 5
           }
         ),
-        /* @__PURE__ */ w("mesh", { ref: i, name: "TCP", position: o, children: [
+        /* @__PURE__ */ b("mesh", { ref: i, name: "TCP", position: o, children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.025, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "red", depthTest: !0 })
         ] })
@@ -1204,23 +1202,23 @@ function Me({
     }
   );
 }
-const _e = j(
+const _e = J(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: l = J,
+    getModel: l = j,
     flangeRef: i,
     postModelRender: f,
     transparentColor: c,
     instanceUrl: o,
     ...y
   }) => {
-    const [s, m] = S(null), a = G((d) => {
-      m(d);
+    const [s, h] = G(null), a = L((d) => {
+      h(d);
     }, []);
     T(() => {
-      s && (c ? we(s, c) : xe(s));
+      s && (c ? be(s, c) : xe(s));
     }, [s, c]);
     const u = /* @__PURE__ */ r(
       Me,
@@ -1230,7 +1228,7 @@ const _e = j(
         ...y
       }
     );
-    return /* @__PURE__ */ w(
+    return /* @__PURE__ */ b(
       pe,
       {
         fallback: u,
@@ -1244,17 +1242,17 @@ const _e = j(
               rapidlyChangingMotionState: e,
               dhParameters: t,
               children: /* @__PURE__ */ r(
-                be,
+                we,
                 {
                   modelURL: (() => {
                     const d = l(n, o);
                     if (!d) {
-                      const p = new Blob([], { type: "model/gltf-binary" }), h = new File(
+                      const p = new Blob([], { type: "model/gltf-binary" }), m = new File(
                         [p],
                         `${n}.glb`,
                         { type: "model/gltf-binary" }
                       );
-                      return Promise.resolve(URL.createObjectURL(h));
+                      return Promise.resolve(URL.createObjectURL(m));
                     }
                     return d;
                   })(),
@@ -1273,7 +1271,7 @@ const _e = j(
 );
 function Mt({
   connectedMotionGroup: e,
-  getModel: n = J,
+  getModel: n = j,
   flangeRef: t,
   transparentColor: l,
   postModelRender: i,
@@ -1347,28 +1345,28 @@ function _t(e, n) {
   const t = Qe(e);
   return t && t in ie ? ie[t] : n || null;
 }
-const Tt = j((e) => {
-  const { inverseSolver: n, dhParameters: t, ...l } = e, [i, f] = S(
+const Tt = J((e) => {
+  const { inverseSolver: n, dhParameters: t, ...l } = e, [i, f] = G(
     C.RevoluteJoint
   );
   T(() => {
     t.length && f(t[0].type ?? C.RevoluteJoint);
   }, [t]);
-  const c = A(() => n === null && i === C.RevoluteJoint, [n, i]), o = A(() => n === null && i === C.PrismaticJoint, [n, i]);
-  return A(() => !!n, [n]) || c ? /* @__PURE__ */ r(Re, { dhParameters: t, ...l }) : o ? /* @__PURE__ */ r(_e, { dhParameters: t, ...l }) : null;
+  const c = I(() => n === null && i === C.RevoluteJoint, [n, i]), o = I(() => n === null && i === C.PrismaticJoint, [n, i]);
+  return I(() => !!n, [n]) || c ? /* @__PURE__ */ r(Re, { dhParameters: t, ...l }) : o ? /* @__PURE__ */ r(_e, { dhParameters: t, ...l }) : null;
 });
 export {
-  bt as C,
+  wt as C,
   Mt as L,
   ie as M,
   ne as P,
   Rt as R,
-  wt as S,
+  bt as S,
   xt as T,
   vt as a,
   Ze as b,
   _e as c,
-  J as d,
+  j as d,
   Qe as e,
   Re as f,
   _t as g,

