@wandelbots/wandelbots-js-react-components 5.6.1 → 5.7.0-pr.feat-design-tokens.616.fff06df

package/dist/chunks/theming-BYmiJfgQ.cjs

@@ -0,0 +1,4 @@
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.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":{},...u==null?void 0:u.sx}})})}));Le.displayName="WandelbotsDataGrid";const ge=L.externalizeComponent(O.observer(({colors:t,label:e,getDisplayedValue:n,startJogging:a,stopJogging:r,disabled:i,activeJoggingDirection:c,...s})=>{var x,v,C,w,I,E,M;ee.useAnimationFrame(()=>{const P=n(),F=p.current;F&&(F.textContent=P)});const l=D.useTheme(),[u,m]=h.useState(null);h.useEffect(()=>{i&&j()},[i]);const g=c||u,p=h.useRef(null);t||(t={color:"#fff",backgroundColor:"#000",borderColor:"#000",buttonBackgroundColor:{disabled:"#000",default:"#000",hovered:"#000",pressed:"#000"},labelColor:"#000"});const d=g?(x=t.buttonBackgroundColor)==null?void 0:x.pressed:t.borderColor,b={width:"55px",color:t.color,path:{fill:t.color},alignContent:"center",fontSize:"37px",svg:{pointerEvents:"none"}},S={...b,backgroundColor:(v=t.buttonBackgroundColor)==null?void 0:v.default,":hover":{backgroundColor:(C=t.buttonBackgroundColor)==null?void 0:C.hovered},":active":{backgroundColor:(w=t.buttonBackgroundColor)==null?void 0:w.pressed,color:t.backgroundColor,path:{fill:t.backgroundColor}},":disabled":{backgroundColor:(I=t.buttonBackgroundColor)==null?void 0:I.disabled,"svg path":{fill:l.palette.action.disabled}}},y={...b,backgroundColor:(E=t.buttonBackgroundColor)==null?void 0:E.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(P,F){i||P.button===0&&(m(F),a(F))}function j(){m(null),r()}return o.jsxs(_,{height:"64px",direction:"row",justifyContent:"center",...s,children:[o.jsx(G,{disabled:i,disableRipple:!0,onPointerDown:P=>f(P,"-"),onPointerUp:j,onPointerOut:j,size:"large",sx:{...g==="-"?y:S,borderRadius:"16px 0px 0px 16px",borderLeft:`2px solid ${d??"#fff"}`,borderBottom:`2px solid ${d??"#fff"}`,borderTop:`2px solid ${d??"#fff"}`},children:o.jsx(W.ForwardRef$3,{})}),o.jsxs(_,{spacing:"6px",sx:{width:"150px",backgroundColor:t.backgroundColor,alignItems:"center",justifyContent:"center",opacity:"0.9",borderBottom:`2px solid ${d??"#fff"}`,borderTop:`2px solid ${d??"#fff"}`},children:[o.jsx(_,{height:"22px",direction:"row",alignItems:"center",justifyItems:"center",spacing:1,sx:{userSelect:"none",color:t.color,".MuiTypography-root":{fontWeight:700,...i?{color:l.palette.action.disabled}:{}},...i?{"svg 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0:I[11]},d=O.useLocalObservable(()=>({activeJoggingDir:null,startJogging(A){this.activeJoggingDir=A,t(A)},stopJogging(){this.activeJoggingDir=null,e()}})),b=Ct(()=>{const A=r?S(i()):i();(A===void 0||u===void 0||Math.abs(u-A)>1e-9)&&m(A)},50);ee.useAnimationFrame(b);function S(A){if(A!==void 0)return J.radiansToDegrees(A)}function y(A){A.button===0&&d.startJogging("-")}function f(A){A.button===0&&d.startJogging("+")}function j(A){d.stopJogging()}function x(A){d.stopJogging()}function v(A,X=1){if(A===void 0||Number.isNaN(A))return"";const Q=l("General.degree.variable",{amount:A.toFixed(X)});return A>0&&X===0?`+${Q}`:Q}function C(A,X=1){if(A===void 0||Number.isNaN(A))return"";const Q=l("General.mm.variable",{amount:A.toFixed(X)});return A>0&&X===0?`+${Q}`:Q}return o.jsxs(_,{height:"64px",width:"100%",maxWidth:"260px",direction:"row",...s,sx:{"& .MuiIconButton-root":{width:"52px",color:g.palette.text.primary,alignContent:"center",backgroundColor:(E=g.palette.backgroundPaperElevation)==null?void 0:E[11],"& svg":{width:"42px",height:"42px"},"&.Mui-disabled":{backgroundColor:(M=g.palette.backgroundPaperElevation)==null?void 0:M[11],color:g.palette.action.disabled,opacity:1},"&:hover":{backgroundColor:(P=g.palette.backgroundPaperElevation)==null?void 0:P[9]},"&:active":{...p}}},children:[o.jsx(G,{onPointerDown:y,onPointerUp:j,onPointerOut:x,disabled:c,disableRipple:!0,sx:{borderRadius:"16px 0px 0px 16px",...d.activeJoggingDir==="-"?p:{}},children:o.jsx(St,{sx:{pointerEvents:"none",color:(ye=(ne=(Z=(F=g.componentsExt)==null?void 0:F.JoggingPanel)==null?void 0:Z.JoggingJoint)==null?void 0:ne.Joint)==null?void 0:ye.arrowColor}})}),o.jsxs(_,{flexGrow:1,alignItems:"center",justifyContent:"center",sx:{borderStyle:"solid",borderLeftWidth:0,borderRightWidth:0,border:"none",backgroundColor:(Se=g.palette.backgroundPaperElevation)==null?void 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16px 16px 0px",...d.activeJoggingDir==="+"?p:{}},children:o.jsx(jt,{sx:{pointerEvents:"none",color:(we=(Te=(ve=(Ce=g.componentsExt)==null?void 0:Ce.JoggingPanel)==null?void 0:ve.JoggingJoint)==null?void 0:Te.Joint)==null?void 0:we.arrowColor}})})]})}));function me(t,e,n){if(e.length!