@wandelbots/wandelbots-js-react-components 5.6.0 → 5.6.1-pr.dev-new-nova-js-client.614.2bc5666

package/README.md

@@ -196,7 +196,7 @@ Styling system for consistent robotics applications.
 
 Components integrate with the Wandelbots Nova ecosystem:
 
-- **NovaClient Integration** - Components accept either `NovaClient` instances or URL strings
+- **NovaClient Integration** - Components accept either `Nova` instances or URL strings
 - **Real-time Updates** - WebSocket connections for live robot state updates
 - **Motion Group Management** - Direct integration with `ConnectedMotionGroup` objects
 - **State Synchronization** - Automatic state management with MobX reactivity

package/dist/3d.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/MotionGroupVisualizer-MKZ2-1oY.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/MotionGroupVisualizer-OZwEAMLA.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;

package/dist/3d.js

@@ -1,4 +1,4 @@
-import { C as o, L as r, M as s, h as t, P as n, b as i, R as d, S as f, c as u, f as R, T as l, a as C, d as p, e as M, g as S } from "./chunks/MotionGroupVisualizer-Q7ifc7Kd.js";
+import { C as o, L as r, M as s, h as t, P as n, b as i, R as d, S as f, c as u, f as R, T as l, a as C, d as p, e as M, g as S } from "./chunks/MotionGroupVisualizer-CrJO299j.js";
 export {
   o as CollisionSceneRenderer,
   r as LinearAxis,

package/dist/chunks/{MotionGroupVisualizer-Q7ifc7Kd.js → MotionGroupVisualizer-CrJO299j.js}

@@ -1,10 +1,10 @@
-import { jsx as r, jsxs as b, Fragment as U } from "react/jsx-runtime";
+import { jsx as r, jsxs as b, Fragment as C } 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-EDymnaGR.js";
-import { Environment as Pe, Lightformer as A, Line as $, useGLTF as Fe, Bounds as Z } from "@react-three/drei";
+import Ge, { useMemo as P, useRef as _, useEffect as T, useState as G, useCallback as L, Suspense as ae } from "react";
+import { d as Le, v as Ie, o as Pe, e as J } from "./externalizeComponent-EDymnaGR.js";
+import { Environment as Ae, Lightformer as I, 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";
@@ -15,9 +15,9 @@ 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-DG8VTxzS.js";
-import { NovaClient as Ce, Manufacturer as _, JointTypeEnum as C } from "@wandelbots/nova-js/v2";
+import { Nova as Ue, Manufacturer as M, JointTypeEnum as U } from "@wandelbots/nova-js/v2";
 import { ErrorBoundary as pe } from "react-error-boundary";
-function Ue(e) {
+function Ce(e) {
   switch (e.shape_type) {
     case "convex_hull":
       return new se(
@@ -71,7 +71,7 @@ function Je({
         l[2]
       ).divideScalar(1e3),
       rotation: new g.Euler(i[0], i[1], i[2], "XYZ"),
-      geometry: Ue(n.shape),
+      geometry: Ce(n.shape),
       children: t
     }
   );
@@ -106,13 +106,13 @@ function wt({
   ) });
 }
 function ne() {
-  return /* @__PURE__ */ r(Pe, { frames: 1, children: /* @__PURE__ */ r(We, {}) });
+  return /* @__PURE__ */ r(Ae, { frames: 1, children: /* @__PURE__ */ r(We, {}) });
 }
 const Be = [2, 0, 2, 0, 2, 0, 2, 0];
 function We({ positions: e = Be }) {
-  return /* @__PURE__ */ b(U, { children: [
+  return /* @__PURE__ */ b(C, { children: [
     /* @__PURE__ */ r(
-      A,
+      I,
       {
         intensity: 5,
         "rotation-x": Math.PI / 2,
@@ -121,7 +121,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ r("group", { children: e.map((n, t) => /* @__PURE__ */ r(
-      A,
+      I,
       {
         form: "circle",
         intensity: 5,
@@ -132,7 +132,7 @@ function We({ positions: e = Be }) {