package/dist/chunks/MotionGroupVisualizer-EN8Nw5xP.cjs

@@ -0,0 +1 @@
+"use strict";const t=require("react/jsx-runtime"),g=require("three"),V=require("three-stdlib"),d=require("react"),S=require("./externalizeComponent-BHZdH14U.cjs"),M=require("@react-three/drei"),pe=require("@mui/material/styles"),v=require("@mui/material/Box"),Y=require("@mui/material/Button"),he=require("@mui/material/Card"),Q=require("@mui/material/Divider"),X=require("@mui/material/Typography"),T=require("@react-three/fiber"),me=require("mobx-react-lite"),xe=require("react-i18next"),L=require("./interpolation-B84QX33C.cjs"),R=require("@wandelbots/nova-js/v2"),K=require("react-error-boundary");function ye(e){const n=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const o=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(n,r,o.get?o:{enumerable:!0,get:()=>e[r]})}}return n.default=e,Object.freeze(n)}const j=ye(g);function ge(e){switch(e.shape_type){case"convex_hull":return new V.ConvexGeometry(e.vertices.map(r=>new j.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,e.size_z/1e3);case"sphere":return new j.SphereGeometry(e.radius/1e3);case"capsule":return new j.CapsuleGeometry(e.radius/1e3,e.cylinder_height/1e3);case"cylinder":return new j.CylinderGeometry(e.radius/1e3,e.radius/1e3,e.height/1e3);case"rectangle":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,0);default:return console.warn(`${e.shape_type} is not supported`),new j.BufferGeometry}}function je({name:e,collider:n,children:r}){var f,u;const o=((f=n.pose)==null?void 0:f.position)??[0,0,0],i=((u=n.pose)==null?void 0:u.orientation)??[0,0,0];return n.margin&&console.warn(`${e} margin is not supported`),t.jsx("mesh",{name:e,position:new j.Vector3(o[0],o[1],o[2]).divideScalar(1e3),rotation:new j.Euler(i[0],i[1],i[2],"XYZ"),geometry:ge(n.shape),children:r})}function be({name:e,colliders:n,meshChildrenProvider:r,...o}){return t.jsx("group",{name:e,...o,children:Object.entries(n).map(([i,f])=>t.jsx(je,{name:i,collider:f,children:r(i,f)},i))})}function we({scene:e,meshChildrenProvider:n}){const r=e.colliders;return t.jsx("group",{children:r&&t.jsx(be,{meshChildrenProvider:n,colliders:r})})}function O(){return t.jsx(M.Environment,{frames:1,children:t.jsx(Me,{})})}const Re=[2,0,2,0,2,0,2,0];function Me({positions:e=Re}){return t.jsxs(t.Fragment,{children:[t.jsx(M.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),t.jsx("group",{rotation:[0,.5,0],children:t.jsx("group",{children:e.map((n,r)=>t.jsx(M.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[n,4,r*4],scale:[3,1,1]},r))})}),t.jsx(M.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),t.jsx(M.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),t.jsx(M.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}const Z={attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0};function ve({safetyZones:e,dhParameters:n,...r}){const o=d.useMemo(()=>S.dhParametersToPlaneSize(n??[]),[n]),i=(u,s)=>{var l,h;if(!((l=s==null?void 0:s.pose)!=null&&l.position)||!((h=s==null?void 0:s.pose)!=null&&h.orientation))return null;const y=new j.Vector3(s.pose.position[0]/1e3,s.pose.position[1]/1e3,s.pose.position[2]/1e3),a=new j.Vector3(s.pose.orientation[0],s.pose.orientation[1],s.pose.orientation[2]);let m;const c=s.shape.shape_type==="plane"?{...Z,side:j.DoubleSide}:{...Z,side:j.FrontSide};switch(s.shape.shape_type){case"plane":m=t.jsx("planeGeometry",{args:[o,o]});break;case"sphere":{const p=(s==null?void 0:s.shape).radius/1e3;m=t.jsx("sphereGeometry",{args:[p]});break}case"capsule":{const p=(s==null?void 0:s.shape).radius/1e3,x=(s==null?void 0:s.shape).cylinder_height/1e3;m=t.jsx("capsuleGeometry",{args:[p,x]});break}case"convex_hull":{const p=(s==null?void 0:s.shape).vertices.map(b=>new j.Vector3(b[0]/1e3,b[1]/1e3,b[2]/1e3)),x=S.verticesToCoplanarity(p);if(x.isCoplanar&&x.normal){const w=new 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ce({rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:r,children:o}){const i=d.useRef([]),f=d.useRef([]),u=d.useRef(null),{invalidate:s}=T.useThree();d.useEffect(()=>{const c=e.joint_position.filter(l=>l!==void 0);return u.current=new L.ValueInterpolator(c,{tension:120,friction:20,threshold:.001}),()=>{var l;(l=u.current)==null||l.destroy()}},[]),T.useFrame((c,l)=>{if(u.current){const h=u.current.update(l);a(),h||s()}});function y(c){c&&(f.current=z(c),a(),s())}function a(){var l;const c=((l=u.current)==null?void 0:l.getCurrentValues())||[];if(r)r(f.current,c);else for(const[h,p]of f.current.entries()){const b=n[h].reverse_rotation_direction?-1:1;p.position.y=b*(c[h]||0)/1e3}}const m=d.useCallback(()=>{const c=e.joint_position.filter(l=>l!==void 0);requestAnimationFrame(()=>{var l;i.current=c,(l=u.current)==null||l.setTarget(c)})},[e]);return d.useEffect(()=>{m()},[e,m]),L.useAutorun(()=>{m()}),t.jsx("group",{ref:y,children:o})}function ue({rapidlyChangingMotionState:e,dhParameters:n,...r}){const o=new g.Matrix4,i=d.useRef(null),f=d.useRef(null);function u(a){const m=new g.Matrix4;for(let p=0;p<n.length;p++){const x=n[p],b=a[p]??0,w=new g.Matrix4().makeRotationY(x.theta).multiply(new g.Matrix4().makeTranslation(x.a/1e3,(x.d+b*(x.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(x.alpha));m.multiply(w)}const c=new g.Vector3,l=new g.Quaternion,h=new g.Vector3;return m.decompose(c,l,h),c}const s=u(e.joint_position);function y(a,m){o.identity();let c=new g.Vector3;for(let x=0;x<n.length;x++){const b=m[x]??0,w=n[x],k=new g.Matrix4().makeRotationY(w.theta).multiply(new g.Matrix4().makeTranslation(w.a/1e3,(w.d+b*(w.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(w.alpha));o.multiply(k)}const l=new g.Vector3,h=new g.Quaternion,p=new g.Vector3;if(o.decompose(l,h,p),c=l,i.current&&i.current.position.set(c.x,c.y,c.z),f.current){const 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t.jsxs(K.ErrorBoundary,{fallback:l,onError:h=>{console.warn(h)},children:[t.jsx(d.Suspense,{fallback:l,children:t.jsx("group",{ref:c,children:t.jsx(ce,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsx(se,{modelURL:(()=>{const h=o(n,s);if(!h){const p=new Blob([],{type:"model/gltf-binary"}),x=new File([p],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(x))}return h})(),postModelRender:f,flangeRef:i,...y})})})}),t.jsx(ne,{})]})});function Fe({connectedMotionGroup:e,getModel:n=E,flangeRef:r,transparentColor:o,postModelRender:i,...f}){if(!e.dhParameters)return null;const u=e.modelFromController||"";return u&&n(u)?t.jsx(U,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:u,dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:i,...f}):t.jsx(ue,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,dhParameters:e.dhParameters,...f})}const D={[R.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[R.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[R.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0]};function le(e){const[n]=e.split("_");switch(n){case"ABB":return R.Manufacturer.Abb;case"FANUC":return R.Manufacturer.Fanuc;case"YASKAWA":return R.Manufacturer.Yaskawa;case"KUKA":return R.Manufacturer.Kuka;case"UniversalRobots":return R.Manufacturer.Universalrobots;default:return null}}function Pe(e,n){const r=le(e);return r&&r in D?D[r]:n||null}const Ve=S.externalizeComponent(e=>{const{inverseSolver:n,dhParameters:r,...o}=e,[i,f]=d.useState(R.JointTypeEnum.RevoluteJoint);d.useEffect(()=>{r.length&&f(r[0].type??R.JointTypeEnum.RevoluteJoint)},[r]);const u=d.useMemo(()=>n===null&&i===R.JointTypeEnum.RevoluteJoint,[n,i]),s=d.useMemo(()=>n===null&&i===R.JointTypeEnum.PrismaticJoint,[n,i]);return d.useMemo(()=>!!n,[n])||u?t.jsx(q,{dhParameters:r,...o}):s?t.jsx(U,{dhParameters:r,...o}):null});exports.CollisionSceneRenderer=we;exports.LinearAxis=Fe;exports.MANUFACTURER_HOME_CONFIGS=D;exports.MotionGroupVisualizer=Ve;exports.PresetEnvironment=O;exports.Robot=ae;exports.RobotCard=Ae;exports.SafetyZonesRenderer=ve;exports.SupportedLinearAxis=U;exports.SupportedRobot=q;exports.TrajectoryRenderer=_e;exports.defaultAxisConfig=Ie;exports.defaultGetModel=E;exports.extractManufacturer=le;exports.getDefaultHomeConfig=Pe;

