@wandelbots/wandelbots-js-react-components 5.5.4 → 5.5.5-pr.feat-RB-3582-limits-from-api.605.fd3b200

package/dist/chunks/theming-kJuzfb6S.cjs

@@ -0,0 +1,4 @@
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M.observe(S.current),()=>{M.disconnect()}},[y,v.length,e]);const b=m.useMemo(()=>{if(a!==void 0)return a;if(x!==null)return x;if(d&&t.length>0){const M=t[0];return f(M),M}return null},[d,t,a,x]),C=M=>{const E=t.find(F=>o(F).id===M.id);E&&(a===void 0&&f(E),r&&r(E,M))},j=m.useMemo(()=>!b||!i?null:i(b),[b,i]);function w(){return n.jsx(V.Toolbar,{children:n.jsxs(T,{sx:{display:"flex",width:"100%",gap:1,p:.5,alignItems:"center"},children:[c&&n.jsxs(R,{variant:"h6",sx:{fontWeight:500,color:"white"},children:[c,s&&` (${t.length})`]}),n.jsxs(T,{sx:{ml:"auto",display:"flex",gap:.5,alignItems:"center",pr:1},children:[n.jsx(V.FilterPanelTrigger,{render:n.jsx(V.ToolbarButton,{"aria-label":"Show 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.MuiDataGrid-main":{border:"none","& .MuiPaper-root":{}},"& .MuiDataGrid-container--top [role=row]":{},"& .MuiDataGrid-topContainer":{borderBottom:"none !important"},"& .MuiDataGrid-columnHeaders":{border:"none",borderBottom:"none !important"},"& .MuiDataGrid-row":{cursor:r?"pointer":"default",border:"none",margin:"1px 0",position:"relative",backgroundColor:"transparent !important","&:hover":{backgroundColor:"transparent !important","&::before":{content:'""',position:"absolute",top:0,left:"16px",right:"16px",bottom:0,backgroundColor:"action.hover",borderRadius:"16px",zIndex:0}},"&.Mui-selected":{backgroundColor:"transparent !important","&:hover":{backgroundColor:"transparent !important"}},...j!==null&&{[`&[data-id="${j}"]`]:{backgroundColor:"transparent !important","&::before":{content:'""',position:"absolute",top:0,left:"16px",right:"16px",bottom:0,backgroundColor:"rgba(255, 255, 255, 0.08) !important",borderRadius:"16px",zIndex:0},"&:hover":{backgroundColor:"transparent !important"},"&:hover::before":{backgroundColor:"rgba(255, 255, 255, 0.12) !important"}}}},"& .MuiDataGrid-cell--textLeft":{paddingLeft:"40px"},"& .MuiDataGrid-cell":{border:"none",position:"relative",zIndex:1,"&:focus":{outline:"none"},"&:focus-within":{outline:"none"},"&:hover":{backgroundColor:"transparent !important"}},"& .MuiDataGrid-columnHeader":{border:"none",paddingLeft:"40px",paddingRight:"40px","& .MuiDataGrid-columnHeaderTitle":{color:"rgba(255, 255, 255, 0.6)"}},"& .MuiDataGrid-toolbarContainer":{padding:"8px",border:"none !important",borderBottom:"none !important","& .MuiBox-root":{},"& .MuiFormControl-root":{},"& .MuiInputBase-root":{},"& .MuiPaper-root":{boxShadow:"none !important"},"& *":{borderBottom:"none !important"}},"& .MuiDataGrid-toolbar":{borderBottom:"none !important"},"& .MuiDataGrid-toolbarFilterList":{border:"none"},"& .MuiDataGrid-withBorderColor":{borderColor:"transparent !important"},"& .MuiDataGrid-columnSeparator":{display:"none"},"& .MuiDataGrid-footerContainer":{display:"none"},"& .MuiDataGrid-filler":{border:"none !important",borderTop:"none !important",borderBottom:"none !important",borderLeft:"none !important",borderRight:"none !important","--rowBorderColor":"none !important"},"& .MuiBackdrop-root":{},"& .MuiModal-backdrop":{},...g==null?void 0:g.sx}})})}));Ae.displayName="WandelbotsDataGrid";const ce=B.externalizeComponent(D.observer(({colors:t,label:e,getDisplayedValue:o,startJogging:r,stopJogging:a,disabled:i,activeJoggingDirection:c,...s})=>{var b,C,j,w,k,I,M;Y.useAnimationFrame(()=>{const E=o(),F=u.current;F&&(F.textContent=E)});const l=A.useTheme(),[g,h]=m.useState(null);m.useEffect(()=>{i&&v()},[i]);const d=c||g,u=m.useRef(null);t||(t={color:"#fff",backgroundColor:"#000",borderColor:"#000",buttonBackgroundColor:{disabled:"#000",default:"#000",hovered:"#000",pressed:"#000"},labelColor:"#000"});const p=d?(b=t.buttonBackgroundColor)==null?void 0:b.pressed:t.borderColor,y={width:"55px",color:t.color,path:{fill:t.color},alignContent:"center",fontSize:"37px",svg:{pointerEvents:"none"}},S={...y,backgroundColor:(C=t.buttonBackgroundColor)==null?void 0:C.default,":hover":{backgroundColor:(j=t.buttonBackgroundColor)==null?void 0:j.hovered},":active":{backgroundColor:(w=t.buttonBackgroundColor)==null?void 0:w.pressed,color:t.backgroundColor,path:{fill:t.backgroundColor}},":disabled":{backgroundColor:(k=t.buttonBackgroundColor)==null?void 0:k.disabled,"svg path":{fill:l.palette.action.disabled}}},x={...y,backgroundColor:(I=t.buttonBackgroundColor)==null?void 0:I.pressed,color:t.backgroundColor,path:{fill:t.backgroundColor},":disabled":{backgroundColor:(M=t.buttonBackgroundColor)==null?void 0:M.pressed,"svg path":{fill:l.palette.action.disabled}}};function f(E,F){i||E.button===0&&(h(F),r(F))}function v(){h(null),a()}return n.jsxs(_,{height:"64px",direction:"row",justifyContent:"center",...s,children:[n.jsx(G,{disabled:i,disableRipple:!0,onPointerDown:E=>f(E,"-"),onPointerUp:v,onPointerOut:v,size:"large",sx:{...d==="-"?x:S,borderRadius:"16px 0px 0px 16px",borderLeft:`2px solid ${p??"#fff"}`,borderBottom:`2px solid ${p??"#fff"}`,borderTop:`2px solid ${p??"#fff"}`},children:n.jsx(N.ForwardRef$3,{})}),n.jsxs(_,{spacing:"6px",sx:{width:"150px",backgroundColor:t.backgroundColor,alignItems:"center",justifyContent:"center",opacity:"0.9",borderBottom:`2px solid ${p??"#fff"}`,borderTop:`2px solid ${p??"