@wandelbots/wandelbots-js-react-components 5.5.2 → 5.5.3-pr.fix-jogging-missing-tool-coordinate-system.596.beee70d

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

@@ -1,28 +1,28 @@
-import { jsx as r, jsxs as x, Fragment as C } from "react/jsx-runtime";
-import * as b from "three";
-import { Matrix4 as R, Vector3 as G, Quaternion as W } from "three";
-import { ConvexGeometry as ie, RoundedBoxGeometry as ke } from "three-stdlib";
-import Le, { useMemo as j, useRef as M, useEffect as T, useCallback as L, useState as S, Suspense as se } from "react";
-import { d as Ge, v as Se, o as Ae, e as E } from "./externalizeComponent-BuuzAqKe.js";
-import { Environment as Fe, Lightformer as F, Line as $, useGLTF as Pe, Bounds as Z } from "@react-three/drei";
-import { useTheme as Ie } from "@mui/material/styles";
+import { 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";
-import De from "@mui/material/Card";
+import Oe from "@mui/material/Card";
 import z from "@mui/material/Divider";
 import ee from "@mui/material/Typography";
-import { useThree as ae, useFrame as le, Canvas as te } from "@react-three/fiber";
-import { observer as Oe } from "mobx-react-lite";
-import { useTranslation as Ve } from "react-i18next";
-import { V as ce, c as ue, b as re } from "./interpolation-BfD7X52s.js";
-import { NovaClient as Ue, Manufacturer as _, JointTypeEnum as U } from "@wandelbots/nova-js/v2";
+import { useThree as le, useFrame as ce, Canvas as te } from "@react-three/fiber";
+import { observer as Ve } from "mobx-react-lite";
+import { useTranslation as 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 Ce(e) {
+function Ue(e) {
   switch (e.shape_type) {
     case "convex_hull":
-      return new ie(
+      return new se(
         e.vertices.map(
-          (t) => new b.Vector3(
+          (t) => new g.Vector3(
             t[0] / 1e3,
             t[1] / 1e3,
             t[2] / 1e3
@@ -30,75 +30,75 @@ function Ce(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(`${e.shape_type} is not supported`), new g.BufferGeometry();
   }
 }
-function je({
+function Je({
   name: e,
   collider: n,
   children: t
 }) {
-  var p, u;
-  const a = ((p = n.pose) == null ? void 0 : p.position) ?? [0, 0, 0], i = ((u = n.pose) == null ? void 0 : u.orientation) ?? [0, 0, 0];
+  var f, c;
+  const l = ((f = n.pose) == null ? void 0 : f.position) ?? [0, 0, 0], i = ((c = n.pose) == null ? void 0 : c.orientation) ?? [0, 0, 0];
   return n.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ r(
     "mesh",
     {
       name: e,
-      position: new b.Vector3(
-        a[0],
-        a[1],
-        a[2]
+      position: new g.Vector3(
+        l[0],
+        l[1],
+        l[2]
       ).divideScalar(1e3),
-      rotation: new b.Euler(i[0], i[1], i[2], "XYZ"),
-      geometry: Ce(n.shape),
+      rotation: new g.Euler(i[0], i[1], i[2], "XYZ"),
+      geometry: Ue(n.shape),
       children: t
     }
   );
 }
-function Ee({
+function je({
   name: e,
   colliders: n,
   meshChildrenProvider: t,
-  ...a
+  ...l
 }) {
-  return /* @__PURE__ */ r("group", { name: e, ...a, children: Object.entries(n).map(([i, p]) => /* @__PURE__ */ r(
-    je,
+  return /* @__PURE__ */ r("group", { name: e, ...l, children: Object.entries(n).map(([i, f]) => /* @__PURE__ */ r(
+    Je,
     {
       name: i,
-      collider: p,
-      children: t(i, p)
+      collider: f,
+      children: t(i, f)
     },
     i
   )) });
 }
-function yt({
+function wt({
   scene: e,
   meshChildrenProvider: n
 }) {
   const t = e.colliders;
   return /* @__PURE__ */ r("group", { children: t && /* @__PURE__ */ r(
-    Ee,
+    je,
     {
       meshChildrenProvider: n,
       colliders: t
@@ -106,12 +106,13 @@ function yt({
   ) });
 }
 function ne() {
-  return /* @__PURE__ */ r(Fe, { children: /* @__PURE__ */ r(Je, {}) });
+  return /* @__PURE__ */ r(Pe, { frames: 1, children: /* @__PURE__ */ r(We, {}) });
 }
-function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
-  return /* @__PURE__ */ x(C, { children: [
+const Be = [2, 0, 2, 0, 2, 0, 2, 0];
+function We({ positions: e = Be }) {
+  return /* @__PURE__ */ b(U, { children: [
     /* @__PURE__ */ r(
-      F,
+      A,
       {
         intensity: 5,
         "rotation-x": Math.PI / 2,
@@ -120,7 +121,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ r("group", { children: e.map((n, t) => /* @__PURE__ */ r(
-      F,
+      A,
       {
         form: "circle",
         intensity: 5,
@@ -131,7 +132,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       t
     )) }) }),
     /* @__PURE__ */ r(
-      F,
+      A,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -140,7 +141,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r(
-      F,
+      A,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -149,7 +150,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r(
-      F,
+      A,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -158,7 +159,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r(
-      F,
+      A,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -167,7 +168,7 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
       }
     ),
     /* @__PURE__ */ r(
-      F,
+      A,
       {
         form: "ring",
         color: "white",
@@ -179,55 +180,59 @@ function Je({ positions: e = [2, 0, 2, 0, 2, 0, 2, 0] }) {
     )
   ] });
 }
-function gt({
+const oe = {
+  attach: "material",
+  color: "#009f4d",
+  opacity: 0.2,
+  depthTest: !1,
+  depthWrite: !1,
+  transparent: !0,
+  polygonOffset: !0
+};
+function bt({
   safetyZones: e,
   dhParameters: n,
   ...t
 }) {
-  const a = {
-    attach: "material",
-    color: "#009f4d",
-    opacity: 0.2,
-    depthTest: !1,
-    depthWrite: !1,
-    transparent: !0,
-    polygonOffset: !0
-  }, i = Ge(n ?? []), p = (h, l) => {
-    var d, y;
-    if (!((d = l == null ? void 0 : l.pose) != null && d.position) || !((y = l == null ? void 0 : l.pose) != null && y.orientation))
+  const l = 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 s = new b.Vector3(
-      l.pose.position[0] / 1e3,
-      l.pose.position[1] / 1e3,
-      l.pose.position[2] / 1e3