       t
     )) }) }),
     /* @__PURE__ */ r(
-      A,
+      I,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -141,7 +141,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      A,
+      I,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -150,7 +150,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      A,
+      I,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -159,7 +159,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      A,
+      I,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -168,7 +168,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      A,
+      I,
       {
         form: "ring",
         color: "white",
@@ -194,7 +194,7 @@ function bt({
   dhParameters: n,
   ...t
 }) {
-  const l = I(
+  const l = P(
     () => Le(n ?? []),
     [n]
   ), i = (c, o) => {
@@ -242,7 +242,7 @@ function bt({
       case "convex_hull": {
         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);
+        ), m = Ie(p);
         if (m.isCoplanar && m.normal) {
           const x = new g.Vector3().addVectors(
             p[0],
@@ -271,11 +271,11 @@ function bt({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        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;
+        const p = o.shape, m = p.radius / 1e3, w = p.sphere_center_distance_x / 1e3, x = p.sphere_center_distance_y / 1e3, A = m * 2;
         h = /* @__PURE__ */ r(
           "primitive",
           {
-            object: new ke(w, x, P, 2, m),
+            object: new ke(w, x, A, 2, m),
             attach: "geometry"
           }
         );
@@ -292,7 +292,7 @@ function bt({
       {
         renderOrder: c,
         position: y,
-        quaternion: Ie(s),
+        quaternion: Pe(s),
         children: [
           h,
           /* @__PURE__ */ r("meshStandardMaterial", { ...a, polygonOffsetFactor: -c })
@@ -300,7 +300,7 @@ function bt({
       },
       `safety-zone-${o.shape.shape_type}-${c}`
     );
-  }, f = I(() => Object.values(e ?? {}).map(
+  }, f = P(() => Object.values(e ?? {}).map(
     (c, o) => i(o, c)
   ), [e, l]);
   return /* @__PURE__ */ r("group", { ...t, children: f });
@@ -334,7 +334,7 @@ async function j(e, n) {
     return B.get(e);
   const t = (async () => {
     var c;
-    const l = n || "", i = new Ce({ instanceUrl: l }), f = i.api.motionGroupModels;
+    const l = n || "", i = new Ue({ 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;
@@ -386,7 +386,7 @@ function ye({
   onRotationChanged: t,
   children: l
 }) {
-  const i = M([]), f = M(null), { invalidate: c } = le(), o = M(e);
+  const i = _([]), f = _(null), { invalidate: c } = le(), o = _(e);
   o.current = e, T(() => {
     const a = e.joint_position.filter(
       (u) => u !== void 0
@@ -440,7 +440,7 @@ function Ye({
   dhParameters: n,
   ...t
 }) {
-  const l = new R(), i = M([]), f = M([]);
+  const l = new R(), i = _([]), f = _([]);
   Ge.useEffect(() => {
     i.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
   }, [n.length]);
@@ -658,7 +658,7 @@ const be = (e, n) => {
     T(() => {
       s && (c ? be(s, c) : xe(s));
     }, [s, c]);
-    const u = I(() => {
+    const u = P(() => {
       const p = l(n, o);
       if (!p)
         throw new Error(
@@ -741,12 +741,12 @@ const Rt = J(
       className: h
     }) => {
       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);
+      const a = De(), { t: u } = Ee(), [d, p] = G(!1), m = _(null), w = _(null), [x, A] = G(!1), [F, Te] = G({ width: 400, height: 600 }), [ze, Se] = G(0);