#fff"}`},children:[n.jsx(_,{height:"22px",direction:"row",alignItems:"center",justifyItems:"center",spacing:1,sx:{userSelect:"none",color:t.color,".MuiTypography-root":{fontWeight:700,...i?{color:l.palette.action.disabled}:{}},...i?{"svg path":{fill:l.palette.action.disabled}}:{}},children:e}),n.jsx(R,{height:"22px",sx:{fontSize:"15px",color:i?l.palette.action.disabled:t.color,fontWeight:700,fontVariantNumeric:"tabular-nums",minWidth:"80px",textAlign:"center"},ref:u,children:o()})]}),n.jsx(G,{disableRipple:!0,disabled:i,onPointerDown:E=>f(E,"+"),onPointerUp:v,onPointerOut:v,size:"large",sx:{...d==="+"?x:S,borderRadius:"0px 16px 16px 0px",borderRight:`2px solid ${p??"#fff"}`,borderBottom:`2px solid ${p??"#fff"}`,borderTop:`2px solid ${p??"#fff"}`},children:n.jsx(N.ForwardRef$4,{})})]})})),De=B.externalizeComponent(D.observer(({startJogging:t,stopJogging:e,lowerLimit:o,upperLimit:r,useDegree:a,getValue:i,disabled:c,...s})=>{var w,k,I,M,E,F,Z,ee,fe,xe,be,ye,Se,ve,je;const{t:l}=L.useTranslation(),[g,h]=m.useState(),d=A.useTheme(),u={background:(w=d.palette.backgroundPaperElevation)==null?void 0:w[4],color:(k=d.palette.backgroundPaperElevation)==null?void 0:k[11]},p=D.useLocalObservable(()=>({activeJoggingDir:null,startJogging(O){this.activeJoggingDir=O,t(O)},stopJogging(){this.activeJoggingDir=null,e()}})),y=xt(()=>{const O=a?S(i()):i();(O===void 0||g===void 0||Math.abs(g-O)>1e-9)&&h(O)},50);Y.useAnimationFrame(y);function S(O){if(O!==void 0)return J.radiansToDegrees(O)}function x(O){O.button===0&&p.startJogging("-")}function f(O){O.button===0&&p.startJogging("+")}function v(O){p.stopJogging()}function b(O){p.stopJogging()}function C(O,X=1){if(O===void 0||Number.isNaN(O))return"";const Q=l("General.degree.variable",{amount:O.toFixed(X)});return O>0&&X===0?`+${Q}`:Q}function j(O,X=1){if(O===void 0||Number.isNaN(O))return"";const Q=l("General.mm.variable",{amount:O.toFixed(X)});return O>0&&X===0?`+${Q}`:Q}return n.jsxs(_,{height:"64px",width:"100%",maxWidth:"260px",direction:"row",...s,sx:{"& .MuiIconButton-root":{width:"52px",color:d.palette.text.primary,alignContent:"center",backgroundColor:(I=d.palette.backgroundPaperElevation)==null?void 0:I[11],"& svg":{width:"42px",height:"42px"},"&.Mui-disabled":{backgroundColor:(M=d.palette.backgroundPaperElevation)==null?void 0:M[11],color:d.palette.action.disabled,opacity:1},"&:hover":{backgroundColor:(E=d.palette.backgroundPaperElevation)==null?void 0:E[9]},"&:active":{...u}}},children:[n.jsx(G,{onPointerDown:x,onPointerUp:v,onPointerOut:b,disabled:c,disableRipple:!0,sx:{borderRadius:"16px 0px 0px 16px",...p.activeJoggingDir==="-"?u:{}},children:n.jsx(ht,{sx:{pointerEvents:"none",color:(fe=(ee=(Z=(F=d.componentsExt)==null?void 0:F.JoggingPanel)==null?void 0:Z.JoggingJoint)==null?void 0:ee.Joint)==null?void 0:fe.arrowColor}})}),n.jsxs(_,{flexGrow:1,alignItems:"center",justifyContent:"center",sx:{borderStyle:"solid",borderLeftWidth:0,borderRightWidth:0,border:"none",backgroundColor:(xe=d.palette.backgroundPaperElevation)==null?void 0:xe[11],paddingLeft:"20px",paddingRight:"20px",zIndex:1},children:[n.jsx(R,{sx:{fontSize:"15px",fontWeight:700,position:"relative",top:"5px",fontVariantNumeric:"tabular-nums",minWidth:"80px",textAlign:"center",color:c?d.palette.action.disabled:d.palette.text.primary},children:a?C(g):j(g)}),n.jsx(Oe,{disabled:!0,"aria-label":"Joint position",min:a?S(o):o,max:a?S(r):r,value:g||0,track:!1,sx:{"& .MuiSlider-mark":{display:"none"},"& .MuiSlider-thumb":{width:"5px",height:"12px",borderRadius:"2px",color:c?d.palette.action.disabled:d.palette.text.primary},"& .MuiSlider-markLabel":{top:"20px",fontSize:"12px",color:c?d.palette.action.disabled:d.palette.text.secondary},"& .MuiSlider-rail":{backgroundColor:(be=d.palette.backgroundPaperElevation)==null?void 0:be[5],opacity:1}},marks:o!==void 0&&r!==void 0&&[{value:a?S(o):o,label:a?C(S(o),0):j(o)},{value:a?S(r):r,label:a?C(S(r),0):j(r)}]})]}),n.jsx(G,{onPointerDown:f,onPointerUp:v,onPointerOut:b,disabled:c,disableRipple:!0,sx:{borderRadius:"0px 16px 16px 0px",...p.activeJoggingDir==="+"?u:{}},children:n.jsx(ft,{sx:{pointerEvents:"none",color:(je=(ve=(Se=(ye=d.componentsExt)==null?void 0:ye.JoggingPanel)==null?void 0:Se.JoggingJoint)==null?void 0:ve.Joint)==null?void 0:je.arrowColor}})})]})}));function ge(t,e,o){if(e.length!==t.length)return!0;for(let r=0;r<e.length;r++)if(Math.abs(e[r]-t[r])>o)return!1;return!0}function Je(t,e,o){if(t===void 0&&e||t&&e===void 0||(t==null?void 0:t.orientation)===void 0||(e==null?void 0:e.orientation)===void 0||(t==null?void 0:t.position)===void 0||(e==null?void 0:e.position)===void 0)return!1;if(t===void 0||e===void 0)return!0;let r=0;return r+=Math.abs(t.orientation[0]-e.orientation[0]),r+=Math.abs(t.orientation[1]-e.orientation[1]),r+=Math.abs(t.orientation[2]-e.orientation[2]),r+=Math.abs(t.position[0]-e.position[0]),r+=Math.abs(t.position[1]-e.position[1]),r+=Math.abs(t.position[2]-e.position[2]),r<=o}function pe(t,e,o){return t.coordinate_system===e.coordinate_system&&t.tcp===e.tcp&&Je(t.tcp_pose,e.tcp_pose,o)}function Be(t,e){const o=new le.Vector3(e[0],e[1],e[2]),r=new le.Vector3(t[0],t[1],t[2]),a=o.length(),i=o.normalize();let c=r.length(),s=r.normalize();s.dot(i)<0&&(c=-c,s=s.multiplyScalar(-1));let l=c-a;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),c=a+l,[...s.multiplyScalar(c)]}const Me=1e-4;class ie{constructor(e,o,r,a,i,c){this.nova=e,this.controller=o,this.motionGroup=r,this.description=a,this.initialMotionState=i,this.motionStateSocket=c,this.rapidlyChangingMotionState=i,c.addEventListener("message",s=>{var g;const l=(g=J.tryParseJson(s.data))==null?void 0:g.