-    ), m = new b.Vector3(
-      l.pose.orientation[0],
-      l.pose.orientation[1],
-      l.pose.orientation[2]
+    const y = new g.Vector3(
+      o.pose.position[0] / 1e3,
+      o.pose.position[1] / 1e3,
+      o.pose.position[2] / 1e3
+    ), s = new g.Vector3(
+      o.pose.orientation[0],
+      o.pose.orientation[1],
+      o.pose.orientation[2]
     );
-    let o;
-    const c = l.shape.shape_type === "plane" ? { ...a, side: b.DoubleSide } : { ...a, side: b.FrontSide };
-    switch (l.shape.shape_type) {
+    let 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":
-        o = /* @__PURE__ */ r("planeGeometry", { args: [i, i] });
+        h = /* @__PURE__ */ r("planeGeometry", { args: [l, l] });
         break;
       /**
        * Sphere shape
        */
       case "sphere": {
-        const f = (l == null ? void 0 : l.shape).radius / 1e3;
-        o = /* @__PURE__ */ r("sphereGeometry", { args: [f] });
+        const p = (o == null ? void 0 : o.shape).radius / 1e3;
+        h = /* @__PURE__ */ r("sphereGeometry", { args: [p] });
         break;
       }
       /**
        * Capsule shape
        */
       case "capsule": {
-        const f = (l == null ? void 0 : l.shape).radius / 1e3, w = (l == null ? void 0 : l.shape).cylinder_height / 1e3;
-        o = /* @__PURE__ */ r("capsuleGeometry", { args: [f, w] });
+        const p = (o == null ? void 0 : o.shape).radius / 1e3, m = (o == null ? void 0 : o.shape).cylinder_height / 1e3;
+        h = /* @__PURE__ */ r("capsuleGeometry", { args: [p, m] });
         break;
       }
       /**
@@ -235,26 +240,26 @@ function gt({
        * renderer to be able to visualize the convex hull.
        */
       case "convex_hull": {
-        const f = (l == null ? void 0 : l.shape).vertices.map(
-          (g) => new b.Vector3(g[0] / 1e3, g[1] / 1e3, g[2] / 1e3)
-        ), w = Se(f);
-        if (w.isCoplanar && w.normal) {
-          const A = new b.Vector3().addVectors(
-            f[0],
-            w.normal.multiplyScalar(1e-4)
+        const p = (o == null ? void 0 : o.shape).vertices.map(
+          (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],
+            m.normal.multiplyScalar(1e-4)
           );
-          f.push(A);
+          p.push(x);
         }
         try {
-          o = /* @__PURE__ */ r(
+          h = /* @__PURE__ */ r(
             "primitive",
             {
-              object: new ie(f),
+              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;
       }
@@ -266,11 +271,11 @@ function gt({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        const f = l.shape, w = f.radius / 1e3, g = f.sphere_center_distance_x / 1e3, A = f.sphere_center_distance_y / 1e3, P = w * 2;
-        o = /* @__PURE__ */ r(
+        const p = o.shape, 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 ke(g, A, P, 2, w),
+            object: new ke(w, x, P, 2, m),
             attach: "geometry"
           }
         );
@@ -279,39 +284,39 @@ function gt({
       default:
         console.warn(
           "Unsupported safety zone shape type:",
-          l.shape.shape_type
-        ), o = null;
+          o.shape.shape_type
+        ), h = null;
     }
-    return /* @__PURE__ */ x(
+    return /* @__PURE__ */ b(
       "mesh",
       {
-        renderOrder: h,
-        position: s,
-        quaternion: Ae(m),
+        renderOrder: c,
+        position: y,
+        quaternion: Ie(s),
         children: [
-          o,
-          /* @__PURE__ */ r("meshStandardMaterial", { ...c, polygonOffsetFactor: -h })
+          h,
+          /* @__PURE__ */ r("meshStandardMaterial", { ...a, polygonOffsetFactor: -c })
         ]
       },
-      `safety-zone-${l.shape.shape_type}-${h}`
+      `safety-zone-${o.shape.shape_type}-${c}`
     );
-  }, u = j(() => Object.values(e ?? {}).map(
-    (h, l) => p(l, h)
-  ), [e, i]);
-  return /* @__PURE__ */ r("group", { ...t, children: u });
+  }, f = I(() => Object.values(e ?? {}).map(
+    (c, o) => i(o, c)
+  ), [e, l]);
+  return /* @__PURE__ */ r("group", { ...t, children: f });
 }
-function bt({
+function xt({
   trajectory: e,
   ...n
 }) {
-  const t = (e == null ? void 0 : e.map((a) => {
-    if (a.position && a.position.length >= 3) {
-      const [i, p, u] = a.position;
-      if (Number.isFinite(i) && Number.isFinite(p) && Number.isFinite(u))
-        return new b.Vector3(i / 1e3, u / 1e3, -p / 1e3);
+  const t = (e == null ? void 0 : e.map((l) => {
+    if (l.position && l.position.length >= 3) {
+      const [i, f, c] = l.position;
+      if (Number.isFinite(i) && Number.isFinite(f) && Number.isFinite(c))
+        return new g.Vector3(i / 1e3, c / 1e3, -f / 1e3);
     }
     return null;
-  }).filter((a) => a !== null)) || [];
+  }).filter((l) => l !== null)) || [];
   return /* @__PURE__ */ r("group", { ...n, children: t.length > 0 && /* @__PURE__ */ r(
     $,
     {
@@ -324,190 +329,188 @@ function bt({
   ) });
 }
 const B = /* @__PURE__ */ new Map();
-async function J(e, n) {
+async function j(e, n) {
   if (B.has(e))
     return B.get(e);
   const t = (async () => {
-    var u;
-    const a = n || "", i = new Ue({ instanceUrl: a }), p = i.api.motionGroupModels;
-    (u = p.axios) != null && u.interceptors && p.axios.interceptors.request.use((h) => {
-      var l;
-      return (l = h.url) != null && l.includes("/glb") && (h.responseType = "blob"), h;
+    var c;
+    const l = n || "", i = new Ce({ instanceUrl: l }), f = i.api.motionGroupModels;
+    (c = f.axios) != null && c.interceptors && f.axios.interceptors.request.use((o) => {
+      var y;
+      return (y = o.url) != null && y.includes("/glb") && (o.responseType = "blob"), o;
     });
     try {
-      const h = await i.api.motionGroupModels.getMotionGroupGlbModel(
+      const o = await i.api.motionGroupModels.getMotionGroupGlbModel(
         e
       );
-      return URL.createObjectURL(h);
-    } catch (h) {
-      throw console.error("Failed to fetch model:", h), h;
+      return URL.createObjectURL(o);
+    } catch (o) {
+      throw console.error("Failed to fetch model:", o), o;
     }
   })();
   return B.set(e, t), t;
 }
-function fe(e) {