       T(() => {
         const E = () => {
           if (w.current) {
             const { offsetWidth: X, offsetHeight: K } = w.current;
-            P(X > K), Te({ width: X, height: K });
+            A(X > K), Te({ width: X, height: K });
           }
         };
         E();
@@ -786,7 +786,7 @@ const Rt = J(
             backgroundImage: "none"
             // Override any gradient from elevation
           },
-          children: x ? /* @__PURE__ */ b(U, { children: [
+          children: x ? /* @__PURE__ */ b(C, { children: [
             /* @__PURE__ */ r(
               v,
               {
@@ -942,7 +942,7 @@ const Rt = J(
                 ]
               }
             )
-          ] }) : /* @__PURE__ */ r(U, { children: /* @__PURE__ */ b(
+          ] }) : /* @__PURE__ */ r(C, { children: /* @__PURE__ */ b(
             v,
             {
               sx: {
@@ -1009,7 +1009,7 @@ const Rt = J(
                   }
                 ),
                 /* @__PURE__ */ b(v, { children: [
-                  !V && s && /* @__PURE__ */ b(U, { children: [
+                  !V && s && /* @__PURE__ */ b(C, { children: [
                     /* @__PURE__ */ r(s, {}),
                     /* @__PURE__ */ r(
                       z,
@@ -1070,7 +1070,7 @@ function ve({
   onTranslationChanged: t,
   children: l
 }) {
-  const i = M([]), f = M([]), c = M(null), { invalidate: o } = le();
+  const i = _([]), f = _([]), c = _(null), { invalidate: o } = le();
   T(() => {
     const a = e.joint_position.filter(
       (u) => u !== void 0
@@ -1125,7 +1125,7 @@ function Me({
   dhParameters: n,
   ...t
 }) {
-  const l = new R(), i = M(null), f = M(null);
+  const l = new R(), i = _(null), f = _(null);
   function c(s) {
     const h = new R();
     for (let p = 0; p < n.length; p++) {
@@ -1148,14 +1148,14 @@ function Me({
     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(
+      const w = h[m] ?? 0, x = n[m], A = new R().makeRotationY(x.theta).multiply(
         new R().makeTranslation(
           x.a / 1e3,
           (x.d + w * (x.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
       ).multiply(new R().makeRotationX(x.alpha));
-      l.multiply(P);
+      l.multiply(A);
     }
     const u = new k(), d = new W(), p = new k();
     if (l.decompose(u, d, p), a = u, i.current && i.current.position.set(
@@ -1302,10 +1302,10 @@ function Mt({
   );
 }
 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],
-  [_.Kuka]: [
+  [M.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
+  [M.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [M.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [M.Kuka]: [
     0,
     -Math.PI / 2,
     Math.PI / 2,
@@ -1314,7 +1314,7 @@ const ie = {
     0,
     0
   ],
-  [_.Universalrobots]: [
+  [M.Universalrobots]: [
     0,
     -Math.PI / 2,
     -Math.PI / 2,
@@ -1322,21 +1322,24 @@ const ie = {
     Math.PI / 2,
     -Math.PI / 2,
     0
-  ]
+  ],
+  [M.Staubli]: [0, -Math.PI / 2, Math.PI / 2, 0, 0, 0, 0]
 };
 function Qe(e) {
   const [n] = e.split("_");
   switch (n) {
     case "ABB":
-      return _.Abb;
+      return M.Abb;
     case "FANUC":
-      return _.Fanuc;
+      return M.Fanuc;
     case "YASKAWA":
-      return _.Yaskawa;
+      return M.Yaskawa;
     case "KUKA":
-      return _.Kuka;
+      return M.Kuka;
     case "UniversalRobots":
-      return _.Universalrobots;
+      return M.Universalrobots;
+    case "STAUBLI":
+      return M.Staubli;
     default:
       return null;
   }
@@ -1347,13 +1350,13 @@ function _t(e, n) {