==t.length)return!0;for(let a=0;a<e.length;a++)if(Math.abs(e[a]-t[a])>n)return!1;return!0}function ze(t,e,n){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 a=0;return a+=Math.abs(t.orientation[0]-e.orientation[0]),a+=Math.abs(t.orientation[1]-e.orientation[1]),a+=Math.abs(t.orientation[2]-e.orientation[2]),a+=Math.abs(t.position[0]-e.position[0]),a+=Math.abs(t.position[1]-e.position[1]),a+=Math.abs(t.position[2]-e.position[2]),a<=n}function fe(t,e,n){return t.coordinate_system===e.coordinate_system&&t.tcp===e.tcp&&ze(t.tcp_pose,e.tcp_pose,n)}function $e(t,e){const n=new de.Vector3(e[0],e[1],e[2]),a=new de.Vector3(t[0],t[1],t[2]),r=n.length(),i=n.normalize();let c=a.length(),s=a.normalize();s.dot(i)<0&&(c=-c,s=s.multiplyScalar(-1));let l=c-r;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),c=r+l,[...s.multiplyScalar(c)]}function Yt(t){return"cellId"in t.api}function re(t){if(!Yt(t))return t;const e=t,n=e.api.cellId,a=new Proxy(e.api,{get(r,i){const c=Reflect.get(r,i);return!c||typeof c!="object"?c:new Proxy(c,{get(s,l){const u=Reflect.get(s,l);return typeof u!="function"?u:(...m)=>m.length>0&&m[0]===n?u.apply(s,m.slice(1)):u.apply(s,m)}})}});return new Proxy(e,{get(r,i){return i==="api"?a:i==="openReconnectingWebsocket"?c=>r.openReconnectingWebsocket(c.replace(/^\/cells\/[^/]+/,"")):Reflect.get(r,i)}})}const Re=1e-4;class se{constructor(e,n,a,r,i,c,s="cell"){this.controller=n,this.motionGroup=a,this.description=r,this.initialMotionState=i,this.motionStateSocket=c,this.cellId=s,this.nova=re(e),this.rapidlyChangingMotionState=i,c.addEventListener("message",l=>{var p;const u=(p=J.tryParseJson(l.data))==null?void 0:p.result;if(!u)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${l.data}`);me(this.rapidlyChangingMotionState.joint_position,u.joint_position,Re)||k.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=u.joint_position}),fe(this.rapidlyChangingMotionState,u,Re)||k.runInAction(()=>{var d,b,S;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=u.tcp_pose:(d=u.tcp_pose)!=null&&d.orientation&&((b=u.tcp_pose)!=null&&b.position)&&((S=this.rapidlyChangingMotionState.tcp_pose)!=null&&S.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:u.tcp_pose.position,orientation:$e(u.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",u.tcp_pose)}),u.tcp!==void 0&&this.rapidlyChangingMotionState.tcp!==u.tcp&&k.runInAction(()=>{this.rapidlyChangingMotionState.tcp=u.tcp}),this.rapidlyChangingMotionState.standstill!==u.standstill&&k.runInAction(()=>{this.rapidlyChangingMotionState.standstill=u.standstill});const m=this.rapidlyChangingMotionState.joint_limit_reached.limit_reached,g=u.joint_limit_reached.limit_reached;m.some((d,b)=>d!==g[b])&&k.runInAction(()=>{this.rapidlyChangingMotionState.joint_limit_reached=u.joint_limit_reached}),this.rapidlyChangingMotionState.execute!==u.execute&&k.runInAction(()=>{this.rapidlyChangingMotionState.execute=u.execute})}),k.makeAutoObservable(this)}static async open(e,n,a={}){var b;const r=re(e),i=a.cellId??"cell",[c,s]=n.split("@"),l=await r.api.controller.getCurrentRobotControllerState(i,s),u=l==null?void 0:l.motion_groups.find(S=>S.motion_group===n);if(!l||!u)throw new Error(`Controller ${s} or motion group ${n} not found`);const m=r.openReconnectingWebsocket(`/cells/${i}/controllers/${s}/motion-groups/${n}/state-stream`),g=await m.firstMessage(),p=(b=J.tryParseJson(g.data))==null?void 0:b.result;if(!p)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${u.motion_group}. Initial state:
+  `,p);const d=await r.api.motionGroup.getMotionGroupDescription(i,s,u.motion_group);return new se(r,l,u,d,p,m,i)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((e,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Ee="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class le{constructor(e,n={}){this.motionStream=e,this.options=n,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=(n==null?void 0:n.tcp)||e.motionGroup.tcp||this.getDefaultTcp(e),this.orientation=(n==null?void 0:n.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(n==null?void 0:n.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(n==null?void 0:n.mode)||this.DEFAULT_MODE,this.onError=n==null?void 0:n.onError}static async open(e,n,a={}){const r=await se.open(e,n,{cellId:a.cellId}),i=new le(r,a);return await i.setJoggingMode(i.mode),i}getDefaultTcp(e){var a,r;const n=(r=(a=e.description.dh_parameters)==null?void 0:a[0])==null?void 0:r.type;return e.joints.length<6&&(n===V.JointTypeEnum.RevoluteJoint||n===V.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 cellId(){return this.motionStream.cellId}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(n=>n!==null);return e.forEach(n=>{n.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(e.map(n=>n.closed()))}async setJoggingMode(e,n=!0){if(!(this.mode===e&&n)&&(this.dispose(),this.mode=e,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((e,n)=>{const a=setTimeout(()=>{n(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/jogging`),this.joggingSocket.addEventListener("message",r=>{var c,s,l,u;const i=J.tryParseJson(r.data);if(((c=i==null?void 0:i.result)==null?void 0:c.kind)==="INITIALIZE_RECEIVED"){clearTimeout(a),e();return}if(((s=i==null?void 0:i.result)==null?void 0:s.kind)==="MOTION_ERROR")if(clearTimeout(a),this.onBlocked&&((l=i==null?void 0:i.result)!=null&&l.message.includes(Ee))){(u=this.joggingSocket)==null||u.dispose(),this.onBlocked();return}else this.onError?this.onError(r.data):n(new Error(r.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:e,direction:n,velocityValue:a,velocityUnit:r}){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]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:e,direction:n,velocityMmPerSec:a}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const r=[0,0,0],i=[0,0,0];i[J.XYZ_TO_VECTOR[e]]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:r,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:e,direction:n,velocityRadsPerSec:a}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const r=[0,0,0],i=[0,0,0];r[J.XYZ_TO_VECTOR[e]]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:r,use_tool_coordinate_system:this.orientation==="tool"})}async runIncrementalCartesianMotion({currentTcpPose:e,currentJoints:n,velocityInRelevantUnits:a,axis:r,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 y=[...e.position];y[J.XYZ_TO_VECTOR[r]]+=c.distanceMm*(i==="-"?-1:1),s.push({limits_override:{tcp_velocity_limit:a},path:{path_definition_name:"PathLine",target_pose:{position:y,orientation:e.orientation}}})}else if(c.type==="rotate"){if(!e.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const y=new ue.Vector3(e.orientation[0],e.orientation[1],e.orientation[2]),f=y.length(),j=y.clone().normalize(),x=c.distanceRads*(i==="-"?-1:1),v=new ue.Vector3(0,0,0);v[r]=1;const C=Math.cos(.5*x)*Math.cos(.5*f),w=Math.sin(.5*x)*Math.sin(.5*f),I=Math.sin(.5*x)*Math.cos(.5*f),E=Math.cos(.5*x)*Math.sin(.5*f),M=v.dot(j),P=v.clone().cross(j),F=2*Math.acos(C-w*M),Z=F/Math.sin(.5*F),ne=new ue.Vector3().addScaledVector(P,w).addScaledVector(v,I).addScaledVector(j,E).multiplyScalar(Z);s.push({limits_override:{tcp_orientation_velocity_limit:a},path:{path_definition_name:"PathLine",target_pose:{position:e.position,orientation:[...ne]}}})}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 u={motion_group_model:l.motion_group_model,cycle_time:l.cycle_time,mounting:l.mounting,global:l.operation_limits.auto_limits},m=await this.nova.api.trajectoryPlanning.planTrajectory(this.cellId,{motion_group_setup:u,start_joint_position:n,motion_commands:s}),g=m.response;if(!g)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(m)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/trajectory`);const p=y=>{var f;if(!y||y.add_trajectory_error||y.message)if(this.onError)this.onError(y);else throw new Error(((f=y==null?void 0:y.add_trajectory_error)==null?void 0:f.message)||(y==null?void 0:y.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"})},d=async()=>{var y;await k.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await k.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},b=async()=>{var y;await k.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},S=async y=>{if(y!