package/dist/index.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-4AcH6kaR.cjs"),e=require("./chunks/theming-CovKBJaN.cjs"),t=require("./chunks/interpolation-B84QX33C.cjs"),i=require("./chunks/externalizeComponent-BHZdH14U.cjs"),s=require("./chunks/SafetyBar-CLm3UQRA.cjs"),a=require("./chunks/robot-SEtfVAmf.cjs"),n=require("./chunks/wbLogo-G_IfZ03l.cjs"),r=require("./chunks/safety-state-stop-CgPfwC18.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.LinearAxis=o.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=o.MotionGroupVisualizer;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedLinearAxis=o.SupportedLinearAxis;exports.SupportedRobot=o.SupportedRobot;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.i18n=i.i18n;exports.SafetyBar=s.SafetyBar;exports.AxisXIcon=a.ForwardRef;exports.AxisYIcon=a.ForwardRef$1;exports.AxisZIcon=a.ForwardRef$2;exports.JogMinusIcon=a.ForwardRef$3;exports.JogPlusIcon=a.ForwardRef$4;exports.RobotIcon=a.ForwardRef$5;exports.RotationIcon=a.ForwardRef$6;exports.HomeIcon=n.ForwardRef;exports.JoggingIcon=n.ForwardRef$1;exports.OrientationCoordSystemIcon=n.ForwardRef$2;exports.OrientationToolIcon=n.ForwardRef$3;exports.WBLogoIcon=n.ForwardRef$4;exports.ControllerTypePhysicalIcon=r.ForwardRef;exports.ControllerTypeVirtualIcon=r.ForwardRef$1;exports.OperationModeAutomaticIcon=r.ForwardRef$2;exports.OperationModeErrorIcon=r.ForwardRef$3;exports.OperationModeManualIcon=r.ForwardRef$4;exports.SafetyStateErrorIcon=r.ForwardRef$5;exports.SafetyStateEstopIcon=r.ForwardRef$6;exports.SafetyStateManualActionRequiredIcon=r.ForwardRef$7;exports.SafetyStateNormalIcon=r.ForwardRef$8;exports.SafetyStateStopIcon=r.ForwardRef$9;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-EN8Nw5xP.cjs"),e=require("./chunks/theming-CovKBJaN.cjs"),t=require("./chunks/interpolation-B84QX33C.cjs"),i=require("./chunks/externalizeComponent-BHZdH14U.cjs"),s=require("./chunks/SafetyBar-CLm3UQRA.cjs"),a=require("./chunks/robot-SEtfVAmf.cjs"),n=require("./chunks/wbLogo-G_IfZ03l.cjs"),r=require("./chunks/safety-state-stop-CgPfwC18.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.LinearAxis=o.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=o.MotionGroupVisualizer;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedLinearAxis=o.SupportedLinearAxis;exports.SupportedRobot=o.SupportedRobot;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.i18n=i.i18n;exports.SafetyBar=s.SafetyBar;exports.AxisXIcon=a.ForwardRef;exports.AxisYIcon=a.ForwardRef$1;exports.AxisZIcon=a.ForwardRef$2;exports.JogMinusIcon=a.ForwardRef$3;exports.JogPlusIcon=a.ForwardRef$4;exports.RobotIcon=a.ForwardRef$5;exports.RotationIcon=a.ForwardRef$6;exports.HomeIcon=n.ForwardRef;exports.JoggingIcon=n.ForwardRef$1;exports.OrientationCoordSystemIcon=n.ForwardRef$2;exports.OrientationToolIcon=n.ForwardRef$3;exports.WBLogoIcon=n.ForwardRef$4;exports.ControllerTypePhysicalIcon=r.ForwardRef;exports.ControllerTypeVirtualIcon=r.ForwardRef$1;exports.OperationModeAutomaticIcon=r.ForwardRef$2;exports.OperationModeErrorIcon=r.ForwardRef$3;exports.OperationModeManualIcon=r.ForwardRef$4;exports.SafetyStateErrorIcon=r.ForwardRef$5;exports.SafetyStateEstopIcon=r.ForwardRef$6;exports.SafetyStateManualActionRequiredIcon=r.ForwardRef$7;exports.SafetyStateNormalIcon=r.ForwardRef$8;exports.SafetyStateStopIcon=r.ForwardRef$9;