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);ge(this.rapidlyChangingMotionState.joint_position,l.joint_position,Me)||P.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=l.joint_position}),pe(this.rapidlyChangingMotionState,l,Me)||P.runInAction(()=>{var h,d,u;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:(h=l.tcp_pose)!=null&&h.orientation&&((d=l.tcp_pose)!=null&&d.position)&&((u=this.rapidlyChangingMotionState.tcp_pose)!=null&&u.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:Be(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",l.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==l.standstill&&P.runInAction(()=>{this.rapidlyChangingMotionState.standstill=l.standstill})}),P.makeAutoObservable(this)}static async open(e,o){var d;const[r,a]=o.split("@"),i=await e.api.controller.getCurrentRobotControllerState(a),c=i==null?void 0:i.motion_groups.find(u=>u.motion_group===o);if(!i||!c)throw new Error(`Controller ${a} or motion group ${o} not found`);const s=e.openReconnectingWebsocket(`/controllers/${a}/motion-groups/${o}/state-stream`),l=await s.firstMessage(),g=(d=J.tryParseJson(l.data))==null?void 0:d.result;if(!g)throw new Error(`Unable to parse initial motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
+  `,g);const h=await e.api.motionGroup.getMotionGroupDescription(a,c.motion_group);return new ie(e,i,c,h,g,s)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((e,o)=>({index:o}))}dispose(){this.motionStateSocket.close()}}const ke="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class re{constructor(e,o={}){this.motionStream=e,this.options=o,this.DEFAULT_MODE="off",this.DEFAULT_TCP="Flange",this.NO_TCP=void 0,this.DEFAULT_INIT_TIMEOUT=5e3,this.DEFAULT_ORIENTATION="coordsys",this.mode="off",this.joggingSocket=null,this.trajectorySocket=null,this.timeout=this.DEFAULT_INIT_TIMEOUT,this.tcp=(o==null?void 0:o.tcp)||e.motionGroup.tcp||this.getDefaultTcp(e),this.orientation=(o==null?void 0:o.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(o==null?void 0:o.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(o==null?void 0:o.mode)||this.DEFAULT_MODE,this.onError=o==null?void 0:o.onError}static async open(e,o,r={}){const a=await ie.open(e,o),i=new re(a,r);return await i.setJoggingMode(i.mode),i}getDefaultTcp(e){var r,a;const o=(a=(r=e.description.dh_parameters)==null?void 0:r[0])==null?void 0:a.type;return e.joints.length<6&&(o===z.JointTypeEnum.RevoluteJoint||o===z.JointTypeEnum.PrismaticJoint)?this.NO_TCP:this.DEFAULT_TCP}async setOptions(e){e.tcp&&(this.tcp=e.tcp),e.orientation&&(this.orientation=e.orientation),e.timeout&&(this.timeout=e.timeout),e.mode&&(this.mode=e.mode),e.onError&&(this.onError=e.onError),this.setJoggingMode(this.mode,!1)}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get numJoints(){return this.motionStream.joints.length}async stop(){if(this.joggingSocket){const e=new Array(this.numJoints).fill(0);this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:e})}this.trajectorySocket&&this.trajectorySocket.sendJson({message_type:"PauseMovementRequest"})}async dispose(){const e=[this.joggingSocket,this.trajectorySocket].filter(o=>o!==null);return e.forEach(o=>{o.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(e.map(o=>o.closed()))}async setJoggingMode(e,o=!0){if(!(this.mode===e&&o)&&(this.dispose(),this.mode=e,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((e,o)=>{const r=setTimeout(()=>{o(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(`/controllers/${this.motionStream.controllerId}/execution/jogging`),this.joggingSocket.addEventListener("message",a=>{var c,s,l,g;const i=J.tryParseJson(a.data);if(((c=i==null?void 0:i.result)==null?void 0:c.kind)==="INITIALIZE_RECEIVED"){clearTimeout(r),e();return}if(((s=i==null?void 0:i.result)==null?void 0:s.kind)==="MOTION_ERROR")if(clearTimeout(r),this.onBlocked&&((l=i==null?void 0:i.result)!=null&&l.message.includes(ke))){(g=this.joggingSocket)==null||g.dispose(),this.onBlocked();return}else this.onError?this.onError(a.data):o(new Error(a.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:e,direction:o,velocityValue:r,velocityUnit:a}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=new Array(this.numJoints).fill(0);i[e]=o==="-"?-r:r,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:e,direction:o,velocityMmPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const a=[0,0,0],i=[0,0,0];i[J.XYZ_TO_VECTOR[e]]=o==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:a,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:e,direction:o,velocityRadsPerSec:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const a=[0,0,0],i=[0,0,0];a[J.XYZ_TO_VECTOR[e]]=o==="-"?-r:r,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:a,use_tool_coordinate_system:this.orientation==="tool"})}async runIncrementalCartesianMotion({currentTcpPose:e,currentJoints:o,velocityInRelevantUnits:r,axis:a,direction:i,motion:c}){const s=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(c.type==="translate"){if(!e.position)throw new Error("Current pose has no position, cannot perform translation");const x=[...e.position];x[J.XYZ_TO_VECTOR[a]]+=c.distanceMm*(i==="-"?-1:1),s.push({limits_override:{tcp_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:x,orientation:e.orientation}}})}else if(c.type==="rotate"){if(!e.