+function de(e) {
   function n(t) {
-    return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((a) => n(a))];
+    return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((l) => n(l))];
   }
-  return n(e).filter((t) => he(t));
+  return n(e).filter((t) => me(t));
 }
-function de(e) {
+function he(e) {
   return e.name.endsWith("_FLG");
 }
-function he(e) {
+function me(e) {
   return /_J[0-9]+$/.test(e.name);
 }
-function Be(e, n) {
+function $e(e, n) {
   let t;
-  function a(i) {
-    if (de(i)) {
+  function l(i) {
+    if (he(i)) {
       if (t)
         throw Error(
           `Found multiple flange groups in robot model ${n}; first ${t.name} then ${i.name}. Only one _FLG group is allowed.`
         );
       t = i;
     }
-    he(i), i.children.map(a);
+    me(i), i.children.map(l);
   }
-  if (a(e.scene), !t)
+  if (l(e.scene), !t)
     throw Error(
       `No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`
     );
   return { gltf: e };
 }
-function me({
+function ye({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   onRotationChanged: t,
-  children: a
+  children: l
 }) {
-  const i = M([]), p = M([]), u = M(null), { invalidate: h } = ae();
-  T(() => {
-    const o = e.joint_position.filter(
-      (c) => c !== void 0
+  const i = M([]), f = M(null), { invalidate: c } = le(), o = M(e);
+  o.current = e, T(() => {
+    const a = e.joint_position.filter(
+      (u) => u !== void 0
     );
-    return u.current = new ce(o, {
+    return f.current = new ue(a, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
       // Controls damping - higher values reduce oscillation and create smoother settling
       threshold: 1e-3
     }), () => {
-      var c;
-      (c = u.current) == null || c.destroy();
+      var u;
+      (u = f.current) == null || u.destroy();
     };
-  }, []), le((o, c) => {
-    if (u.current) {
-      const d = u.current.update(c);
-      s(), d || h();
+  }, []), ce((a, u) => {
+    if (f.current) {
+      const d = f.current.update(u);
+      s(), d || c();
     }
   });
-  function l(o) {
-    o && (p.current = fe(o), s(), h());
+  function y(a) {
+    a && (i.current = de(a), s(), c());
   }
   function s() {
-    var c;
-    const o = ((c = u.current) == null ? void 0 : c.getCurrentValues()) || [];
+    var u;
+    const a = ((u = f.current) == null ? void 0 : u.getCurrentValues()) || [];
     if (t)
-      t(p.current, o);
+      t(i.current, a);
     else
-      for (const [d, y] of p.current.entries()) {
-        const f = n[d], w = f.theta || 0, g = f.reverse_rotation_direction ? -1 : 1;
-        y.rotation.y = g * (o[d] || 0) + w;
+      for (const [d, p] of i.current.entries()) {
+        const m = n[d], w = m.theta || 0, x = m.reverse_rotation_direction ? -1 : 1;
+        p.rotation.y = x * (a[d] || 0) + w;
       }
   }
-  const m = L(() => {
-    const o = e.joint_position.filter(
-      (c) => c !== void 0
+  function h(a) {
+    var d;
+    const u = a.joint_position.filter(
+      (p) => p !== void 0
     );
-    requestAnimationFrame(() => {
-      var c;
-      i.current = o, (c = u.current) == null || c.setTarget(o);
-    });
-  }, [e]);
-  return T(() => {
-    m();
-  }, [e, m]), ue(() => {
-    m();
-  }), /* @__PURE__ */ r("group", { ref: l, children: a });
+    (d = f.current) == null || d.setTarget(u), c();
+  }
+  return fe(() => {
+    h(o.current);
+  }), T(() => {
+    h(e);
+  }, [e]), /* @__PURE__ */ r("group", { ref: y, children: l });
 }
-const We = "line", $e = "mesh";
-function Ne({
+const Ne = "line", He = "mesh";
+function Ye({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...t
 }) {
-  const a = new R(), i = M([]), p = M([]);
-  Le.useEffect(() => {
-    i.current = new Array(n.length).fill(null), p.current = new Array(n.length).fill(null);
+  const l = new R(), i = M([]), f = M([]);
+  Ge.useEffect(() => {
+    i.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
   }, [n.length]);
-  function u(s, m) {
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-    a.decompose(o, c, d);
-    const y = o.clone(), f = new R().makeRotationY(
-      s.theta + m * (s.reverse_rotation_direction ? -1 : 1)
+  function c(s, h) {
+    const a = new k(), u = new W(), d = new k();
+    l.decompose(a, u, d);
+    const p = a.clone(), m = new R().makeRotationY(
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     ).multiply(new R().makeTranslation(0, s.d / 1e3, 0)).multiply(new R().makeTranslation(s.a / 1e3, 0, 0)).multiply(new R().makeRotationX(s.alpha));
-    return a.multiply(f), a.decompose(o, c, d), { a: y, b: o };
+    return l.multiply(m), l.decompose(a, u, d), { a: p, b: a };
   }
-  function h(s, m, o, c) {
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     if (!n)
       return;
     const d = n[s];
     if (!d)
       return;
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-    m.geometry.setPositions([y.toArray(), f.toArray()].flat()), o.position.set(f.x, f.y, f.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 l(s, m) {
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-      const c = i.current[o], d = p.current[o];
-      c && d && h(o, c, d, m[o]);
+  function y(s, h) {
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+    for (let a = 0; a < Math.min(s.length, h.length); a++) {
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     }
   }
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       rapidlyChangingMotionState: e,
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-      onRotationChanged: l,
-      children: /* @__PURE__ */ x("group", { ...t, name: "Scene", children: [
-        /* @__PURE__ */ x("mesh", { children: [
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+        /* @__PURE__ */ b("mesh", { children: [
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-        n == null ? void 0 : n.map((s, m) => {
-          const { a: o, b: c } = u(
+        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__ */ x("group", { name: d, children: [
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+          ), d = `dhrobot_J0${h}`;
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               $,