=null&&y.message)if(this.onError){this.onError(y);return}else throw new Error(y.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await d():await b()};this.trajectorySocket.addEventListener("message",y=>{var j,x;const f=J.tryParseJson(y.data);if(!((j=f==null?void 0:f.result)!=null&&j.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${y.data}`);if(this.onBlocked&&((x=f.result.message)!=null&&x.includes(Ee))){this.onBlocked();return}if(f.result.kind==="INITIALIZE_RECEIVED")p(f.result);else if(f.result.kind==="START_RECEIVED")S(f);else if(f.result.kind!=="PAUSE_RECEIVED")if(f.result.kind==="MOTION_ERROR"&&f.result.message)if(this.onError){this.onError(f);return}else throw new Error(f.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${f.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:g,tcp:this.tcp}})}}const Ve=t=>{const e=t.softTimeout||3e3,[n,a]=h.useState(!1),r=D.useTheme();return h.useEffect(()=>{const 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i=[];for(const[c,s]of n.entries())s&&i.push(c);return o.jsx(T,{sx:{display:"flex",flexDirection:"row",justifyContent:"center"},children:o.jsx(R,{"data-testid":"jogging-joint-limit-detector","aria-label":"jogging-joint-limit-detector",color:"error",variant:"body2",sx:{fontSize:"0.75rem",lineHeight:1.2,visibility:i.length?"visible":"hidden"},children:e("Jogging.JointLimitsReached.lb",{jointNumbers:i.map(c=>c+1).join(", ")})})})}),Xt=D.styled(ht)(({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 ie({labelValue:t,...e}){return o.jsxs(Xt,{fullWidth:!0,variant:"filled",children:[o.jsx(mt,{id:e.labelId,children:t}),o.jsx(ft,{...e})]})}const pe=[{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}],Qt=[{id:"continuous"},...pe],Kt=["coordsys","tool"];class ce{constructor(e,n,a,r,i){var c,s,l;this.jogger=e,this.coordSystems=n,this.motionGroupDescription=a,this.tcps=r,this.inverseSolverValue=i,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.tcpChangeInProgress=!1,this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,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=V.JointTypeEnum.RevoluteJoint;for(const u of n)if(u.coordinate_system===""){u.coordinate_system="world";break}this.selectedCoordSystemId=((c=n[0])==null?void 0:c.coordinate_system)||"world",this.selectedTcpId=e.motionStream.rapidlyChangingMotionState.tcp??"",this.tcpChangeInProgress=this.tcps.length>0&&!this.selectedTcpId,this.inverseSolver=i,this.jointType=((l=(s=a==null?void 0:a.dh_parameters)==null?void 0:s[0])==null?void 0:l.type)??V.JointTypeEnum.RevoluteJoint,k.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(k.autorun(()=>this.saveToLocalStorage())),this.disposers.push(k.autorun(()=>{const u=this.jogger.motionStream.rapidlyChangingMotionState.tcp;u&&u!==this.selectedTcpId&&k.runInAction(()=>{this.selectedTcpId=u,this.tcpChangeInProgress=!1})})),window.joggingStore=this}static async loadFor(e){const{nova:n,cellId:a}=e,[r,i]=await Promise.all([n.api.controller.listCoordinateSystems(a,e.motionStream.controllerId,"ROTATION_VECTOR"),n.api.motionGroup.getMotionGroupDescription(a,e.motionStream.controllerId,e.motionGroupId)]),c=await n.api.motionGroupModels.getMotionGroupKinematicModel(i.motion_group_model),s=Object.entries(i.tcps||{}).map(([l,u])=>({id:l,readable_name:u.name,position:u.pose.position,orientation:u.pose.orientation}));return new ce(e,r||[],i,s,c.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return he.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)&&await this.jogger.setOptions({tcp:this.selectedTcpId||void 0,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.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,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 Qt}get discreteIncrementOptions(){return pe}get incrementOptionsById(){return oe(this.incrementOptions,e=>e.id)}get tabsById(){return oe(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 oe(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return oe(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:pe.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(e,n){const a=this.tabs[n]||this.tabs[0];this.selectedTabId=a.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.requestTcpChange(e).catch(n=>{console.error("Failed to change TCP:",n)})}async requestTcpChange(e){if(e===this.selectedTcpId)return;this.tcpChangeInProgress=!0;const n=this.jogger.tcp,a=this.jogger.mode!