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const x=new se.Vector3(e.orientation[0],e.orientation[1],e.orientation[2]),f=x.length(),v=x.clone().normalize(),b=c.distanceRads*(i==="-"?-1:1),C=new se.Vector3(0,0,0);C[a]=1;const j=Math.cos(.5*b)*Math.cos(.5*f),w=Math.sin(.5*b)*Math.sin(.5*f),k=Math.sin(.5*b)*Math.cos(.5*f),I=Math.cos(.5*b)*Math.sin(.5*f),M=C.dot(v),E=C.clone().cross(v),F=2*Math.acos(j-w*M),Z=F/Math.sin(.5*F),ee=new se.Vector3().addScaledVector(E,w).addScaledVector(C,k).addScaledVector(v,I).multiplyScalar(Z);s.push({limits_override:{tcp_orientation_velocity_limit:r},path:{path_definition_name:"PathLine",target_pose:{position:e.position,orientation:[...ee]}}})}const l=this.motionStream.description;if(l.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const g={motion_group_model:l.motion_group_model,cycle_time:l.cycle_time,mounting:l.mounting,global:l.operation_limits.auto_limits},h=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:g,start_joint_position:o,motion_commands:s}),d=h.response;if(!d)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(h)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(`/controllers/${this.motionStream.controllerId}/execution/trajectory`);const u=x=>{var f;if(!x||x.add_trajectory_error||x.message)if(this.onError)this.onError(x);else throw new Error(((f=x==null?void 0:x.add_trajectory_error)==null?void 0:f.message)||(x==null?void 0:x.message)||"Failed to execute trajectory, unknown error");if(!this.trajectorySocket)throw new Error("Failed to execute trajectory, websocket not available anymore");this.trajectorySocket.sendJson({message_type:"StartMovementRequest",direction:"DIRECTION_FORWARD"})},p=async()=>{var x;await P.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await P.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(x=this.trajectorySocket)==null||x.dispose(),this.trajectorySocket=null},y=async()=>{var x;await P.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(x=this.trajectorySocket)==null||x.dispose(),this.trajectorySocket=null},S=async x=>{if(x!=null&&x.message)if(this.onError){this.onError(x);return}else throw new Error(x.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await p():await y()};this.trajectorySocket.addEventListener("message",x=>{var v,b;const f=J.tryParseJson(x.data);if(!((v=f==null?void 0:f.result)!=null&&v.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${x.data}`);if(this.onBlocked&&((b=f.result.message)!=null&&b.includes(ke))){this.onBlocked();return}if(f.result.kind==="INITIALIZE_RECEIVED")u(f.result);else if(f.result.kind==="START_RECEIVED")S(f);else if(f.result.kind!=="PAUSE_RECEIVED")if(f.result.kind==="MOTION_ERROR"&&f.result.message)if(this.onError){this.onError(f);return}else throw new Error(f.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${f.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:d,tcp:this.tcp}})}}const Fe=t=>{const e=t.softTimeout||3e3,[o,r]=m.useState(!1),a=A.useTheme();return m.useEffect(()=>{const i=setTimeout(()=>{r(!0)},e);return()=>clearTimeout(i)}),n.jsx(_,{width:"100%",height:"100%",alignItems:"center",justifyContent:"center",sx:{color:a.palette.text.primary},children:t.error?n.jsx(Le,{loadingMessage:t.message,error:t.error}):n.jsxs(n.Fragment,{children:[n.jsx(nt,{sx:{marginBottom:"24px"}}),!!t.message&&n.jsx("div",{children:t.message}),n.jsx(_,{sx:{visibility:o?"visible":"hidden",marginTop:"1rem",color:a.palette.text.secondary},children:"This is taking longer than expected..."})]})})},Le=t=>{const e=rt.makeErrorMessage(t.error),o=t.error instanceof Error?t.error.stack:null,r=A.useTheme();return n.jsxs(_,{sx:{maxHeight:"100%",maxWidth:"min(100%, 800px)",padding:2,overflow:"auto",color:r.palette.error.main,"& pre":{whiteSpace:"pre-wrap",wordBreak:"break-word",paddingBottom:"3rem"}},children:[(t.loadingMessage?`Error while ${ue.lowerFirst(it.capitalize(t.loadingMessage))} - `:"")+e,n.jsx("br",{}),o&&n.jsx("pre",{children:o})]})},qt=D.observer(({store:t})=>{const{t:e}=L.useTranslation();return n.jsx(Ee,{"data-testid":"jogging-blocked","aria-label":"jogging-blocked",open:!0,sx:{position:"absolute",zIndex:o=>o.zIndex.drawer+1,color:"#fff",background:"rgba(15, 15, 15, 0.88)",justifyContent:"flex-start",alignItems:"flex-start"},children:n.jsxs(_,{sx:{m:2,width:"100%"},children:[n.jsxs(at,{severity:"error",sx:{mb:2},children:[n.jsx(st,{children:e("Jogging.Blocked.ti")}),e("Jogging.Blocked.lb")]}),n.jsx(H,{variant:"contained",color:"secondary",onClick:()=>t.unblock(),children:e("Jogging.Blocked.Reenable.bt")})]})})}),ze=D.observer(({store:t})=>{const{t:e}=L.useTranslation(),[o,r]=m.useState(t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached),a=m.useRef(o);Y.useAnimationFrame(()=>{const c=t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached;lt(a.current,c)||(a.current=c,r(c))});const i=[];for(const[c,s]of o.entries())s&&i.push(c);return n.jsx(R,{"data-testid":"jogging-joint-limit-detector","aria-label":"jogging-joint-limit-detector",color:"error",sx:{margin:"0.5rem 1rem",textAlign:"center",minHeight:"1.5rem",visibility:i.length?"visible":"hidden"},children:e("Jogging.JointLimitsReached.lb",{jointNumbers:i.map(c=>c+1).join(", ")})})}),Nt=A.styled(ct)(({theme:t})=>({"&.MuiFormControl-root":{".MuiSelect-select":{paddingTop:"20px",paddingLeft:"12px"},label:{pointerEvents:"none",fontSize:"16px"},".MuiInputLabel-root":{"&.Mui-focused":{color:t.palette.text.primary}}}}));function