package/dist/index.js

@@ -1,4 +1,4 @@
-import { C as e, L as s, M as t, h as r, P as n, b as i, R as c, S as l, c as g, f as u, T as d, a as p, d as S, e as I, g as f } from "./chunks/MotionGroupVisualizer-om9U-U7G.js";
+import { C as e, L as s, M as t, h as r, P as n, b as i, R as c, S as l, c as g, f as u, T as d, a as p, d as S, e as I, g as f } from "./chunks/MotionGroupVisualizer-BXDggjVD.js";
 import { A as m, s as C, C as R, t as b, a as x, b as y, d as A, J as L, f as P, g as V, h as E, L as J, n as T, M as F, N as O, P as G, e as N, R as h, p as q, o as v, S as H, T as W, q as j, V as w, r as B, W as D, j as U, m as Z, k as _, i as k, c as z, l as X, u as Y, v as K, w as Q, x as $ } from "./chunks/theming-naqCEdJP.js";
 import { a as oa, P as ea, b as sa, V as ta, e as ra, c as na, f as ia, u as ca, d as la } from "./chunks/interpolation-D9WFd-j_.js";
 import { i as ua } from "./chunks/externalizeComponent-D6S3WLFc.js";

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "5.5.2-pr.fix-performance-issues.594.1df0675",
+  "version": "5.5.2-pr.fix-performance-issues.594.b1018c5",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

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

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