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

package/dist/lib/ConnectedMotionGroup.d.ts

@@ -1,7 +1,8 @@
 import { type AutoReconnectingWebsocket } from "@wandelbots/nova-js";
-import type { MotionGroupDescription, MotionGroupState, NovaClient, RobotControllerState } from "@wandelbots/nova-js/v2";
+import type { MotionGroupDescription, MotionGroupState, Nova, RobotControllerState } from "@wandelbots/nova-js/v2";
 import * as THREE from "three";
 import type { Vector3Simple } from "./JoggerConnection";
+import { type AnyNovaClient } from "./novaCompat";
 export type RobotTcpLike = {
     id: string;
     readable_name: string;
@@ -11,12 +12,15 @@ export type RobotTcpLike = {
 export type MotionGroupOption = {
     selectionId: string;
 };
+export type ConnectedMotionGroupOptions = {
+    /** Cell id on the Nova instance. Defaults to "cell". */
+    cellId?: string;
+};
 /**
  * Store representing the current state of a connected motion group.
  * API v2 version, not used yet in the components.
  */
 export declare class ConnectedMotionGroup {
-    readonly nova: NovaClient;
     readonly controller: RobotControllerState;
     readonly motionGroup: MotionGroupState;
     readonly initialMotionState: MotionGroupState;
@@ -26,8 +30,9 @@ export declare class ConnectedMotionGroup {
     readonly description: MotionGroupDescription;
     readonly initialControllerState: RobotControllerState;
     readonly controllerStateSocket: AutoReconnectingWebsocket;
-    static connectMultiple(nova: NovaClient, motionGroupIds: string[]): Promise<ConnectedMotionGroup[]>;
-    static connect(nova: NovaClient, motionGroupId: string): Promise<ConnectedMotionGroup>;
+    readonly cellId: string;
+    static connectMultiple(nova: AnyNovaClient, motionGroupIds: string[], options?: ConnectedMotionGroupOptions): Promise<ConnectedMotionGroup[]>;
+    static connect(novaClient: AnyNovaClient, motionGroupId: string, options?: ConnectedMotionGroupOptions): Promise<ConnectedMotionGroup>;
     connectedJoggingSocket: WebSocket | null;
     planData: any | null;
     joggingVelocity: number;
@@ -38,7 +43,9 @@ export declare class ConnectedMotionGroup {
      * movement controls in the UI should only be enabled in the "active" state
      */
     activationState: "inactive" | "activating" | "deactivating" | "active";
-    constructor(nova: NovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket, isVirtual: boolean, tcps: RobotTcpLike[], description: MotionGroupDescription, initialControllerState: RobotControllerState, controllerStateSocket: AutoReconnectingWebsocket);
+    /** Normalized instance-level Nova client (see `asNovaInstance`) */
+    readonly nova: Nova;
+    constructor(nova: AnyNovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket, isVirtual: boolean, tcps: RobotTcpLike[], description: MotionGroupDescription, initialControllerState: RobotControllerState, controllerStateSocket: AutoReconnectingWebsocket, cellId?: string);
     get motionGroupId(): string;
     get controllerId(): string;
     get modelFromController(): string;

package/dist/lib/JoggerConnection.d.ts

@@ -1,6 +1,7 @@
 import { type AutoReconnectingWebsocket } from "@wandelbots/nova-js";
-import { type NovaClient, type Pose } from "@wandelbots/nova-js/v2";
+import { type Pose } from "@wandelbots/nova-js/v2";
 import { MotionStreamConnection } from "./MotionStreamConnection";
+import type { AnyNovaClient } from "./novaCompat";
 export type Vector3Simple = [number, number, number];
 export type JoggerConnectionOptions = {
     mode?: JoggerMode;
@@ -13,6 +14,8 @@ export type JoggerConnectionOptions = {
     onError?: (err: unknown) => void;
     tcp?: string;
     orientation?: JoggerOrientation;
+    /** Cell id on the Nova instance. Defaults to "cell". */
+    cellId?: string;
 };
 export type JoggerMode = "jogging" | "trajectory" | "off";
 export type JoggerOrientation = "coordsys" | "tool";
@@ -49,12 +52,13 @@ export declare class JoggerConnection {
      * @param options.onError - Error handler for websocket errors
      * @returns Promise resolving to initialized JoggerConnection instance
      */
-    static open(nova: NovaClient, motionGroupId: string, options?: JoggerConnectionOptions): Promise<JoggerConnection>;
+    static open(nova: AnyNovaClient, motionGroupId: string, options?: JoggerConnectionOptions): Promise<JoggerConnection>;
     constructor(motionStream: MotionStreamConnection, options?: JoggerConnectionOptions | undefined);
     getDefaultTcp(motionStream: MotionStreamConnection): string | undefined;
     setOptions(options: Partial<JoggerConnectionOptions>): Promise<void>;
     get motionGroupId(): string;
-    get nova(): NovaClient;
+    get nova(): import("@wandelbots/nova-js/v2").Nova;
+    get cellId(): string;
     get numJoints(): number;
     stop(): Promise<void>;
     dispose(): Promise<void[]>;