oe({labelValue:t,...e}){return n.jsxs(Nt,{fullWidth:!0,variant:"filled",children:[n.jsx(dt,{id:e.labelId,children:t}),n.jsx(ut,{...e})]})}const de=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],Gt=[{id:"continuous"},...de],Wt=["coordsys","tool"];class ae{constructor(e,o,r,a,i){var c,s,l,g;this.jogger=e,this.coordSystems=o,this.motionGroupDescription=r,this.tcps=a,this.inverseSolverValue=i,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.minRotationVelocityDegPerSec=1,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=z.JointTypeEnum.RevoluteJoint,this.operationMode=null,this.safetyState=null;for(const h of o)if(h.coordinate_system===""){h.coordinate_system="world";break}this.operationMode=e.motionStream.controller.operation_mode,this.safetyState=e.motionStream.controller.safety_state,this.selectedCoordSystemId=((c=o[0])==null?void 0:c.coordinate_system)||"world",this.selectedTcpId=((s=a[0])==null?void 0:s.id)||"",this.inverseSolver=i,this.jointType=((g=(l=r==null?void 0:r.dh_parameters)==null?void 0:l[0])==null?void 0:g.type)??z.JointTypeEnum.RevoluteJoint,P.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(P.autorun(()=>this.saveToLocalStorage())),window.joggingStore=this}static async loadFor(e){const{nova:o}=e,[r,a]=await Promise.all([o.api.controller.listCoordinateSystems(e.motionStream.controllerId,"ROTATION_VECTOR"),o.api.motionGroup.getMotionGroupDescription(e.motionStream.controllerId,e.motionGroupId)]),i=await o.api.motionGroupModels.getMotionGroupKinematicModel(a.motion_group_model),c=Object.entries(a.tcps||{}).map(([s,l])=>({id:s,readable_name:l.name,position:l.pose.position,orientation:l.pose.orientation}));return new ae(e,r||[],a,c,i.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return ue.countBy(this.coordSystems,e=>e.name)}async deactivate(){this.jogger.mode==="jogging"&&await this.jogger.setJoggingMode("off")}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&this.jogger.setOptions({tcp:this.selectedTcpId,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const e=J.tryParseJson(localStorage.getItem("joggingToolStore"));e&&(this.tabsById[e.selectedTabId]&&(this.selectedTabId=e.selectedTabId),this.coordSystemsById[e.selectedCoordSystemId]&&(this.selectedCoordSystemId=e.selectedCoordSystemId),this.tcpsById[e.selectedTcpId]&&(this.selectedTcpId=e.selectedTcpId),this.incrementOptionsById[e.selectedIncrementId]&&(this.selectedIncrementId=e.selectedIncrementId),["translate","rotate"].includes(e.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=e.selectedCartesianMotionType),["coordsys","tool"].includes(e.selectedOrientation)&&(this.selectedOrientation=e.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedTcpId:this.selectedTcpId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const e=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&e.unshift({id:"cartesian",label:"Cartesian"}),e}get incrementOptions(){return Gt}get discreteIncrementOptions(){return de}get incrementOptionsById(){return te(this.incrementOptions,e=>e.id)}get tabsById(){return te(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return te(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return te(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:de.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}get isAutoMode(){return this.operationMode===z.OperationMode.OperationModeAuto}get isSafetyStateNormal(){return this.safetyState===z.SafetyStateType.SafetyStateNormal}get maxRotationVelocityDegPerSec(){var o,r,a,i;if(this.operationMode&&this.safetyState&&this.motionGroupDescription){const c=this.isAutoMode?(r=(o=this.motionGroupDescription.operation_limits.auto_limits)==null?void 0:o.tcp)==null?void 0:r.orientation_velocity:(i=(a=this.motionGroupDescription.operation_limits[this.isSafetyStateNormal?"manual_t1_limits":"manual_t2_limits"])==null?void 0:a.tcp)==null?void 0:i.orientation_velocity;return c?B.radiansToDegree(c):60}return 60}get maxTranslationVelocityMmPerSec(){var o,r,a,i;return this.operationMode&&this.safetyState&&this.motionGroupDescription?(this.isAutoMode?(r=(o=this.motionGroupDescription.operation_limits.auto_limits)==null?void 0:o.tcp)==null?void 0:r.velocity:(i=(a=this.motionGroupDescription.operation_limits[this.isSafetyStateNormal?"manual_t1_limits":"manual_t2_limits"])==null?void 0:a.tcp)==null?void 0:i.velocity)??250:250}getJointVelocity(e,o){return e.velocity?B.radiansToDegree(e.velocity):o}get maxJointVelocityInDisplayUnits(){var o,r,a,i;if(this.operationMode&&this.safetyState&&this.motionGroupDescription){const c=((r=(o=this.motionGroupDescription.operation_limits.auto_limits)==null?void 0:o.joints)==null?void 0:r.map(l=>this.getJointVelocity(l,60)))??[],s=((i=(a=this.motionGroupDescription.operation_limits[this.isSafetyStateNormal?"manual_t1_limits":"manual_t2_limits"])==null?void 0:a.joints)==null?void 0:i.map(l=>this.getJointVelocity(l,60)))??[];return Math.floor(this.isAutoMode?Math.max(...c):Math.max(...s))}return 60}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return Math.floor(e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec)}onTabChange(e,o){const r=this.tabs[o]||this.tabs[0];this.selectedTabId=r.