 }
 const Tt = J((e) => {
   const { inverseSolver: n, dhParameters: t, ...l } = e, [i, f] = G(
-    C.RevoluteJoint
+    U.RevoluteJoint
   );
   T(() => {
-    t.length && f(t[0].type ?? C.RevoluteJoint);
+    t.length && f(t[0].type ?? U.RevoluteJoint);
   }, [t]);
-  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;
+  const c = P(() => n === null && i === U.RevoluteJoint, [n, i]), o = P(() => n === null && i === U.PrismaticJoint, [n, i]);
+  return P(() => !!n, [n]) || c ? /* @__PURE__ */ r(Re, { dhParameters: t, ...l }) : o ? /* @__PURE__ */ r(_e, { dhParameters: t, ...l }) : null;
 });
 export {
   wt as C,

package/dist/chunks/MotionGroupVisualizer-OZwEAMLA.cjs

@@ -0,0 +1 @@
+"use strict";const t=require("react/jsx-runtime"),g=require("three"),V=require("three-stdlib"),d=require("react"),_=require("./externalizeComponent-OO4jcrz5.cjs"),M=require("@react-three/drei"),pe=require("@mui/material/styles"),v=require("@mui/material/Box"),Y=require("@mui/material/Button"),he=require("@mui/material/Card"),Q=require("@mui/material/Divider"),X=require("@mui/material/Typography"),T=require("@react-three/fiber"),me=require("mobx-react-lite"),xe=require("react-i18next"),L=require("./interpolation-C9sLsved.cjs"),R=require("@wandelbots/nova-js/v2"),K=require("react-error-boundary");function ye(e){const n=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const r in e)if(r!=="default"){const o=Object.getOwnPropertyDescriptor(e,r);Object.defineProperty(n,r,o.get?o:{enumerable:!0,get:()=>e[r]})}}return n.default=e,Object.freeze(n)}const j=ye(g);function ge(e){switch(e.shape_type){case"convex_hull":return new V.ConvexGeometry(e.vertices.map(r=>new j.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,e.size_z/1e3);case"sphere":return new j.SphereGeometry(e.radius/1e3);case"capsule":return new j.CapsuleGeometry(e.radius/1e3,e.cylinder_height/1e3);case"cylinder":return new j.CylinderGeometry(e.radius/1e3,e.radius/1e3,e.height/1e3);case"rectangle":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,0);default:return console.warn(`${e.shape_type} is not supported`),new j.BufferGeometry}}function je({name:e,collider:n,children:r}){var f,u;const o=((f=n.pose)==null?void 0:f.position)??[0,0,0],i=((u=n.pose)==null?void 0:u.orientation)??[0,0,0];return n.margin&&console.warn(`${e} margin is not supported`),t.jsx("mesh",{name:e,position:new j.Vector3(o[0],o[1],o[2]).divideScalar(1e3),rotation:new j.Euler(i[0],i[1],i[2],"XYZ"),geometry:ge(n.shape),children:r})}function be({name:e,colliders:n,meshChildrenProvider:r,...o}){return t.jsx("group",{name:e,...o,children:Object.entries(n).map(([i,f])=>t.jsx(je,{name:i,collider:f,children:r(i,f)},i))})}function we({scene:e,meshChildrenProvider:n}){const r=e.colliders;return t.jsx("group",{children:r&&t.jsx(be,{meshChildrenProvider:n,colliders:r})})}function O(){return t.jsx(M.Environment,{frames:1,children:t.jsx(Me,{})})}const Re=[2,0,2,0,2,0,2,0];function Me({positions:e=Re}){return t.jsxs(t.Fragment,{children:[t.jsx(M.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),t.jsx("group",{rotation:[0,.5,0],children:t.jsx("group",{children:e.map((n,r)=>t.jsx(M.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[n,4,r*4],scale:[3,1,1]},r))})}),t.jsx(M.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),t.jsx(M.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),t.jsx(M.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}const Z={attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0};function ve({safetyZones:e,dhParameters:n,...r}){const o=d.useMemo(()=>_.dhParametersToPlaneSize(n??