package/dist/lib/MotionStreamConnection.d.ts

@@ -1,18 +1,25 @@
 import { type AutoReconnectingWebsocket } from "@wandelbots/nova-js";
-import type { MotionGroupDescription, MotionGroupState, NovaClient, RobotControllerState } from "@wandelbots/nova-js/v2";
+import type { MotionGroupDescription, MotionGroupState, Nova, RobotControllerState } from "@wandelbots/nova-js/v2";
+import { type AnyNovaClient } from "./novaCompat";
 /**
  * Store representing the current state of a connected motion group.
  */
+export type MotionStreamConnectionOptions = {
+    /** Cell id on the Nova instance. Defaults to "cell". */
+    cellId?: string;
+};
 export declare class MotionStreamConnection {
-    readonly nova: NovaClient;
     readonly controller: RobotControllerState;
     readonly motionGroup: MotionGroupState;
     readonly description: MotionGroupDescription;
     readonly initialMotionState: MotionGroupState;
     readonly motionStateSocket: AutoReconnectingWebsocket;
-    static open(nova: NovaClient, motionGroupId: string): Promise<MotionStreamConnection>;
+    readonly cellId: string;
+    static open(novaClient: AnyNovaClient, motionGroupId: string, options?: MotionStreamConnectionOptions): Promise<MotionStreamConnection>;
     rapidlyChangingMotionState: MotionGroupState;
-    constructor(nova: NovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, description: MotionGroupDescription, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket);
+    /** Normalized instance-level Nova client (see `asNovaInstance`) */
+    readonly nova: Nova;
+    constructor(nova: AnyNovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, description: MotionGroupDescription, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket, cellId?: string);
     get motionGroupId(): string;
     get controllerId(): string;
     get joints(): {

package/dist/lib/novaCompat.d.ts

@@ -0,0 +1,16 @@
+import type { Nova, NovaClient } from "@wandelbots/nova-js/v2";
+/**
+ * A Nova-like client. We accept either the current instance-level `Nova`
+ * client or, for backwards compatibility, the deprecated cell-scoped
+ * `NovaClient`.
+ */
+export type AnyNovaClient = Nova | NovaClient;
+/**
+ * For backwards compatibility we still accept the deprecated cell-scoped
+ * `NovaClient`. This normalizes it to present the same interface as the
+ * current instance-level `Nova` client, so the rest of the code can be
+ * written against the newer API.
+ *
+ * Instance-level `Nova` clients are returned unchanged.
+ */
+export declare function asNovaInstance(nova: AnyNovaClient): Nova;

package/dist/themes/createDarkTheme.d.ts

@@ -1,2 +1,7 @@
-import { type Theme } from "@mui/material/styles";
-export declare function createDarkTheme(): Theme;
+/**
+ * @deprecated Internal alias retained for backward compatibility. Use
+ * {@link createNovaTheme} from `./theming` instead — it accepts variadic
+ * `ThemeOptions` overrides matching the upstream
+ * `@wandelbots/design-tokens/mui` signature.
+ */
+export { createNovaTheme as createDarkTheme } from "./theming";