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.selectedTcpId=e}setSelectedOrientation(e){this.selectedOrientation=e}setSelectedIncrementId(e){this.selectedIncrementId=e}setCurrentIncrementJog(e){this.incrementJogInProgress=e}setVelocityFromSlider(e,o){o?this.rotationVelocityDegPerSec=e:this.translationVelocityMmPerSec=e}setSelectedCartesianMotionType(e){this.selectedCartesianMotionType=e}lock(e){this.locks.add(e)}unlock(e){this.locks.delete(e)}block(){this.blocked=!0}unblock(){this.blocked=!1,this.jogger.mode==="jogging"&&this.jogger.initializeJoggingWebsocket()}async withMotionLock(e){const o=gt();this.lock(o);try{return await e()}finally{this.unlock(o)}}}const Ut=D.observer(({store:t,useDegree:e})=>{var c;const{t:o}=L.useTranslation(),r=m.useId(),a=[];function i(s){switch(s){case"coordsys":return o("Jogging.Orientation.coordsys");case"tool":return o("Jogging.Orientation.tool");default:return s}}return t.showCoordSystemSelect&&a.push(n.jsx(oe,{labelId:`jogging-coord-select-${r}`,labelValue:o("Jogging.CoordinateSystem.hlb"),value:t.selectedCoordSystemId,size:"small",variant:"filled",displayEmpty:!0,onChange:s=>t.setSelectedCoordSystemId(s.target.value),disabled:t.isLocked,children:t.coordSystems.map(s=>n.jsx(W,{value:s.coordinate_system,children:s.name&&t.coordSystemCountByName[s.name]>1?`${s.name} / 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0:c.id)||"continuous",onChange:s=>t.setSelectedIncrementId(s.target.value),disabled:t.isLocked,children:[n.jsx(W,{value:"continuous",children:o("Jogging.Increment.Continuous.dd")},"continuous"),t.selectedOrientation==="tool"?null:t.discreteIncrementOptions.map(s=>n.jsx(W,{value:s.id,children:e?`${s.degrees}°`:`${s.mm}mm`},s.id))]},"increment")),n.jsx(T,{component:"div","data-testid":"jogging-options","aria-label":"jogging-options",sx:{display:"grid",gap:"16px",gridTemplateColumns:"1fr 1fr",gridAutoRows:"min-content","& label":{opacity:.7,fontSize:"12px",marginBottom:"4px"}},children:a.map((s,l)=>n.jsx(T,{sx:{gridColumn:a.length%2===1&&l===a.length-1?"span 2":"auto"},children:s},l))})}),Ht=A.styled(pt)(({theme:t})=>{var e;return{"&.MuiToggleButtonGroup-root":{background:(e=t.palette.backgroundPaperElevation)==null?void 0:e[8],borderRadius:"8px",padding:"4px",gap:"4px",button:{border:"none",borderRadius:"4px",flex:"1 1 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ne{constructor(e,o,r,a,i,c,s,l,g,h){this.nova=e,this.controller=o,this.motionGroup=r,this.initialMotionState=a,this.motionStateSocket=i,this.isVirtual=c,this.tcps=s,this.description=l,this.initialControllerState=g,this.controllerStateSocket=h,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=a,this.controllerState=g,h.addEventListener("message",d=>{var p;const u=(p=J.tryParseJson(d.data))==null?void 0:p.result;u&&P.runInAction(()=>{this.controllerState=u})}),i.addEventListener("message",d=>{var p;const u=(p=J.tryParseJson(d.data))==null?void 0:p.result;if(!u)throw new Error(`Failed to get motion state for ${this.motionGroupId}: 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motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
+  `,g);const d=(await e.api.controller.getRobotController(i.controller)).configuration.kind==="VirtualController",u=await e.api.motionGroup.getMotionGroupDescription(a,c.motion_group),p=Object.entries(u.tcps||{}).map(([b,C])=>({id:b,readable_name:C.name,position:C.pose.position,orientation:C.pose.orientation})),y=e.openReconnectingWebsocket(`/controllers/${i.controller}/state-stream?response_rate=1000`),S=await y.firstMessage(),x=(v=J.tryParseJson(S.data))==null?void 0:v.result;if(!x)throw new Error(`Unable to parse initial controller state message ${S.data}`);return console.log(`Connected controller state websocket to controller ${i.controller}. Initial state:
+  `,x),new ne(e,i,c,g,s,d,p,u,x,y)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((e,o)=>({index:o}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(e=>({...vo,...e}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var e,o,r;return this.description.mounting?[(((e=this.description.mounting.position)==null?void 0:e[0])||0)/1e3,(((o=this.description.mounting.position)==null?void 0:o[1])||0)/1e3,(((r=this.description.mounting.position)==null?void 0:r[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var a,i,c,s,l,g;const e=new we.Vector3(((i=(a=this.description.mounting)==null?void 0:a.orientation)==null?void 0:i[0])||0,((s=(c=this.description.mounting)==null?void 0:c.orientation)==null?void 0:s[1])||0,((g=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:g[2])||0),o=e.length(),r=e.normalize();return new we.Quaternion().setFromAxisAngle(r,o)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}async deactivate(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}P.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),P.runInAction(()=>{this.activationState="inactive"})}catch(e){throw P.runInAction(()=>{this.activationState="active"}),e}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}P.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),P.runInAction(()=>{this.activationState="active"})}catch(e){throw P.runInAction(()=>{this.activationState="inactive"}),e}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(e){this.joggingVelocity=e}}function Ue(){var e,o,r,a,i,c;const t=A.