[]),[n]),i=(u,s)=>{var l,h;if(!((l=s==null?void 0:s.pose)!=null&&l.position)||!((h=s==null?void 0:s.pose)!=null&&h.orientation))return null;const y=new j.Vector3(s.pose.position[0]/1e3,s.pose.position[1]/1e3,s.pose.position[2]/1e3),a=new j.Vector3(s.pose.orientation[0],s.pose.orientation[1],s.pose.orientation[2]);let m;const c=s.shape.shape_type==="plane"?{...Z,side:j.DoubleSide}:{...Z,side:j.FrontSide};switch(s.shape.shape_type){case"plane":m=t.jsx("planeGeometry",{args:[o,o]});break;case"sphere":{const p=(s==null?void 0:s.shape).radius/1e3;m=t.jsx("sphereGeometry",{args:[p]});break}case"capsule":{const p=(s==null?void 0:s.shape).radius/1e3,x=(s==null?void 0:s.shape).cylinder_height/1e3;m=t.jsx("capsuleGeometry",{args:[p,x]});break}case"convex_hull":{const p=(s==null?void 0:s.shape).vertices.map(b=>new j.Vector3(b[0]/1e3,b[1]/1e3,b[2]/1e3)),x=_.verticesToCoplanarity(p);if(x.isCoplanar&&x.normal){const w=new j.Vector3().addVectors(p[0],x.normal.multiplyScalar(1e-4));p.push(w)}try{m=t.jsx("primitive",{object:new V.ConvexGeometry(p),attach:"geometry"})}catch(b){return console.log("Error creating ConvexGeometry:",b),null}break}case"rectangular_capsule":{const p=s.shape,x=p.radius/1e3,b=p.sphere_center_distance_x/1e3,w=p.sphere_center_distance_y/1e3,k=x*2;m=t.jsx("primitive",{object:new V.RoundedBoxGeometry(b,w,k,2,x),attach:"geometry"});break}default:console.warn("Unsupported safety zone shape type:",s.shape.shape_type),m=null}return t.jsxs("mesh",{renderOrder:u,position:y,quaternion:_.orientationToQuaternion(a),children:[m,t.jsx("meshStandardMaterial",{...c,polygonOffsetFactor:-u})]},`safety-zone-${s.shape.shape_type}-${u}`)},f=d.useMemo(()=>Object.values(e??{}).map((u,s)=>i(s,u)),[e,o]);return t.jsx("group",{...r,children:f})}function Se({trajectory:e,...n}){const r=(e==null?void 0:e.map(o=>{if(o.position&&o.position.length>=3){const[i,f,u]=o.position;if(Number.isFinite(i)&&Number.isFinite(f)&&Number.isFinite(u))return new j.Vector3(i/1e3,u/1e3,-f/1e3)}return null}).filter(o=>o!==null))||[];return t.jsx("group",{...n,children:r.length>0&&t.jsx(M.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}const F=new Map;async function E(e,n){if(F.has(e))return F.get(e);const r=(async()=>{var u;const o=n||"",i=new R.Nova({instanceUrl:o}),f=i.api.motionGroupModels;(u=f.axios)!=null&&u.interceptors&&f.axios.interceptors.request.use(s=>{var y;return(y=s.url)!=null&&y.includes("/glb")&&(s.responseType="blob"),s});try{const s=await i.api.motionGroupModels.getMotionGroupGlbModel(e);return URL.createObjectURL(s)}catch(s){throw console.error("Failed to fetch model:",s),s}})();return F.set(e,r),r}function z(e){function n(r){return r.children.length===0?[r]:[r,...r.children.flatMap(o=>n(o))]}return n(e).filter(r=>te(r))}function ee(e){return e.name.endsWith("_FLG")}function te(e){return/_J[0-9]+$/.test(e.name)}function _e(e,n){let r;function o(i){if(ee(i)){if(r)throw Error(`Found multiple flange groups in robot model ${n}; first ${r.name} then ${i.name}. 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Flange must be identified with a name ending in _FLG.`);return{gltf:e}}function re({rapidlyChangingMotionState:e,dhParameters:n,onRotationChanged:r,children:o}){const i=d.useRef([]),f=d.useRef(null),{invalidate:u}=T.useThree(),s=d.useRef(e);s.current=e,d.useEffect(()=>{const c=e.joint_position.filter(l=>l!