package/dist/themes/themeTypes.d.ts

@@ -1,17 +1,4 @@
-type NovaColorPaletteExtension = {
-    paletteExt?: {
-        primary?: {
-            hover?: string;
-            selected?: string;
-            focus?: string;
-            focusVisible?: string;
-            outlineBorder?: string;
-        };
-        secondary?: {
-            tonal?: string;
-        };
-    };
-};
+import "@wandelbots/design-tokens/mui";
 export interface AxisControlComponentColors {
     color?: string;
     borderColor?: string;
@@ -24,67 +11,30 @@ export interface AxisControlComponentColors {
     };
     labelColor?: string;
 }
-interface NovaComponentsExtension {
-    componentsExt?: {
-        JoggingPanel?: {
-            JoggingCartesian?: {
-                Axis?: {
-                    X?: AxisControlComponentColors;
-                    Y?: AxisControlComponentColors;
-                    Z?: AxisControlComponentColors;
-                    CustomRotation?: AxisControlComponentColors;
+declare module "@mui/material/styles" {
+    interface Theme {
+        componentsExt?: {
+            JoggingPanel?: {
+                JoggingCartesian?: {
+                    Axis?: {
+                        X?: AxisControlComponentColors;
+                        Y?: AxisControlComponentColors;
+                        Z?: AxisControlComponentColors;
+                        CustomRotation?: AxisControlComponentColors;
+                    };
                 };
-            };
-            JoggingJoint?: {
-                Joint?: {
-                    arrowColor?: string;
+                JoggingJoint?: {
+                    Joint?: {
+                        arrowColor?: string;
+                    };
+                };
+                VelocitySlider?: {
+                    sliderLegendColor?: string;
                 };
-            };
-            VelocitySlider?: {
-                sliderLegendColor?: string;
             };
         };
-    };
-}
-interface BackgroundPaperElevation {
-    0?: string;
-    1?: string;
-    2?: string;
-    3?: string;
-    4?: string;
-    5?: string;
-    6?: string;
-    7?: string;
-    8?: string;
-    9?: string;
-    10?: string;
-    11?: string;
-    12?: string;
-    13?: string;
-    14?: string;
-    15?: string;
-    16?: string;
-    17?: string;
-    18?: string;
-    19?: string;
-    20?: string;
-    21?: string;
-    22?: string;
-    23?: string;
-    24?: string;
-}
-declare module "@mui/material/styles" {
-    interface Palette {
-        tertiary: Palette["primary"];
-        backgroundPaperElevation?: BackgroundPaperElevation;
-    }
-    interface PaletteOptions {
-        tertiary?: PaletteOptions["primary"];
-        backgroundPaperElevation?: BackgroundPaperElevation;
-    }
-    interface Theme extends NovaComponentsExtension, NovaColorPaletteExtension {
     }
-    interface ThemeOptions extends NovaComponentsExtension, NovaColorPaletteExtension {
+    interface ThemeOptions {
+        componentsExt?: Theme["componentsExt"];
     }
 }
-export {};

package/dist/themes/theming.d.ts

@@ -1,6 +1,23 @@
-import { type Theme, type ThemeOptions } from "@mui/material/styles";
+import type { Theme, ThemeOptions } from "@mui/material/styles";
+import "@mui/x-data-grid/themeAugmentation";
 /**
- * Create the default Wandelbots Nova Material UI theme, overriding
- * any defaults with the provided theme options.
+ * Create the default Wandelbots Nova Material UI theme for use with
+ * `@wandelbots/wandelbots-js-react-components`. Layers DataGrid +
+ * JoggingPanel-defaults on top of the canonical Nova theme from
+ * `@wandelbots/design-tokens`.
+ *
+ * Pass any number of `ThemeOptions` objects to override defaults. Each is
+ * deep-merged in order via MUI's `createTheme`.
+ *
+ * Light mode is not currently supported. Passing `palette: { mode: "light" }`
+ * will throw upstream. Browser-preference autodetection was removed when the
+ * upstream theme dropped its light-mode stub. It can be re-introduced once
+ * Figma synchronises a real light palette.
  */
-export declare function createNovaMuiTheme(opts: ThemeOptions): Theme;
+export declare function createNovaTheme(...overrides: ThemeOptions[]): Theme;
+/**
+ * @deprecated Use {@link createNovaTheme} instead. This name shadows the
+ * upstream `createNovaMuiTheme` from `@wandelbots/design-tokens/mui` (which
+ * has a different, variadic signature) and is therefore confusing.
+ */
+export declare function createNovaMuiTheme(opts?: ThemeOptions): Theme;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "5.6.1",
+  "version": "5.7.0-pr.feat-design-tokens.616.fff06df",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -173,7 +173,8 @@
   "dependencies": {
     "@mui/x-charts": "^8.27.0",
     "@mui/x-data-grid": "^8.27.0",
-    "@wandelbots/nova-js": "^3.6.0",
+    "@wandelbots/design-tokens": "~1.2.2",
+    "@wandelbots/nova-js": "3.10.0-pr.295.cb733a7",
     "axios": "^1.15.0",
     "dotenv": "^17.2.3",
     "i18next-browser-languagedetector": "^8.2.0",