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 1)",paper:"rgba(17, 19, 31, 1)"},action:{active:"rgba(255, 255, 255, 0.56)",hover:"rgba(255, 255, 255, 0.08)",selected:"rgba(255, 255, 255, 0.16)",disabledBackground:"rgba(255, 255, 255, 0.12)",focus:"rgba(255, 255, 255, 0.12)",disabled:"rgba(255, 255, 255, 0.38)"},common:{white:"rgba(255, 255, 255, 1)",black:"rgba(0, 0, 0, 1)"},divider:"rgba(255, 255, 255, 0.12)",backgroundPaperElevation:{0:"rgba(17,19,31,1.0)",1:"rgba(20,22,35,1.0)",2:"rgba(23,25,39,1.0)",3:"rgba(26,28,43,1.0)",4:"rgba(29,31,47,1.0)",5:"rgba(32,34,51,1.0)",6:"rgba(35,37,55,1.0)",7:"rgba(38,40,59,1.0)",8:"rgba(41,43,63,1.0)",9:"rgba(44,46,67,1.0)",10:"rgba(47,49,71,1.0)",11:"rgba(50,52,75,1.0)",12:"rgba(53,55,79,1.0)",13:"rgba(56,58,83,1.0)",14:"rgba(59,61,87,1.0)",15:"rgba(62,64,91,1.0)",16:"rgba(57,63,87,1.0)"}},paletteExt:{primary:{hover:"rgba(142, 86, 252, 0.08)",selected:"rgba(142, 86, 252, 0.16)",focus:"rgba(142, 86, 252, 0.12)",focusVisible:"rgba(142, 86, 252, 0.3)",outlineBorder:"rgba(142, 86, 252, 0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...t,components:{MuiCssBaseline:{styleOverrides:{"html, body, *":{scrollbarWidth:"none",msOverflowStyle:"none"},"html:hover, body:hover, *:hover":{scrollbarWidth:"thin",scrollbarColor:`${t.palette.divider} transparent`},".MuiDataGrid-panelContent":{borderRadius:"16px !important","& .MuiPaper-root":{borderRadius:"16px !important"}},".MuiDataGrid-filterForm":{borderRadius:"16px !important","& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}},"& .MuiTextField-root":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}},".MuiDataGrid-filterFormValueInput":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}}},MuiDataGrid:{styleOverrides:{root:{},panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}}}},MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${t.palette.divider}`,background:(r=(o=(e=t.paletteExt)==null?void 0:e.secondary)==null?void 0:o.tonal)==null?void 0:r.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${t.palette.divider}`}}]},MuiTab:{styleOverrides:{root:{textTransform:"none",color:t.palette.text.secondary,"&.Mui-selected":{color:t.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(a=t.palette.backgroundPaperElevation)==null?void 0:a[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiDrawer:{styleOverrides:{paper:{border:"none",boxShadow:"4px 0 8px -4px rgba(0, 0, 0, 0.3)"}}},MuiFab:{styleOverrides:{root:{background:(c=(i=t.paletteExt)==null?void 0:i.secondary)==null?void 0:c.tonal}},variants:[{props:{color:"primary"},style:{background:t.palette.primary.main}}]}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:t.palette.text.primary},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:t.palette.text.primary},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:t.palette.text.primary}}},JoggingJoint:{Joint:{arrowColor:t.palette.text.primary}},VelocitySlider:{sliderLegendColor:t.palette.text.primary}}}}}function jo(){const t=Ue();return t.palette.mode="light",t}function Co(t){var r,a,i,c;let e=!0;((r=t.palette)==null?void 0:r.mode)==="light"?e=!1:((a=t.palette)==null?void 0:a.mode)!=="dark"&&(e=!(typeof window<"u"&&((c=(i=window.matchMedia)==null?void 0:i.call(window,"(prefers-color-scheme: light)"))==null?void 0:c.matches)));const o=e?Ue():jo();return A.createTheme(o,t)}exports.AppHeader=Dt;exports.ConnectedMotionGroup=ne;exports.CycleTimer=$t;exports.JoggerConnection=re;exports.JoggingCartesianAxisControl=ce;exports.JoggingJointValueControl=De;exports.JoggingPanel=Xt;exports.JoggingStore=ae;exports.LoadingCover=Fe;exports.LoadingErrorMessage=Le;exports.LogPanel=ro;exports.LogStore=Ne;exports.LogViewer=Ge;exports.MotionStreamConnection=ie;exports.NoMotionGroupModal=so;exports.PoseCartesianValues=Kt;exports.PoseJointValues=eo;exports.RobotListItem=lo;exports.RobotSetupReadinessIndicator=We;exports.RobotSetupReadinessState=he;exports.SelectableFab=uo;exports.TabBar=mo;exports.Timer=So;exports.VelocitySlider=Ve;exports.VelocitySliderLabel=me;exports.WandelbotsDataGrid=Ae;exports.createDebugMessage=to;exports.createErrorMessage=io;exports.createInfoMessage=oo;exports.createLogMessage=K;exports.createNovaMuiTheme=Co;exports.createWarningMessage=no;exports.jointValuesEqual=ge;exports.poseEqual=Je;exports.tcpMotionEqual=pe;exports.unwrapRotationVector=Be;

package/dist/components/jogging/JoggingStore.d.ts

@@ -1,4 +1,4 @@
-import { JointTypeEnum, type CoordinateSystem, type MotionGroupDescription, type RobotTcp } from "@wandelbots/nova-js/v2";
+import { JointTypeEnum, OperationMode, SafetyStateType, type CoordinateSystem, type MotionGroupDescription, type RobotTcp } from "@wandelbots/nova-js/v2";
 import { type IReactionDisposer } from "mobx";
 import type { JoggerConnection } from "../../lib/JoggerConnection";
 declare const discreteIncrementOptions: {
@@ -71,12 +71,8 @@ export declare class JoggingStore {
     rotationVelocityDegPerSec: number;
     /** Minimum translation velocity user can choose on the velocity slider in °/s */
     minTranslationVelocityMmPerSec: number;
-    /** Maximum translation velocity user can choose on the velocity slider in °/s */
-    maxTranslationVelocityMmPerSec: number;
     /** Minimum rotation velocity user can choose on the velocity slider in °/s */
     minRotationVelocityDegPerSec: number;
-    /** Maximum rotation velocity user can choose on the velocity slider in °/s */
-    maxRotationVelocityDegPerSec: number;
     /** Whether to show the coordinate system select dropdown in the UI */
     showCoordSystemSelect: boolean;
     /** Whether to show the TCP select dropdown in the UI */
@@ -103,6 +99,8 @@ export declare class JoggingStore {
      * should be rendered by the JoggingPanel component.