=="jogging";try{this.jogger.tcp=e,a?await this.jogger.setJoggingMode("jogging"):await this.jogger.setJoggingMode("jogging",!1);let r=await this.waitForTcpConfirmation(e,1e3);a&&await this.jogger.setJoggingMode("off"),r||(r=await this.waitForTcpConfirmation(e,2e3)),k.runInAction(()=>{r?this.selectedTcpId=e:(this.jogger.tcp=n,this.selectedTcpId=this.jogger.motionStream.rapidlyChangingMotionState.tcp??"")})}catch(r){throw a&&await this.jogger.setJoggingMode("off").catch(()=>{}),k.runInAction(()=>{this.jogger.tcp=n,this.selectedTcpId=this.jogger.motionStream.rapidlyChangingMotionState.tcp??""}),r}finally{k.runInAction(()=>{this.tcpChangeInProgress=!1})}}waitForTcpConfirmation(e,n){return new Promise(a=>{const r=setTimeout(()=>{i(),a(!1)},n),i=k.when(()=>this.jogger.motionStream.rapidlyChangingMotionState.tcp===e,()=>{clearTimeout(r),a(!0)})})}setSelectedOrientation(e){this.selectedOrientation=e}setSelectedIncrementId(e){this.selectedIncrementId=e}setCurrentIncrementJog(e){this.incrementJogInProgress=e}setVelocityFromSlider(e,n){n?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 n=xt();this.lock(n);try{return await e()}finally{this.unlock(n)}}}const en=O.observer(({store:t,useDegree:e})=>{var c;const{t:n}=B.useTranslation(),a=h.useId(),r=[];function i(s){switch(s){case"coordsys":return n("Jogging.Orientation.coordsys");case"tool":return n("Jogging.Orientation.tool");default:return s}}return 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ae{constructor(e,n,a,r,i,c,s,l,u,m,g="cell"){this.controller=n,this.motionGroup=a,this.initialMotionState=r,this.motionStateSocket=i,this.isVirtual=c,this.tcps=s,this.description=l,this.initialControllerState=u,this.controllerStateSocket=m,this.cellId=g,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.nova=re(e),this.rapidlyChangingMotionState=r,this.controllerState=u,m.addEventListener("message",p=>{var b;const d=(b=J.tryParseJson(p.data))==null?void 0:b.result;d&&k.runInAction(()=>{this.controllerState=d})}),i.addEventListener("message",p=>{var b;const d=(b=J.tryParseJson(p.data))==null?void 0:b.result;if(!d)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${p.data}`);me(this.rapidlyChangingMotionState.joint_position,d.joint_position,_e)||k.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=d.joint_position}),fe(this.rapidlyChangingMotionState,d,_e)||k.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=d.tcp_pose}),d.tcp!==void 0&&this.rapidlyChangingMotionState.tcp!==d.tcp&&k.runInAction(()=>{this.rapidlyChangingMotionState.tcp=d.tcp}),this.rapidlyChangingMotionState.standstill!==d.standstill&&k.runInAction(()=>{this.rapidlyChangingMotionState.standstill=d.standstill})}),k.makeAutoObservable(this)}static async connectMultiple(e,n,a={}){return Promise.all(n.map(r=>ae.connect(e,r,a)))}static async connect(e,n,a={}){var v,C;const r=re(e),i=a.cellId??"cell",[c,s]=n.split("@"),l=await r.api.controller.getCurrentRobotControllerState(i,s),u=l==null?void 0:l.motion_groups.find(w=>w.motion_group===n);if(!l||!u)throw new Error(`Controller ${s} or motion group ${n} not found`);const m=r.openReconnectingWebsocket(`/cells/${i}/controllers/${s}/motion-groups/${n}/state-stream`),g=await m.firstMessage(),p=(v=J.tryParseJson(g.data))==null?void 0:v.result;if(!p)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${u.motion_group}. Initial state:
+  `,p);const b=(await r.api.controller.getRobotController(i,l.controller)).configuration.kind==="VirtualController",S=await r.api.motionGroup.getMotionGroupDescription(i,s,u.motion_group),y=Object.entries(S.tcps||{}).map(([w,I])=>({id:w,readable_name:I.name,position:I.pose.position,orientation:I.pose.orientation})),f=r.openReconnectingWebsocket(`/cells/${i}/controllers/${l.controller}/state-stream?response_rate=1000`),j=await f.firstMessage(),x=(C=J.tryParseJson(j.data))==null?void 0:C.result;if(!x)throw new Error(`Unable to parse initial controller state message ${j.data}`);return console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