               {
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                 },
-                name: We,
-                points: [o, c],
+                name: Ne,
+                points: [a, u],
                 color: "white",
                 lineWidth: 5
               }
             ),
-            /* @__PURE__ */ x(
+            /* @__PURE__ */ b(
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-                position: c,
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+                position: u,
                 children: [
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+              `mesh_${h}`
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           ] }, d);
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   );
 }
-const He = console.warn;
-function ye() {
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+function ge() {
   return T(() => {
     console.warn = (e) => {
-      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && He(e);
+      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && qe(e);
     };
   }, []), null;
 }
-function qe(e) {
+function Xe(e) {
   return e.type === "Mesh";
 }
-function Ye({
+function Ke({
   url: e,
   flangeRef: n,
   postModelRender: t,
-  ...a
+  ...l
 }) {
-  const i = Pe(e), u = Be(i, "robot.glb").gltf, h = L(
+  const i = Fe(e), c = $e(i, "robot.glb").gltf, o = L(
     (s) => {
       s && t && t();
     },
     [t]
   );
-  function l(s) {
+  function y(s) {
     try {
-      return qe(s) ? s.geometry ? /* @__PURE__ */ r(
+      return Xe(s) ? s.geometry ? /* @__PURE__ */ r(
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-          ref: de(s) ? n : void 0,
-          children: s.children.map(l)
+          ref: he(s) ? n : void 0,
+          children: s.children.map(y)
         },
         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", { ...a, dispose: null, ref: h, children: l(u.scene) });
+  return /* @__PURE__ */ r("group", { ...l, dispose: null, ref: o, children: y(c.scene) });
 }
-function ge({
+function we({
   modelURL: e,
   flangeRef: n,
   postModelRender: t,
-  ...a
+  ...l
 }) {
-  const [i, p] = S(null);
+  const [i, f] = G(null);
   return T(() => {
-    (async () => {
+    let c = !1;
+    return (async () => {
       try {
-        if (typeof e == "string")
-          p(e);
-        else {
-          const h = await e;
-          p(h);
-        }
-      } catch (h) {
-        console.error("Failed to resolve model URL:", h);
+        const y = typeof e == "string" ? e : await e;
+        c || f((s) => s === y ? s : y);
+      } catch (y) {
+        console.error("Failed to resolve model URL:", y);
       }
-    })();
+    })(), () => {
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+    };
   }, [e]), i ? /* @__PURE__ */ r(
-    Ye,
+    Ke,
     {
       url: i,
       flangeRef: n,
       postModelRender: t,
-      ...a
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   ) : null;
 }
 const be = (e, n) => {
   e.userData.isGhost || (e.traverse((t) => {
-    if (t instanceof b.Mesh) {
-      t.material instanceof b.Material && (t.material.colorWrite = !1);
-      const a = t.clone(), i = t.clone();
-      a.material = new b.MeshStandardMaterial({
+    if (t instanceof g.Mesh) {
+      t.material instanceof g.Material && (t.material.colorWrite = !1);
+      const l = t.clone(), i = t.clone();
+      l.material = new g.MeshStandardMaterial({
         depthTest: !0,
         depthWrite: !0,
         colorWrite: !1,
         polygonOffset: !0,
         polygonOffsetFactor: -1,
-        side: b.DoubleSide
-      }), a.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,
@@ -625,170 +627,166 @@ const be = (e, n) => {
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         polygonOffsetFactor: -2,
-        side: b.DoubleSide
-      }), i.userData.isGhost = !0, t.parent && (t.parent.add(a), t.parent.add(i));
+        side: g.DoubleSide
+      }), i.userData.isGhost = !0, t.parent && (t.parent.add(l), t.parent.add(i));
     }
   }), e.userData.isGhost = !0);
-}, we = (e) => {
+}, xe = (e) => {
   if (!e.userData.isGhost) return;
   const n = [];
   e.traverse((t) => {
-    var a;
-    t instanceof b.Mesh && ((a = t.userData) != null && a.isGhost ? n.push(t) : t.material instanceof b.Material && (t.material.colorWrite = !0));
+    var l;
+    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;
-}, xe = E(
+}, Re = J(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: a = J,
+    getModel: l = j,
     flangeRef: i,
-    postModelRender: p,
-    transparentColor: u,
-    instanceUrl: h,
-    ...l
+    postModelRender: f,
+    transparentColor: c,
+    instanceUrl: o,
+    ...y
   }) => {
-    const [s, m] = S(null), o = L((d) => {
-      m(d);
+    const [s, h] = G(null), a = L((p) => {
+      h(p);
     }, []);
     T(() => {
-      s && (u ? be(s, u) : we(s));
-    }, [s, u]);
-    const c = /* @__PURE__ */ r(
-      Ne,
+      s && (c ? be(s, c) : xe(s));
+    }, [s, c]);
+    const u = I(() => {
+      const p = l(n, o);
+      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,
       {
         rapidlyChangingMotionState: e,
         dhParameters: t,
-        ...l
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       }
     );
-    return /* @__PURE__ */ x(
+    return /* @__PURE__ */ b(
       pe,
       {
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-        onError: (d) => {
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+        onError: (p) => {
+          console.warn(p);
         },
         children: [
-          /* @__PURE__ */ r(se, { fallback: c, children: /* @__PURE__ */ r("group", { ref: o, children: /* @__PURE__ */ r(
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               rapidlyChangingMotionState: e,
               dhParameters: t,
               children: /* @__PURE__ */ r(
-                ge,
+                we,
                 {
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-                      );
-                      return Promise.resolve(URL.createObjectURL(f));
-                    }