package/dist/chunks/MotionGroupVisualizer-MKZ2-1oY.cjs

@@ -1 +0,0 @@
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j.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,e.size_z/1e3);case"sphere":return new j.SphereGeometry(e.radius/1e3);case"capsule":return new j.CapsuleGeometry(e.radius/1e3,e.cylinder_height/1e3);case"cylinder":return new j.CylinderGeometry(e.radius/1e3,e.radius/1e3,e.height/1e3);case"rectangle":return new j.BoxGeometry(e.size_x/1e3,e.size_y/1e3,0);default:return console.warn(`${e.shape_type} is not supported`),new j.BufferGeometry}}function je({name:e,collider:n,children:r}){var f,u;const o=((f=n.pose)==null?void 0:f.position)??[0,0,0],i=((u=n.pose)==null?void 0:u.orientation)??[0,0,0];return n.margin&&console.warn(`${e} margin is not supported`),t.jsx("mesh",{name:e,position:new j.Vector3(o[0],o[1],o[2]).divideScalar(1e3),rotation:new j.Euler(i[0],i[1],i[2],"XYZ"),geometry:ge(n.shape),children:r})}function be({name:e,colliders:n,meshChildrenProvider:r,...o}){return t.jsx("group",{name:e,...o,children:Object.entries(n).map(([i,f])=>t.jsx(je,{name:i,collider:f,children:r(i,f)},i))})}function we({scene:e,meshChildrenProvider:n}){const r=e.colliders;return t.jsx("group",{children:r&&t.jsx(be,{meshChildrenProvider:n,colliders:r})})}function O(){return t.jsx(M.Environment,{frames:1,children:t.jsx(Me,{})})}const Re=[2,0,2,0,2,0,2,0];function Me({positions:e=Re}){return t.jsxs(t.Fragment,{children:[t.jsx(M.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),t.jsx("group",{rotation:[0,.5,0],children:t.jsx("group",{children:e.map((n,r)=>t.jsx(M.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[n,4,r*4],scale:[3,1,1]},r))})}),t.jsx(M.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),t.jsx(M.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),t.jsx(M.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),t.jsx(M.Lightformer,{form:"ring",color:"white",intensity:5,scale:10,position:[-15,4,-18],target:[0,0,0]})]})}const Z={attach:"material",color:"#009f4d",opacity:.2,depthTest:!1,depthWrite:!1,transparent:!0,polygonOffset:!0};function ve({safetyZones:e,dhParameters:n,...r}){const o=d.useMemo(()=>S.dhParametersToPlaneSize(n??[]),[n]),i=(u,s)=>{var l,h;if(!((l=s==null?void 0:s.pose)!=null&&l.position)||!((h=s==null?void 0:s.pose)!=null&&h.orientation))return null;const y=new j.Vector3(s.pose.position[0]/1e3,s.pose.position[1]/1e3,s.pose.position[2]/1e3),a=new j.Vector3(s.pose.orientation[0],s.pose.orientation[1],s.pose.orientation[2]);let m;const c=s.shape.shape_type==="plane"?{...Z,side:j.DoubleSide}:{...Z,side:j.FrontSide};switch(s.shape.shape_type){case"plane":m=t.jsx("planeGeometry",{args:[o,o]});break;case"sphere":{const p=(s==null?void 0:s.shape).radius/1e3;m=t.jsx("sphereGeometry",{args:[p]});break}case"capsule":{const p=(s==null?void 0:s.shape).radius/1e3,x=(s==null?void 0:s.shape).cylinder_height/1e3;m=t.jsx("capsuleGeometry",{args:[p,x]});break}case"convex_hull":{const p=(s==null?void 0:s.shape).vertices.map(b=>new j.Vector3(b[0]/1e3,b[1]/1e3,b[2]/1e3)),x=S.verticesToCoplanarity(p);if(x.isCoplanar&&x.normal){const w=new 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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 P=new Map;async function E(e,n){if(P.has(e))return P.get(e);const r=(async()=>{var u;const o=n||"",i=new R.NovaClient({instanceUrl:o}),f=i.api.motionGroupModels;(u=f.axios)!=null&&u.interceptors&&f.axios.interceptors.request.use(s=>{var y;return(y=s.url)!=null&&y.includes("/glb")&&(s.responseType="blob"),s});try{const s=await i.api.motionGroupModels.getMotionGroupGlbModel(e);return URL.createObjectURL(s)}catch(s){throw console.error("Failed to fetch model:",s),s}})();return P.set(e,r),r}function z(e){function n(r){return r.children.length===0?