+  `,x),new ae(r,l,u,p,m,b,y,S,x,f,i)}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,n)=>({index:n}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(e=>({...kn,...e}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var e,n,a;return this.description.mounting?[(((e=this.description.mounting.position)==null?void 0:e[0])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[1])||0)/1e3,(((a=this.description.mounting.position)==null?void 0:a[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var r,i,c,s,l,u;const e=new ke.Vector3(((i=(r=this.description.mounting)==null?void 0:r.orientation)==null?void 0:i[0])||0,((s=(c=this.description.mounting)==null?void 0:c.orientation)==null?void 0:s[1])||0,((u=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:u[2])||0),n=e.length(),a=e.normalize();return new ke.Quaternion().setFromAxisAngle(a,n)}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}k.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),k.runInAction(()=>{this.activationState="inactive"})}catch(e){throw k.runInAction(()=>{this.activationState="active"}),e}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}k.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),k.runInAction(()=>{this.activationState="active"})}catch(e){throw k.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}}const K="rgba(255, 255, 255, 1)",Rn={components:{MuiCssBaseline:{styleOverrides:{".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:{panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:`${U.RadiusSm}px !important`,"& fieldset":{borderRadius:`${U.RadiusSm}px !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${U.RadiusSm}px !important`}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:`${U.RadiusSm}px !important`,"& fieldset":{borderRadius:`${U.RadiusSm}px !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${U.RadiusSm}px !important`}}}}}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:K},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:K},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:K}}},JoggingJoint:{Joint:{arrowColor:K}},VelocitySlider:{sliderLegendColor:K}}}};function Qe(...t){return Lt.createNovaMuiTheme(Rn,...t)}function En(t={}){return Qe(t)}exports.AppHeader=$t;exports.ConnectedMotionGroup=ae;exports.CycleTimer=Ht;exports.JoggerConnection=le;exports.JoggingCartesianAxisControl=ge;exports.JoggingJointValueControl=Be;exports.JoggingPanel=rn;exports.JoggingStore=ce;exports.LoadingCover=Ve;exports.LoadingErrorMessage=qe;exports.LogPanel=pn;exports.LogStore=Ye;exports.LogViewer=Ze;exports.MotionStreamConnection=se;exports.NoMotionGroupModal=mn;exports.PoseCartesianValues=sn;exports.PoseJointValues=ln;exports.RobotListItem=fn;exports.RobotSetupReadinessIndicator=Xe;exports.RobotSetupReadinessState=be;exports.SelectableFab=bn;exports.TabBar=jn;exports.Timer=Mn;exports.VelocitySlider=We;exports.VelocitySliderLabel=xe;exports.WandelbotsDataGrid=Le;exports.createDebugMessage=cn;exports.createErrorMessage=gn;exports.createInfoMessage=un;exports.createLogMessage=te;exports.createNovaMuiTheme=En;exports.createNovaTheme=Qe;exports.createWarningMessage=dn;exports.jointValuesEqual=me;exports.poseEqual=ze;exports.tcpMotionEqual=fe;exports.unwrapRotationVector=$e;

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

@@ -1,12 +1,14 @@
 import type { SxProps } from "@mui/material/styles";
-import { NovaClient } from "@wandelbots/nova-js/v2";
+import type { AnyNovaClient } from "../../lib/novaCompat";
 import { JoggingStore } from "./JoggingStore";
 export type JoggingPanelTabId = "cartesian" | "joint";
 export type JoggingPanelProps = {
-    /** Either an existing NovaClient or the base url of a deployed Nova instance */
-    nova: NovaClient | string;
+    /** Either an existing Nova client or the base url of a deployed Nova instance */
+    nova: AnyNovaClient | string;
     /** Id of the motion group to move e.g. 0@ur5e */
     motionGroupId: string;
+    /** Cell id on the Nova instance. Defaults to "cell". */
+    cellId?: string;
     /** Callback with the jogging panel's state store for further customization/config */
     onSetup?: (store: JoggingStore) => void;
     /** Any children will go at the bottom of the panel under the default contents */