==void 0);return f.current=new L.ValueInterpolator(c,{tension:120,friction:20,threshold:.001}),()=>{var l;(l=f.current)==null||l.destroy()}},[]),T.useFrame((c,l)=>{if(f.current){const h=f.current.update(l);a(),h||u()}});function y(c){c&&(i.current=z(c),a(),u())}function a(){var l;const c=((l=f.current)==null?void 0:l.getCurrentValues())||[];if(r)r(i.current,c);else for(const[h,p]of i.current.entries()){const x=n[h],b=x.theta||0,w=x.reverse_rotation_direction?-1:1;p.rotation.y=w*(c[h]||0)+b}}function m(c){var h;const l=c.joint_position.filter(p=>p!==void 0);(h=f.current)==null||h.setTarget(l),u()}return L.useAutorun(()=>{m(s.current)}),d.useEffect(()=>{m(e)},[e]),t.jsx("group",{ref:y,children:o})}const Te="line",Le="mesh";function ke({rapidlyChangingMotionState:e,dhParameters:n,...r}){const o=new g.Matrix4,i=d.useRef([]),f=d.useRef([]);d.useEffect(()=>{i.current=new Array(n.length).fill(null),f.current=new Array(n.length).fill(null)},[n.length]);function u(a,m){const c=new g.Vector3,l=new g.Quaternion,h=new g.Vector3;o.decompose(c,l,h);const p=c.clone(),x=new g.Matrix4().makeRotationY(a.theta+m*(a.reverse_rotation_direction?-1:1)).multiply(new g.Matrix4().makeTranslation(0,a.d/1e3,0)).multiply(new g.Matrix4().makeTranslation(a.a/1e3,0,0)).multiply(new g.Matrix4().makeRotationX(a.alpha));return o.multiply(x),o.decompose(c,l,h),{a:p,b:c}}function s(a,m,c,l){if(!n)return;const h=n[a];if(!h)return;const{a:p,b:x}=u(h,l);m.geometry.setPositions([p.toArray(),x.toArray()].flat()),c.position.set(x.x,x.y,x.z)}function y(a,m){o.identity();for(let c=0;c<Math.min(a.length,m.length);c++){const l=i.current[c],h=f.current[c];l&&h&&s(c,l,h,m[c])}}return t.jsx(re,{rapidlyChangingMotionState:e,dhParameters:n,onRotationChanged:y,children:t.jsxs("group",{...r,name:"Scene",children:[t.jsxs("mesh",{children:[t.jsx("sphereGeometry",{args:[.01,32,32]}),t.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),n==null?void 0:n.map((a,m)=>{const{a:c,b:l}=u(a,e.joint_position[m]??0),h=`dhrobot_J0${m}`;return t.jsxs("group",{name:h,children:[t.jsx(M.Line,{ref:p=>{i.current[m]=p},name:Te,points:[c,l],color:"white",lineWidth:5}),t.jsxs("mesh",{ref:p=>{f.current[m]=p},name:Le,position:l,children:[t.jsx("sphereGeometry",{args:[.01,32,32]}),t.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},`mesh_${m}`)]},h)})]})})}const Ee=console.warn;function ne(){return d.useEffect(()=>{console.warn=e=>{e!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&Ee(e)}},[]),null}function Ge(e){return e.type==="Mesh"}function Ae({url:e,flangeRef:n,postModelRender:r,...o}){const i=M.useGLTF(e),u=_e(i,"robot.glb").gltf,s=d.useCallback(a=>{a&&r&&r()},[r]);function y(a){try{return Ge(a)?a.geometry?t.jsx("mesh",{name:a.name,geometry:a.geometry,material:a.material,position:a.position,rotation:a.rotation},a.uuid):t.jsx("group",{name:a.name,position:a.position,rotation:a.rotation},a.uuid):t.jsx("group",{name:a.name,position:a.position,rotation:a.rotation,ref:ee(a)?n:void 0,children:a.children.map(y)},a.uuid)}catch(m){return console.warn("Error rendering node",a.name,m),null}}return t.jsx("group",{...o,dispose:null,ref:s,children:y(u.scene)})}function se({modelURL:e,flangeRef:n,postModelRender:r,...o}){const[i,f]=d.useState(null);return d.useEffect(()=>{let u=!1;return(async()=>{try{const y=typeof e=="string"?e:await e;u||f(a=>a===y?a:y)}catch(y){console.error("Failed to resolve model URL:",y)}})(),()=>{u=!0}},[e]),i?t.jsx(Ae,{url:i,flangeRef:n,postModelRender:r,...o}):null}const 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j.Material&&(r.material.colorWrite=!0))}),n.forEach(r=>{r.parent&&r.parent.remove(r)}),e.userData.isGhost=!1},q=_.