      */
     jointType: JointTypeEnum;
+    operationMode: OperationMode | null;
+    safetyState: SafetyStateType | null;
     /**
      * Load a jogging store with the relevant data it needs
      * from the backend
@@ -174,9 +172,36 @@ export declare class JoggingStore {
     get rotationVelocityRadsPerSec(): number;
     /** Selected velocity in mm/sec or deg/sec */
     velocityInDisplayUnits(useDegree: boolean): number;
-    /** Minimum selectable velocity in mm/sec or deg/sec */
+    get isAutoMode(): boolean;
+    get isSafetyStateNormal(): boolean;
+    /** Maximum rotation velocity user can choose on the velocity slider in °/s */
+    get maxRotationVelocityDegPerSec(): number;
+    /** Maximum translation velocity user can choose on the velocity slider in mm/s */
+    get maxTranslationVelocityMmPerSec(): number;
+    /**
+     * Returns joint velocity in °/s
+     * @param joint JointLimits
+     * @param fallback number
+     * @private
+     */
+    private getJointVelocity;
+    /**
+     * Maximum joint rotation velocity user can choose on the velocity slider in °/s
+     */
+    get maxJointVelocityInDisplayUnits(): number;
+    /**  Minimum selectable velocity in mm/sec or deg/sec */
     minVelocityInDisplayUnits(useDegree: boolean): number;
-    /** Maximum selectable velocity in mm/sec or deg/sec */
+    /**
+     * Maximum selectable velocity in mm/sec or deg/sec
+     *
+     * If data provided by the api is already present - read out the limits from the motionGroupDescription
+     *
+     * Automatic mode -> auto_limits
+     * Manual mode t1 -> manual_t1_limits
+     * Manual mode t2 -> manual_t2_limits
+     *
+     * In other case - return the fallbacks
+     */
     maxVelocityInDisplayUnits(useDegree: boolean): number;
     onTabChange(_event: React.SyntheticEvent, newValue: number): void;
     setSelectedCoordSystemId(id: string): void;

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

@@ -1,7 +1,8 @@
 import type { JoggingStore } from "./JoggingStore";
-export declare const JoggingVelocitySlider: (({ store, useDegree }: {
+export declare const JoggingVelocitySlider: (({ store, useDegree, isJointVelocitySlider, }: {
     store: JoggingStore;
     useDegree: boolean;
+    isJointVelocitySlider?: boolean;
 }) => import("react/jsx-runtime").JSX.Element) & {
     displayName: string;
 };

package/dist/core.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-Bshha-6d.cjs"),o=require("./chunks/interpolation-B84QX33C.cjs"),t=require("./chunks/externalizeComponent-BHZdH14U.cjs"),a=require("./chunks/SafetyBar-CLm3UQRA.cjs");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=o.ProgramControl;exports.ProgramState=o.ProgramState;exports.ProgramStateIndicator=o.ProgramStateIndicator;exports.ValueInterpolator=o.ValueInterpolator;exports.useAnimationFrame=o.useAnimationFrame;exports.useAutorun=o.useAutorun;exports.useInterpolation=o.useInterpolation;exports.useMounted=o.useMounted;exports.useReaction=o.useReaction;exports.i18n=t.i18n;exports.SafetyBar=a.SafetyBar;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-kJuzfb6S.cjs"),o=require("./chunks/interpolation-Cy1f8c4M.cjs"),t=require("./chunks/externalizeComponent-CqnB_8q-.cjs"),a=require("./chunks/SafetyBar-n6391WIY.cjs");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=o.ProgramControl;exports.ProgramState=o.ProgramState;exports.ProgramStateIndicator=o.ProgramStateIndicator;exports.ValueInterpolator=o.ValueInterpolator;exports.useAnimationFrame=o.useAnimationFrame;exports.useAutorun=o.useAutorun;exports.useInterpolation=o.useInterpolation;exports.useMounted=o.useMounted;exports.useReaction=o.useReaction;exports.i18n=t.i18n;exports.SafetyBar=a.SafetyBar;

package/dist/core.js

@@ -1,7 +1,7 @@
-import { A as o, s, C as t, t as r, a as n, b as i, d as g, J as l, f as u, g as c, h as d, L as p, n as m, M, N as S, P as b, e as C, R as V, p as L, o as P, S as f, T as J, q as R, V as x, r as I, W as A, j as E, m as T, k as q, i as y, c as v, l as w, u as G, v as N, w as W, x as h } from "./chunks/theming-U5DTlp9R.js";
-import { a as B, P as D, b as F, V as k, e as H, c as z, f as K, u as O, d as Q } from "./chunks/interpolation-D9WFd-j_.js";
-import { i as X } from "./chunks/externalizeComponent-D6S3WLFc.js";
-import { S as Z } from "./chunks/SafetyBar-C8whliAf.js";
+import { A as o, s, C as t, t as r, a as n, b as i, d as g, J as l, f as u, g as c, h as d, L as p, n as m, M, N as S, P as b, e as C, R as V, p as L, o as P, S as f, T as J, q as R, V as x, r as I, W as A, j as E, m as T, k as q, i as y, c as v, l as w, u as G, v as N, w as W, x as h } from "./chunks/theming-DW-GUJAo.js";
+import { a as B, P as D, b as F, V as k, e as H, c as z, f as K, u as O, d as Q } from "./chunks/interpolation-BDCy5Kcc.js";
+import { i as X } from "./chunks/externalizeComponent-BLilFZni.js";
+import { S as Z } from "./chunks/SafetyBar-C6Kcqza9.js";
 export {
   o as AppHeader,
   s as ConnectedMotionGroup,

package/dist/index.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-EN8Nw5xP.cjs"),e=require("./chunks/theming-Bshha-6d.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-DXWOeeh1.cjs"),e=require("./chunks/theming-kJuzfb6S.cjs"),t=require("./chunks/interpolation-Cy1f8c4M.cjs"),i=require("./chunks/externalizeComponent-CqnB_8q-.cjs"),s=require("./chunks/SafetyBar-n6391WIY.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

@@ -1,8 +1,8 @@
-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-U5DTlp9R.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";
-import { S as pa } from "./chunks/SafetyBar-C8whliAf.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-FslyKR4F.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-DW-GUJAo.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-BDCy5Kcc.js";
+import { i as ua } from "./chunks/externalizeComponent-BLilFZni.js";
+import { S as pa } from "./chunks/SafetyBar-C6Kcqza9.js";
 import { F as Ia, a as fa, b as Ma, c as ma, d as Ca, e as Ra, f as ba } from "./chunks/robot-Cy9ST5-m.js";
 import { F as ya, a as Aa, b as La, c as Pa, d as Va } from "./chunks/wbLogo-CObCmqTw.js";
 import { F as Ja, a as Ta, b as Fa, c as Oa, d as Ga, e as Na, f as ha, g as qa, h as va, i as Ha } from "./chunks/safety-state-stop-CJW5CKkp.js";

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "5.5.4",
+  "version": "5.5.5-pr.feat-RB-3582-limits-from-api.605.fd3b200",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,