package/dist/core.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-DTS9g0aC.cjs"),o=require("./chunks/interpolation-C9sLsved.cjs"),t=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),a=require("./chunks/SafetyBar-VvOZ9aRM.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-BYmiJfgQ.cjs"),o=require("./chunks/interpolation-C9sLsved.cjs"),t=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),a=require("./chunks/SafetyBar-VvOZ9aRM.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.createNovaTheme=e.createNovaTheme;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.d.ts

@@ -29,4 +29,4 @@ export * from "./lib/motionStateUpdate";
 export * from "./lib/MotionStreamConnection";
 export * from "./SafetyBar";
 export * from "./themes/themeTypes";
-export { createNovaMuiTheme } from "./themes/theming";
+export { createNovaTheme, createNovaMuiTheme } from "./themes/theming";

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-BU4-W3Wy.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-DG8VTxzS.js";
-import { i as X } from "./chunks/externalizeComponent-EDymnaGR.js";
-import { S as Z } from "./chunks/SafetyBar-CxxIVVeR.js";
+import { A as o, t as s, C as t, u as r, b as n, d as i, e as g, J as l, g as u, h as c, i as d, L as m, o as p, M, N as S, P as b, f as C, R as V, q as L, p as P, S as f, T as J, r as R, V as x, s as I, W as T, k as y, n as A, l as E, j as q, a as v, c as N, m as h, v as w, w as G, x as W, y as j } from "./chunks/theming-BQJrwLJN.js";
+import { a as D, P as F, b as k, V as H, e as z, c as K, f as O, u as Q, d as U } from "./chunks/interpolation-DG8VTxzS.js";
+import { i as Y } from "./chunks/externalizeComponent-EDymnaGR.js";
+import { S as _ } from "./chunks/SafetyBar-CxxIVVeR.js";
 export {
   o as AppHeader,
   s as ConnectedMotionGroup,
@@ -14,40 +14,41 @@ export {
   u as LoadingCover,
   c as LoadingErrorMessage,
   d as LogPanel,
-  p as LogStore,
-  m as LogViewer,
+  m as LogStore,
+  p as LogViewer,
   M as MotionStreamConnection,
   S as NoMotionGroupModal,
   b as PoseCartesianValues,
   C as PoseJointValues,
-  B as ProgramControl,
-  D as ProgramState,
-  F as ProgramStateIndicator,
+  D as ProgramControl,
+  F as ProgramState,
+  k as ProgramStateIndicator,
   V as RobotListItem,
   L as RobotSetupReadinessIndicator,
   P as RobotSetupReadinessState,
-  Z as SafetyBar,
+  _ as SafetyBar,
   f as SelectableFab,
   J as TabBar,
   R as Timer,
-  k as ValueInterpolator,
+  H as ValueInterpolator,
   x as VelocitySlider,
   I as VelocitySliderLabel,
-  A as WandelbotsDataGrid,
-  E as createDebugMessage,
-  T as createErrorMessage,
-  q as createInfoMessage,
-  y as createLogMessage,
+  T as WandelbotsDataGrid,
+  y as createDebugMessage,
+  A as createErrorMessage,
+  E as createInfoMessage,
+  q as createLogMessage,
   v as createNovaMuiTheme,
-  w as createWarningMessage,
-  X as i18n,
-  G as jointValuesEqual,
-  N as poseEqual,
+  N as createNovaTheme,
+  h as createWarningMessage,
+  Y as i18n,
+  w as jointValuesEqual,
+  G as poseEqual,
   W as tcpMotionEqual,
-  h as unwrapRotationVector,
-  H as useAnimationFrame,
-  z as useAutorun,
-  K as useInterpolation,
-  O as useMounted,
-  Q as useReaction
+  j as unwrapRotationVector,
+  z as useAnimationFrame,
+  K as useAutorun,
+  O as useInterpolation,
+  Q as useMounted,
+  U as useReaction
 };

package/dist/index.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-MKZ2-1oY.cjs"),e=require("./chunks/theming-DTS9g0aC.cjs"),t=require("./chunks/interpolation-C9sLsved.cjs"),i=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),s=require("./chunks/SafetyBar-VvOZ9aRM.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-C0QhAyXX.cjs"),e=require("./chunks/theming-BYmiJfgQ.cjs"),t=require("./chunks/interpolation-C9sLsved.cjs"),i=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),s=require("./chunks/SafetyBar-VvOZ9aRM.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.createNovaTheme=e.createNovaTheme;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

@@ -1,64 +1,64 @@
-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-Q7ifc7Kd.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-BU4-W3Wy.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-DG8VTxzS.js";
-import { i as ua } from "./chunks/externalizeComponent-EDymnaGR.js";
-import { S as pa } from "./chunks/SafetyBar-CxxIVVeR.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";
+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-Tb3EF_Jv.js";