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:o=E,flangeRef:i,postModelRender:f,transparentColor:u,instanceUrl:s,...y})=>{const[a,m]=d.useState(null),c=d.useCallback(p=>{m(p)},[]);d.useEffect(()=>{a&&(u?oe(a,u):ie(a))},[a,u]);const l=d.useMemo(()=>{const p=o(n,s);if(!p)throw new Error(`No model found for robot "${n}". 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Ce=_.externalizeComponent(me.observer(({robotName:e,programState:n,safetyState:r,operationMode:o,driveToHomeEnabled:i=!1,onDriveToHomePress:f,onDriveToHomeRelease:u,connectedMotionGroup:s,robotComponent:y=ae,customContentComponent:a,className:m})=>{var N;const c=pe.useTheme(),{t:l}=xe.useTranslation(),[h,p]=d.useState(!1),x=d.useRef(null),b=d.useRef(null),[w,k]=d.useState(!1),[G,fe]=d.useState({width:400,height:600}),[Oe,de]=d.useState(0);d.useEffect(()=>{const P=()=>{if(b.current){const{offsetWidth:$,offsetHeight:H}=b.current;k($>H),fe({width:$,height:H})}};P();const W=new ResizeObserver(P);return b.current&&W.observe(b.current),()=>{W.disconnect()}},[]);const J=d.useCallback(()=>{de(P=>P+1)},[]),A=d.useCallback(()=>{!i||!f||(p(!0),f())},[i,f]),C=d.useCallback(()=>{!i||!u||(p(!1),u())},[i,u]),B=d.useCallback(()=>{h&&u&&(p(!1),u())},[h,u]),S=w?G.width<350:G.height<200,I=w?G.height<310:G.height<450;return t.jsx(he,{ref:b,className:m,sx:{width:"100%",height:"100%",display:"flex",flexDirection:w?"row":"column",position:"relative",overflow:"hidden",minWidth:{xs:180,sm:220,md:250},minHeight:w?{xs:200,sm:240,md:260}:{xs:150,sm:180,md:220},border:`1px solid ${c.palette.divider}`,borderRadius:"18px",boxShadow:"none",backgroundColor:((N=c.palette.backgroundPaperElevation)==null?void 0:N[8])||"#2A2A3F",backgroundImage:"none"},children:w?t.jsxs(t.Fragment,{children:[t.jsx(v,{sx:{flex:"0 0 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ce({rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:r,children:o}){const i=d.useRef([]),f=d.useRef([]),u=d.useRef(null),{invalidate:s}=T.useThree();d.useEffect(()=>{const c=e.joint_position.filter(l=>l!==void 0);return u.current=new L.ValueInterpolator(c,{tension:120,friction:20,threshold:.001}),()=>{var l;(l=u.current)==null||l.destroy()}},[]),T.useFrame((c,l)=>{if(u.current){const h=u.current.update(l);a(),h||s()}});function y(c){c&&(f.current=z(c),a(),s())}function a(){var l;const c=((l=u.current)==null?void 0:l.getCurrentValues())||[];if(r)r(f.current,c);else for(const[h,p]of f.current.entries()){const b=n[h].reverse_rotation_direction?-1:1;p.position.y=b*(c[h]||0)/1e3}}const m=d.useCallback(()=>{const c=e.joint_position.filter(l=>l!==void 0);requestAnimationFrame(()=>{var l;i.current=c,(l=u.current)==null||l.setTarget(c)})},[e]);return d.useEffect(()=>{m()},[e,m]),L.useAutorun(()=>{m()}),t.jsx("group",{ref:y,children:o})}function ue({rapidlyChangingMotionState:e,dhParameters:n,...r}){const o=new g.Matrix4,i=d.useRef(null),f=d.useRef(null);function u(a){const m=new g.Matrix4;for(let p=0;p<n.length;p++){const x=n[p],b=a[p]??0,w=new g.Matrix4().makeRotationY(x.theta).multiply(new g.Matrix4().makeTranslation(x.a/1e3,(x.d+b*(x.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(x.alpha));m.multiply(w)}const c=new g.Vector3,l=new g.Quaternion,h=new g.Vector3;return m.decompose(c,l,h),c}const s=u(e.joint_position);function y(a,m){o.identity();let c=new g.Vector3;for(let x=0;x<n.length;x++){const b=m[x]??0,w=n[x],k=new g.Matrix4().makeRotationY(w.theta).multiply(new g.Matrix4().makeTranslation(w.a/1e3,(w.d+b*(w.