-                    return d;
-                  })(),
-                  postModelRender: p,
+                  modelURL: u,
+                  postModelRender: f,
                   flangeRef: i,
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+                  ...y
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ r(ye, {})
+          /* @__PURE__ */ r(ge, {})
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       }
     );
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 );
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   connectedMotionGroup: e,
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+  getModel: n = j,
   flangeRef: t,
-  transparentColor: a,
+  transparentColor: l,
   postModelRender: i,
-  ...p
+  ...f
 }) {
   return e.dhParameters ? /* @__PURE__ */ r(
-    xe,
+    Re,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       modelFromController: e.modelFromController || "",
       dhParameters: e.dhParameters,
       getModel: n,
       flangeRef: t,
-      transparentColor: a,
+      transparentColor: l,
       postModelRender: i,
-      ...p
+      ...f
     }
   ) : null;
 }
-const wt = E(
-  Oe(
+const Rt = J(
+  Ve(
     ({
       robotName: e,
       programState: n,
       safetyState: t,
-      operationMode: a,
+      operationMode: l,
       driveToHomeEnabled: i = !1,
-      onDriveToHomePress: p,
-      onDriveToHomeRelease: u,
-      connectedMotionGroup: h,
-      robotComponent: l = Xe,
+      onDriveToHomePress: f,
+      onDriveToHomeRelease: c,
+      connectedMotionGroup: o,
+      robotComponent: y = Ze,
       customContentComponent: s,
-      className: m
+      className: h
     }) => {
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-      const o = Ie(), { t: c } = Ve(), [d, y] = S(!1), f = M(null), w = M(null), [g, A] = S(!1), [P, _e] = S({ width: 400, height: 600 }), [Ze, Te] = S(0);
+      var Y;
+      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 V = () => {
+        const E = () => {
           if (w.current) {
             const { offsetWidth: X, offsetHeight: K } = w.current;
-            A(X > K), _e({ width: X, height: K });
+            P(X > K), Te({ width: X, height: K });
           }
         };
-        V();
-        const Y = new ResizeObserver(V);
-        return w.current && Y.observe(w.current), () => {
-          Y.disconnect();
+        E();
+        const q = new ResizeObserver(E);
+        return w.current && q.observe(w.current), () => {
+          q.disconnect();
         };
       }, []);
       const N = L(() => {
-        Te((V) => V + 1);
-      }, []), I = L(() => {
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-      }, [d, u]), k = g ? P.width < 350 : P.height < 200, O = g ? P.height < 310 : P.height < 450;
+        Se((E) => E + 1);
+      }, []), D = L(() => {
+        !i || !f || (p(!0), f());
+      }, [i, f]), O = L(() => {
+        !i || !c || (p(!1), c());
+      }, [i, c]), H = L(() => {
+        d && c && (p(!1), c());
+      }, [d, c]), S = x ? F.width < 350 : F.height < 200, V = x ? F.height < 310 : F.height < 450;
       return /* @__PURE__ */ r(
-        De,
+        Oe,
         {
           ref: w,
-          className: m,
+          className: h,
           sx: {
             width: "100%",
             height: "100%",
             display: "flex",
-            flexDirection: g ? "row" : "column",
+            flexDirection: x ? "row" : "column",
             position: "relative",
             overflow: "hidden",
             minWidth: { xs: 180, sm: 220, md: 250 },
-            minHeight: g ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
+            minHeight: x ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
             // Allow progressive hiding in portrait mode
-            border: `1px solid ${o.palette.divider}`,
+            border: `1px solid ${a.palette.divider}`,
             borderRadius: "18px",
             boxShadow: "none",
-            backgroundColor: ((q = o.palette.backgroundPaperElevation) == null ? void 0 : q[8]) || "#2A2A3F",
+            backgroundColor: ((Y = a.palette.backgroundPaperElevation) == null ? void 0 : Y[8]) || "#2A2A3F",
             backgroundImage: "none"
             // Override any gradient from elevation
           },
-          children: g ? /* @__PURE__ */ x(C, { children: [
+          children: x ? /* @__PURE__ */ b(U, { children: [
             /* @__PURE__ */ r(
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                   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__ */ x(
+                children: !S && /* @__PURE__ */ b(
                   te,
                   {
                     orthographic: !0,
@@ -816,7 +814,7 @@ const wt = E(
                     shadows: !0,
                     frameloop: "demand",
                     style: {
-                      borderRadius: o.shape.borderRadius,
+                      borderRadius: a.shape.borderRadius,
                       width: "100%",
                       height: "100%",
                       background: "transparent",
@@ -829,9 +827,9 @@ const wt = E(
                     children: [
                       /* @__PURE__ */ r(ne, {}),
                       /* @__PURE__ */ r(Z, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
-                        l,
+                        y,
                         {
-                          connectedMotionGroup: h,
+                          connectedMotionGroup: o,
                           postModelRender: N
                         }
                       ) })
@@ -840,7 +838,7 @@ const wt = E(
                 )
               }
             ),
-            /* @__PURE__ */ x(
+            /* @__PURE__ */ b(
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               {
                 sx: {
@@ -848,10 +846,10 @@ const wt = E(
                   display: "flex",
                   flexDirection: "column",
                   justifyContent: "flex-start",
-                  width: k ? "100%" : "50%"
+                  width: S ? "100%" : "50%"
                 },
                 children: [