+import { A as M, t as C, C as R, u as b, b as x, d as y, e as A, J as L, g as P, h as V, i as T, L as E, o as J, M as F, N, P as O, f as h, R as G, q, p as v, S as H, T as W, r as j, V as w, s as B, W as D, k as U, n as Z, l as _, j as k, a as z, c as X, m as Y, v as K, w as Q, x as $, y as aa } from "./chunks/theming-BQJrwLJN.js";
+import { a as ea, P as sa, b as ta, V as ra, e as na, c as ia, f as ca, u as la, d as ga } from "./chunks/interpolation-DG8VTxzS.js";
+import { i as da } from "./chunks/externalizeComponent-EDymnaGR.js";
+import { S as Sa } from "./chunks/SafetyBar-CxxIVVeR.js";
+import { F as fa, a as ma, b as Ma, c as Ca, d as Ra, e as ba, f as xa } from "./chunks/robot-Cy9ST5-m.js";
+import { F as Aa, a as La, b as Pa, c as Va, d as Ta } from "./chunks/wbLogo-CObCmqTw.js";
+import { F as Ja, a as Fa, b as Na, c as Oa, d as ha, e as Ga, f as qa, g as va, h as Ha, i as Wa } from "./chunks/safety-state-stop-CJW5CKkp.js";
 export {
-  m as AppHeader,
-  Ia as AxisXIcon,
-  fa as AxisYIcon,
+  M as AppHeader,
+  fa as AxisXIcon,
+  ma as AxisYIcon,
   Ma as AxisZIcon,
   e as CollisionSceneRenderer,
   C as ConnectedMotionGroup,
   Ja as ControllerTypePhysicalIcon,
-  Ta as ControllerTypeVirtualIcon,
+  Fa as ControllerTypeVirtualIcon,
   R as CycleTimer,
-  ya as HomeIcon,
-  ma as JogMinusIcon,
-  Ca as JogPlusIcon,
+  Aa as HomeIcon,
+  Ca as JogMinusIcon,
+  Ra as JogPlusIcon,
   b as JoggerConnection,
   x as JoggingCartesianAxisControl,
-  Aa as JoggingIcon,
+  La as JoggingIcon,
   y as JoggingJointValueControl,
   A as JoggingPanel,
   L as JoggingStore,
   s as LinearAxis,
   P as LoadingCover,
   V as LoadingErrorMessage,
-  E as LogPanel,
-  J as LogStore,
-  T as LogViewer,
+  T as LogPanel,
+  E as LogStore,
+  J as LogViewer,
   t as MANUFACTURER_HOME_CONFIGS,
   r as MotionGroupVisualizer,
   F as MotionStreamConnection,
-  O as NoMotionGroupModal,
-  Fa as OperationModeAutomaticIcon,
+  N as NoMotionGroupModal,
+  Na as OperationModeAutomaticIcon,
   Oa as OperationModeErrorIcon,
-  Ga as OperationModeManualIcon,
-  La as OrientationCoordSystemIcon,
-  Pa as OrientationToolIcon,
-  G as PoseCartesianValues,
-  N as PoseJointValues,
+  ha as OperationModeManualIcon,
+  Pa as OrientationCoordSystemIcon,
+  Va as OrientationToolIcon,
+  O as PoseCartesianValues,
+  h as PoseJointValues,
   n as PresetEnvironment,
-  oa as ProgramControl,
-  ea as ProgramState,
-  sa as ProgramStateIndicator,
+  ea as ProgramControl,
+  sa as ProgramState,
+  ta as ProgramStateIndicator,
   i as Robot,
   c as RobotCard,
-  Ra as RobotIcon,
-  h as RobotListItem,
+  ba as RobotIcon,
+  G as RobotListItem,
   q as RobotSetupReadinessIndicator,
   v as RobotSetupReadinessState,
-  ba as RotationIcon,
-  pa as SafetyBar,
-  Na as SafetyStateErrorIcon,
-  ha as SafetyStateEstopIcon,
-  qa as SafetyStateManualActionRequiredIcon,
-  va as SafetyStateNormalIcon,
-  Ha as SafetyStateStopIcon,
+  xa as RotationIcon,
+  Sa as SafetyBar,
+  Ga as SafetyStateErrorIcon,
+  qa as SafetyStateEstopIcon,
+  va as SafetyStateManualActionRequiredIcon,
+  Ha as SafetyStateNormalIcon,
+  Wa as SafetyStateStopIcon,
   l as SafetyZonesRenderer,
   H as SelectableFab,
   g as SupportedLinearAxis,
@@ -66,29 +66,30 @@ export {
   W as TabBar,
   j as Timer,
   d as TrajectoryRenderer,
-  ta as ValueInterpolator,
+  ra as ValueInterpolator,
   w as VelocitySlider,
   B as VelocitySliderLabel,
-  Va as WBLogoIcon,
+  Ta as WBLogoIcon,
   D as WandelbotsDataGrid,
   U as createDebugMessage,
   Z as createErrorMessage,
   _ as createInfoMessage,
   k as createLogMessage,
   z as createNovaMuiTheme,
-  X as createWarningMessage,
+  X as createNovaTheme,
+  Y as createWarningMessage,
   p as defaultAxisConfig,
   S as defaultGetModel,
   I as extractManufacturer,
   f as getDefaultHomeConfig,
-  ua as i18n,
-  Y as jointValuesEqual,
-  K as poseEqual,
-  Q as tcpMotionEqual,
-  $ as unwrapRotationVector,
-  ra as useAnimationFrame,
-  na as useAutorun,
-  ia as useInterpolation,
-  ca as useMounted,
-  la as useReaction
+  da as i18n,
+  K as jointValuesEqual,
+  Q as poseEqual,
+  $ as tcpMotionEqual,
+  aa as unwrapRotationVector,
+  na as useAnimationFrame,
+  ia as useAutorun,
+  ca as useInterpolation,
+  la as useMounted,
+  ga as useReaction
 };