[r]:[r,...r.children.flatMap(o=>n(o))]}return n(e).filter(r=>te(r))}function 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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 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Ce({url:e,flangeRef:n,postModelRender:r,...o}){const i=M.useGLTF(e),u=Se(i,"robot.glb").gltf,s=d.useCallback(a=>{a&&r&&r()},[r]);function y(a){try{return 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(Ce,{url:i,flangeRef:n,postModelRender:r,...o}):null}const oe=(e,n)=>{e.userData.isGhost||(e.traverse(r=>{if(r instanceof j.Mesh){r.material instanceof j.Material&&(r.material.colorWrite=!1);const o=r.clone(),i=r.clone();o.material=new j.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:-1,side:j.DoubleSide}),o.userData.isGhost=!0,i.material=new j.MeshStandardMaterial({color:n,opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-2,side:j.DoubleSide}),i.userData.isGhost=!0,r.parent&&(r.parent.add(o),r.parent.add(i))}}),e.userData.isGhost=!0)},ie=e=>{if(!e.userData.isGhost)return;const n=[];e.traverse(r=>{var o;r instanceof j.Mesh&&((o=r.userData)!=null&&o.isGhost?n.push(r):r.material instanceof 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Ae=S.externalizeComponent(me.observer(({robotName:e,programState:n,safetyState:r,operationMode:o,driveToHomeEnabled:i=!1,onDriveToHomePress:f,onDriveToHomeRelease:u,connectedMotionGroup:s,robotComponent:y=ae,customContentComponent:a,className: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 F=()=>{if(b.current){const{offsetWidth:$,offsetHeight:H}=b.current;k($>H),fe({width:$,height:H})}};F();const W=new ResizeObserver(F);return b.current&&W.observe(b.current),()=>{W.disconnect()}},[]);const J=d.useCallback(()=>{de(F=>F+1)},[]),C=d.useCallback(()=>{!i||!f||(p(!0),f())},[i,f]),A=d.useCallback(()=>{!i||!u||(p(!1),u())},[i,u]),B=d.useCallback(()=>{h&&u&&(p(!1),u())},[h,u]),_=w?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=S.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 Fe({connectedMotionGroup:e,getModel:n=E,flangeRef:r,transparentColor:o,postModelRender:i,...f}){if(!e.dhParameters)return null;const u=e.modelFromController||"";return u&&n(u)?t.jsx(U,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,modelFromController:u,dhParameters:e.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:i,...f}):t.jsx(ue,{rapidlyChangingMotionState:e.rapidlyChangingMotionState,dhParameters:e.dhParameters,...f})}const D={[R.Manufacturer.Abb]:[0,0,0,0,Math.PI/2,0,0],[R.Manufacturer.Fanuc]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Yaskawa]:[0,0,0,0,-Math.PI/2,0,0],[R.Manufacturer.Kuka]:[0,-Math.PI/2,Math.PI/2,0,Math.PI/2,0,0],[R.Manufacturer.Universalrobots]:[0,-Math.PI/2,-Math.PI/2,-Math.PI/2,Math.PI/2,-Math.PI/2,0]};function le(e){const[n]=e.split("_");switch(n){case"ABB":return R.Manufacturer.Abb;case"FANUC":return R.Manufacturer.Fanuc;case"YASKAWA":return R.Manufacturer.Yaskawa;case"KUKA":return R.Manufacturer.Kuka;case"UniversalRobots":return R.Manufacturer.Universalrobots;default:return null}}function Pe(e,n){const r=le(e);return r&&r in D?D[r]:n||null}const Ve=S.externalizeComponent(e=>{const{inverseSolver:n,dhParameters:r,...o}=e,[i,f]=d.useState(R.JointTypeEnum.RevoluteJoint);d.useEffect(()=>{r.length&&f(r[0].type??R.JointTypeEnum.RevoluteJoint)},[r]);const u=d.useMemo(()=>n===null&&i===R.JointTypeEnum.RevoluteJoint,[n,i]),s=d.useMemo(()=>n===null&&i===R.JointTypeEnum.PrismaticJoint,[n,i]);return d.useMemo(()=>!!n,[n])||u?t.jsx(q,{dhParameters:r,...o}):s?t.jsx(U,{dhParameters:r,...o}):null});exports.CollisionSceneRenderer=we;exports.LinearAxis=Fe;exports.MANUFACTURER_HOME_CONFIGS=D;exports.MotionGroupVisualizer=Ve;exports.PresetEnvironment=O;exports.Robot=ae;exports.RobotCard=Ae;exports.SafetyZonesRenderer=ve;exports.SupportedLinearAxis=U;exports.SupportedRobot=q;exports.TrajectoryRenderer=_e;exports.defaultAxisConfig=Ie;exports.defaultGetModel=E;exports.extractManufacturer=le;exports.getDefaultHomeConfig=Pe;