-                  /* @__PURE__ */ x(
+                  /* @__PURE__ */ b(
                     v,
                     {
                       sx: {
@@ -866,13 +864,13 @@ const wt = E(
                           {
                             programState: n,
                             safetyState: t,
-                            operationMode: a
+                            operationMode: l
                           }
                         )
                       ]
                     }
                   ),
-                  /* @__PURE__ */ x(
+                  /* @__PURE__ */ b(
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                     {
                       sx: {
@@ -884,7 +882,7 @@ const wt = E(
                         justifyContent: "space-between"
                       },
                       children: [
-                        !O && s && /* @__PURE__ */ x(v, { children: [
+                        !V && s && /* @__PURE__ */ b(v, { children: [
                           /* @__PURE__ */ r(s, {}),
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                             z,
@@ -892,7 +890,7 @@ const wt = E(
                               sx: {
                                 mt: 1,
                                 mb: 0,
-                                borderColor: o.palette.divider,
+                                borderColor: a.palette.divider,
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                               }
                             }
@@ -902,7 +900,7 @@ const wt = E(
                           v,
                           {
                             sx: {
-                              mt: !O && s ? "auto" : 0
+                              mt: !V && s ? "auto" : 0
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@@ -916,22 +914,22 @@ const wt = E(
                                 children: /* @__PURE__ */ r(
                                   Q,
                                   {
-                                    ref: f,
+                                    ref: m,
                                     variant: "contained",
                                     color: "secondary",
                                     size: "small",
                                     disabled: !i,
-                                    onMouseDown: I,
-                                    onMouseUp: D,
+                                    onMouseDown: D,
+                                    onMouseUp: O,
                                     onMouseLeave: H,
-                                    onTouchStart: I,
-                                    onTouchEnd: D,
+                                    onTouchStart: D,
+                                    onTouchEnd: O,
                                     sx: {
                                       textTransform: "none",
                                       px: 1.5,
                                       py: 0.5
                                     },
-                                    children: c("RobotCard.DriveToHome.bt")
+                                    children: u("RobotCard.DriveToHome.bt")
                                   }
                                 )
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@@ -944,7 +942,7 @@ const wt = E(
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             )
-          ] }) : /* @__PURE__ */ r(C, { children: /* @__PURE__ */ x(
+          ] }) : /* @__PURE__ */ r(U, { children: /* @__PURE__ */ b(
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               sx: {
@@ -954,14 +952,14 @@ const wt = E(
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               },
               children: [
-                /* @__PURE__ */ x(v, { children: [
+                /* @__PURE__ */ b(v, { children: [
                   /* @__PURE__ */ r(ee, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
                   /* @__PURE__ */ r(
                     re,
                     {
                       programState: n,
                       safetyState: t,
-                      operationMode: a
+                      operationMode: l
                     }
                   )
                 ] }),
@@ -969,15 +967,15 @@ const wt = E(
                   v,
                   {
                     sx: {
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+                      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__ */ x(
+                    children: !S && /* @__PURE__ */ b(
                       te,
                       {
                         orthographic: !0,
@@ -988,7 +986,7 @@ const wt = E(
                         shadows: !0,
                         frameloop: "demand",
                         style: {
-                          borderRadius: o.shape.borderRadius,
+                          borderRadius: a.shape.borderRadius,
                           width: "100%",
                           height: "100%",
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                           /* @__PURE__ */ r(Z, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
-                            l,
+                            y,
                             {
-                              connectedMotionGroup: h,
+                              connectedMotionGroup: o,
                               postModelRender: N
                             }
                           ) })
@@ -1010,8 +1008,8 @@ const wt = E(
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                   }
                 ),
-                /* @__PURE__ */ x(v, { children: [
-                  !O && s && /* @__PURE__ */ x(C, { children: [
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+                  !V && s && /* @__PURE__ */ b(U, { children: [
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@@ -1019,7 +1017,7 @@ const wt = E(
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                           mb: 0,
-                          borderColor: o.palette.divider,
+                          borderColor: a.palette.divider,