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new g.Matrix4().makeRotationX(w.alpha));o.multiply(k)}const l=new g.Vector3,h=new g.Quaternion,p=new g.Vector3;if(o.decompose(l,h,p),c=l,i.current&&i.current.position.set(c.x,c.y,c.z),f.current){const x=f.current.geometry;x!=null&&x.setPositions&&x.setPositions([0,0,0,c.x,c.y,c.z])}}return t.jsx(ce,{rapidlyChangingMotionState:e,dhParameters:n,onTranslationChanged:y,children:t.jsxs("group",{...r,name:"Scene",children:[t.jsxs("mesh",{name:"Base",position:[0,0,0],children:[t.jsx("sphereGeometry",{args:[.02,32,32]}),t.jsx("meshStandardMaterial",{color:"green",depthTest:!0})]}),t.jsx(M.Line,{ref:f,points:[new g.Vector3(0,0,0),s],color:"White",lineWidth:5}),t.jsxs("mesh",{ref:i,name:"TCP",position:s,children:[t.jsx("sphereGeometry",{args:[.025,32,32]}),t.jsx("meshStandardMaterial",{color:"red",depthTest:!0})]})]})})}const U=_.externalizeComponent(({rapidlyChangingMotionState:e,modelFromController:n,dhParameters:r,getModel:o=E,flangeRef:i,postModelRender:f,transparentColor:u,instanceUrl:s,...y})=>{const[a,m]=d.useState(null),c=d.useCallback(h=>{m(h)},[]);d.useEffect(()=>{a&&(u?oe(a,u):ie(a))},[a,u]);const l=t.jsx(ue,{rapidlyChangingMotionState:e,dhParameters:r,...y});return t.jsxs(K.ErrorBoundary,{fallback:l,onError:h=>{console.warn(h)},children:[t.jsx(d.Suspense,{fallback:l,children:t.jsx("group",{ref:c,children:t.jsx(ce,{rapidlyChangingMotionState:e,dhParameters:r,children:t.jsx(se,{modelURL:(()=>{const h=o(n,s);if(!h){const p=new Blob([],{type:"model/gltf-binary"}),x=new File([p],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(x))}return h})(),postModelRender:f,flangeRef:i,...y})})})}),t.jsx(ne,{})]})});function Pe({connectedMotionGroup:e,getModel:n=E,flangeRef:r,transparentColor:o,postModelRender:i,...f}){if(!e.dhParameters)return null;const u=e.modelFromController||"";return u&&n(u)?t.jsx(U,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:u,dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:i,...f}):t.jsx(ue,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,dhParameters:e.dhParameters,...f})}const D={[R.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[R.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[R.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0],[R.Manufacturer.Staubli]:[0,-Math.PI/2,Math.PI/2,0,0,0,0]};function le(e){const[n]=e.split("_");switch(n){case"ABB":return R.Manufacturer.Abb;case"FANUC":return R.Manufacturer.Fanuc;case"YASKAWA":return R.Manufacturer.Yaskawa;case"KUKA":return R.Manufacturer.Kuka;case"UniversalRobots":return R.Manufacturer.Universalrobots;case"STAUBLI":return R.Manufacturer.Staubli;default:return null}}function Fe(e,n){const r=le(e);return r&&r in D?D[r]:n||null}const Ve=_.externalizeComponent(e=>{const{inverseSolver:n,dhParameters:r,...o}=e,[i,f]=d.useState(R.JointTypeEnum.RevoluteJoint);d.useEffect(()=>{r.length&&f(r[0].type??R.JointTypeEnum.RevoluteJoint)},[r]);const u=d.useMemo(()=>n===null&&i===R.JointTypeEnum.RevoluteJoint,[n,i]),s=d.useMemo(()=>n===null&&i===R.JointTypeEnum.PrismaticJoint,[n,i]);return d.useMemo(()=>!!n,[n])||u?t.jsx(q,{dhParameters:r,...o}):s?t.jsx(U,{dhParameters:r,...o}):null});exports.CollisionSceneRenderer=we;exports.LinearAxis=Pe;exports.MANUFACTURER_HOME_CONFIGS=D;exports.MotionGroupVisualizer=Ve;exports.PresetEnvironment=O;exports.Robot=ae;exports.RobotCard=Ce;exports.SafetyZonesRenderer=ve;exports.SupportedLinearAxis=U;exports.SupportedRobot=q;exports.TrajectoryRenderer=Se;exports.defaultAxisConfig=Ie;exports.defaultGetModel=E;exports.extractManufacturer=le;exports.getDefaultHomeConfig=Fe;