                           opacity: 0.5
                         }
                       }
@@ -1031,28 +1029,28 @@ const wt = E(
                       sx: {
                         display: "flex",
                         justifyContent: "flex-start",
-                        mt: !O && s ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
+                        mt: !V && s ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
                         mb: { xs: 0.5, sm: 0.75, md: 1 }
                       },
                       children: /* @__PURE__ */ r(
                         Q,
                         {
-                          ref: f,
+                          ref: m,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
                           disabled: !i,
-                          onMouseDown: I,
-                          onMouseUp: D,
+                          onMouseDown: D,
+                          onMouseUp: O,
                           onMouseLeave: H,
-                          onTouchStart: I,
-                          onTouchEnd: D,
+                          onTouchStart: D,
+                          onTouchEnd: O,
                           sx: {
                             textTransform: "none",
                             px: 1.5,
                             py: 0.5
                           },
-                          children: c("RobotCard.DriveToHome.bt")
+                          children: u("RobotCard.DriveToHome.bt")
                         }
                       )
                     }
@@ -1065,138 +1063,138 @@ const wt = E(
       );
     }
   )
-), xt = Array(6).fill(2 * Math.PI);
-function Re({
+), vt = Array(6).fill(2 * Math.PI);
+function ve({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   onTranslationChanged: t,
-  children: a
+  children: l
 }) {
-  const i = M([]), p = M([]), u = M(null), { invalidate: h } = ae();
+  const i = M([]), f = M([]), c = M(null), { invalidate: o } = le();
   T(() => {
-    const o = e.joint_position.filter(
-      (c) => c !== void 0
+    const a = e.joint_position.filter(
+      (u) => u !== void 0
     );
-    return u.current = new ce(o, {
+    return c.current = new ue(a, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
       // Controls damping - higher values reduce oscillation and create smoother settling
       threshold: 1e-3
     }), () => {
-      var c;
-      (c = u.current) == null || c.destroy();
+      var u;
+      (u = c.current) == null || u.destroy();
     };
-  }, []), le((o, c) => {
-    if (u.current) {
-      const d = u.current.update(c);
-      s(), d || h();
+  }, []), ce((a, u) => {
+    if (c.current) {
+      const d = c.current.update(u);
+      s(), d || o();
     }
   });
-  function l(o) {
-    o && (p.current = fe(o), s(), h());
+  function y(a) {
+    a && (f.current = de(a), s(), o());
   }
   function s() {
-    var c;
-    const o = ((c = u.current) == null ? void 0 : c.getCurrentValues()) || [];
+    var u;
+    const a = ((u = c.current) == null ? void 0 : u.getCurrentValues()) || [];
     if (t)
-      t(p.current, o);
+      t(f.current, a);
     else
-      for (const [d, y] of p.current.entries()) {
+      for (const [d, p] of f.current.entries()) {
         const w = n[d].reverse_rotation_direction ? -1 : 1;
-        y.position.y = w * (o[d] || 0) / 1e3;
+        p.position.y = w * (a[d] || 0) / 1e3;
       }
   }
-  const m = L(() => {
-    const o = e.joint_position.filter(
-      (c) => c !== void 0
+  const h = L(() => {
+    const a = e.joint_position.filter(
+      (u) => u !== void 0
     );
     requestAnimationFrame(() => {
-      var c;
-      i.current = o, (c = u.current) == null || c.setTarget(o);
+      var u;
+      i.current = a, (u = c.current) == null || u.setTarget(a);
     });
   }, [e]);
   return T(() => {
-    m();
-  }, [e, m]), ue(() => {
-    m();
-  }), /* @__PURE__ */ r("group", { ref: l, children: a });
+    h();
+  }, [e, h]), fe(() => {
+    h();
+  }), /* @__PURE__ */ r("group", { ref: y, children: l });
 }
-function ve({
+function Me({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...t
 }) {
-  const a = new R(), i = M(null), p = M(null);
-  function u(s) {
-    const m = new R();
-    for (let y = 0; y < n.length; y++) {
-      const f = n[y], w = s[y] ?? 0, g = new R().makeRotationY(f.theta).multiply(
+  const l = new R(), i = M(null), f = M(null);
+  function c(s) {
+    const h = new R();
+    for (let p = 0; p < n.length; p++) {
+      const m = n[p], w = s[p] ?? 0, x = new R().makeRotationY(m.theta).multiply(
         new R().makeTranslation(
-          f.a / 1e3,
-          (f.d + w * (f.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          m.a / 1e3,
+          (m.d + w * (m.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(f.alpha));
-      m.multiply(g);
+      ).multiply(new R().makeRotationX(m.alpha));
+      h.multiply(x);
     }
-    const o = new G(), c = new W(), d = new G();
-    return m.decompose(o, c, d), o;
+    const a = new k(), u = new W(), d = new k();
+    return h.decompose(a, u, d), a;
   }
-  const h = u(
+  const o = c(
     e.joint_position
   );
-  function l(s, m) {
-    a.identity();
-    let o = new G();
-    for (let f = 0; f < n.length; f++) {
-      const w = m[f] ?? 0, g = n[f], A = new R().makeRotationY(g.theta).multiply(
+  function y(s, h) {
+    l.identity();
+    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(
-          g.a / 1e3,
-          (g.d + w * (g.reverse_rotation_direction ? -1 : 1)) / 1e3,
+          x.a / 1e3,
+          (x.d + w * (x.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(g.alpha));
-      a.multiply(A);
+      ).multiply(new R().makeRotationX(x.alpha));
+      l.multiply(P);
     }
-    const c = new G(), d = new W(), y = new G();
-    if (a.decompose(c, d, y), o = c, i.current && i.current.position.set(
-      o.x,
-      o.y,
-      o.z
-    ), p.current) {
-      const f = p.current.geometry;
-      f != null && f.setPositions && f.setPositions([
+    const u = new 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 m = f.current.geometry;
+      m != null && m.setPositions && m.setPositions([
         0,
         0,
         0,
-        o.x,
-        o.y,
-        o.z
+        a.x,
+        a.y,
+        a.z
       ]);
     }
   }
   return /* @__PURE__ */ r(
-    Re,
+    ve,
     {
       rapidlyChangingMotionState: e,
       dhParameters: n,
-      onTranslationChanged: l,
-      children: /* @__PURE__ */ x("group", { ...t, name: "Scene", children: [
-        /* @__PURE__ */ x("mesh", { name: "Base", position: [0, 0, 0], children: [
+      onTranslationChanged: y,
+      children: /* @__PURE__ */ 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 })
         ] }),
         /* @__PURE__ */ r(
           $,
           {
-            ref: p,
-            points: [new G(0, 0, 0), h],
+            ref: f,
+            points: [new k(0, 0, 0), o],
             color: "White",
             lineWidth: 5
           }
         ),
-        /* @__PURE__ */ x("mesh", { ref: i, name: "TCP", position: h, 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 })
         ] })
@@ -1204,106 +1202,106 @@ function ve({
     }
   );
 }
-const Me = E(
+const _e = J(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: a = J,
+    getModel: l = j,
     flangeRef: i,
-    postModelRender: p,
-    transparentColor: u,
-    instanceUrl: h,
-    ...l
+    postModelRender: f,
+    transparentColor: c,
+    instanceUrl: o,
+    ...y
   }) => {
-    const [s, m] = S(null), o = L((d) => {
-      m(d);
+    const [s, h] = G(null), a = L((d) => {
+      h(d);
     }, []);
     T(() => {
-      s && (u ? be(s, u) : we(s));
-    }, [s, u]);
-    const c = /* @__PURE__ */ r(
-      ve,
+      s && (c ? be(s, c) : xe(s));
+    }, [s, c]);
+    const u = /* @__PURE__ */ r(
+      Me,
       {
         rapidlyChangingMotionState: e,
         dhParameters: t,
-        ...l
+        ...y
       }
     );
-    return /* @__PURE__ */ x(
+    return /* @__PURE__ */ b(
       pe,
       {
-        fallback: c,
+        fallback: u,
         onError: (d) => {
           console.warn(d);
         },
         children: [
-          /* @__PURE__ */ r(se, { fallback: c, children: /* @__PURE__ */ r("group", { ref: o, children: /* @__PURE__ */ r(
-            Re,
+          /* @__PURE__ */ r(ae, { fallback: u, children: /* @__PURE__ */ r("group", { ref: a, children: /* @__PURE__ */ r(
+            ve,
             {
               rapidlyChangingMotionState: e,
               dhParameters: t,
               children: /* @__PURE__ */ r(
-                ge,
+                we,
                 {
                   modelURL: (() => {
-                    const d = a(n, h);
+                    const d = l(n, o);
                     if (!d) {
-                      const y = new Blob([], { type: "model/gltf-binary" }), f = new File(
-                        [y],
+                      const p = new Blob([], { type: "model/gltf-binary" }), m = new File(
+                        [p],
                         `${n}.glb`,
                         { type: "model/gltf-binary" }
                       );
-                      return Promise.resolve(URL.createObjectURL(f));
+                      return Promise.resolve(URL.createObjectURL(m));
                     }
                     return d;
                   })(),
-                  postModelRender: p,
+                  postModelRender: f,
                   flangeRef: i,
-                  ...l
+                  ...y
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ r(ye, {})
+          /* @__PURE__ */ r(ge, {})
         ]
       }
     );
   }
 );
-function Rt({
+function Mt({
   connectedMotionGroup: e,
-  getModel: n = J,
+  getModel: n = j,
   flangeRef: t,
-  transparentColor: a,
+  transparentColor: l,
   postModelRender: i,
-  ...p
+  ...f
 }) {
   if (!e.dhParameters)
     return null;
-  const u = e.modelFromController || "";
-  return u && n(u) ? /* @__PURE__ */ r(
-    Me,
+  const c = e.modelFromController || "";
+  return c && n(c) ? /* @__PURE__ */ r(
+    _e,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
-      modelFromController: u,
+      modelFromController: c,
       dhParameters: e.dhParameters,
       getModel: n,
       flangeRef: t,
-      transparentColor: a,
+      transparentColor: l,
       postModelRender: i,
-      ...p
+      ...f
     }
   ) : /* @__PURE__ */ r(
-    ve,
+    Me,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       dhParameters: e.dhParameters,
-      ...p
+      ...f
     }
   );
 }
-const oe = {
+const ie = {
   [_.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
   [_.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
   [_.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
@@ -1326,7 +1324,7 @@ const oe = {
     0
   ]
 };
-function Ke(e) {
+function Qe(e) {
   const [n] = e.split("_");
   switch (n) {
     case "ABB":
@@ -1343,34 +1341,34 @@ function Ke(e) {
       return null;
   }
 }
-function vt(e, n) {
-  const t = Ke(e);
-  return t && t in oe ? oe[t] : n || null;
+function _t(e, n) {
+  const t = Qe(e);
+  return t && t in ie ? ie[t] : n || null;
 }
-const Mt = E((e) => {
-  const { inverseSolver: n, dhParameters: t, ...a } = e, [i, p] = S(
-    U.RevoluteJoint
+const Tt = J((e) => {
+  const { inverseSolver: n, dhParameters: t, ...l } = e, [i, f] = G(
+    C.RevoluteJoint
   );
   T(() => {
-    t.length && p(t[0].type ?? U.RevoluteJoint);
+    t.length && f(t[0].type ?? C.RevoluteJoint);
   }, [t]);
-  const u = j(() => n === null && i === U.RevoluteJoint, [n, i]), h = j(() => n === null && i === U.PrismaticJoint, [n, i]);
-  return j(() => !!n, [n]) || u ? /* @__PURE__ */ r(xe, { dhParameters: t, ...a }) : h ? /* @__PURE__ */ r(Me, { dhParameters: t, ...a }) : null;
+  const c = 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 {
-  yt as C,
-  Rt as L,
-  oe as M,
+  wt as C,
+  Mt as L,
+  ie as M,
   ne as P,
-  wt as R,
-  gt as S,
-  bt as T,
-  xt as a,
-  Xe as b,
-  Me as c,
-  J as d,
-  Ke as e,
-  xe as f,
-  vt as g,
-  Mt as h
+  Rt as R,
+  bt as S,
+  xt as T,
+  vt as a,
+  Ze as b,
+  _e as c,
+  j as d,
+  Qe as e,
+  Re as f,
+  _t as g,
+  Tt as h
 };