@wandelbots/wandelbots-js-react-components 5.6.1 → 5.7.0-pr.fix-buttons-dissapear.617.9e953cc

package/dist/chunks/{MotionGroupVisualizer-Q7ifc7Kd.js → MotionGroupVisualizer-BiqA30xJ.js}

@@ -1,26 +1,26 @@
-import { jsx as r, jsxs as b, Fragment as U } from "react/jsx-runtime";
+import { jsx as r, jsxs as b, Fragment as B } 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 { Matrix4 as v, Vector3 as G, Quaternion as W } from "three";
+import { ConvexGeometry as ae, RoundedBoxGeometry as ke } from "three-stdlib";
+import Ge, { useMemo as P, useRef as R, useCallback as S, useEffect as T, useState as L, Suspense as ce } from "react";
+import { d as Le, v as Ie, o as Pe, e as C } from "./externalizeComponent-EDymnaGR.js";
+import { Environment as Ae, Lightformer as I, Line as $, useGLTF as Fe, Bounds as Q } from "@react-three/drei";
 import { useTheme as De } from "@mui/material/styles";
-import v from "@mui/material/Box";
-import Q from "@mui/material/Button";
+import M from "@mui/material/Box";
+import z from "@mui/material/Button";
 import Oe from "@mui/material/Card";
-import z from "@mui/material/Divider";
-import ee from "@mui/material/Typography";
-import { useThree as le, useFrame as ce, Canvas as te } from "@react-three/fiber";
+import ee from "@mui/material/Divider";
+import te from "@mui/material/Typography";
+import { useThree as N, useFrame as le, Canvas as re } from "@react-three/fiber";
 import { observer as Ve } from "mobx-react-lite";
 import { useTranslation as Ee } from "react-i18next";
-import { V as ue, c as fe, b as re } from "./interpolation-DG8VTxzS.js";
-import { NovaClient as Ce, Manufacturer as _, JointTypeEnum as C } from "@wandelbots/nova-js/v2";
+import { V as ue, c as fe, b as ne } from "./interpolation-DG8VTxzS.js";
+import { Nova as Ue, Manufacturer as _, JointTypeEnum as U } from "@wandelbots/nova-js/v2";
 import { ErrorBoundary as pe } from "react-error-boundary";
-function Ue(e) {
+function Be(e) {
   switch (e.shape_type) {
     case "convex_hull":
-      return new se(
+      return new ae(
         e.vertices.map(
           (t) => new g.Vector3(
             t[0] / 1e3,
@@ -54,65 +54,65 @@ function Ue(e) {
       return console.warn(`${e.shape_type} is not supported`), new g.BufferGeometry();
   }
 }
-function Je({
+function Ce({
   name: e,
   collider: n,
   children: t
 }) {
-  var f, c;
-  const l = ((f = n.pose) == null ? void 0 : f.position) ?? [0, 0, 0], i = ((c = n.pose) == null ? void 0 : c.orientation) ?? [0, 0, 0];
+  var u, c;
+  const s = ((u = n.pose) == null ? void 0 : u.position) ?? [0, 0, 0], o = ((c = n.pose) == null ? void 0 : c.orientation) ?? [0, 0, 0];
   return n.margin && console.warn(`${e} margin is not supported`), /* @__PURE__ */ r(
     "mesh",
     {
       name: e,
       position: new g.Vector3(
-        l[0],
-        l[1],
-        l[2]
+        s[0],
+        s[1],
+        s[2]
       ).divideScalar(1e3),
-      rotation: new g.Euler(i[0], i[1], i[2], "XYZ"),
-      geometry: Ue(n.shape),
+      rotation: new g.Euler(o[0], o[1], o[2], "XYZ"),
+      geometry: Be(n.shape),
       children: t
     }
   );
 }
-function je({
+function Je({
   name: e,
   colliders: n,
   meshChildrenProvider: t,
-  ...l
+  ...s
 }) {
-  return /* @__PURE__ */ r("group", { name: e, ...l, children: Object.entries(n).map(([i, f]) => /* @__PURE__ */ r(
-    Je,
+  return /* @__PURE__ */ r("group", { name: e, ...s, children: Object.entries(n).map(([o, u]) => /* @__PURE__ */ r(
+    Ce,
     {
-      name: i,
-      collider: f,
-      children: t(i, f)
+      name: o,
+      collider: u,
+      children: t(o, u)
     },
-    i
+    o
   )) });
 }
-function wt({
+function bt({
   scene: e,
   meshChildrenProvider: n
 }) {
   const t = e.colliders;
   return /* @__PURE__ */ r("group", { children: t && /* @__PURE__ */ r(
-    je,
+    Je,
     {
       meshChildrenProvider: n,
       colliders: t
     }
   ) });
 }
-function ne() {
-  return /* @__PURE__ */ r(Pe, { frames: 1, children: /* @__PURE__ */ r(We, {}) });
+function oe() {
+  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: [
+const je = [2, 0, 2, 0, 2, 0, 2, 0];
+function We({ positions: e = je }) {
+  return /* @__PURE__ */ b(B, { 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",
@@ -180,7 +180,7 @@ function We({ positions: e = Be }) {
     )
   ] });
 }
-const oe = {
+const ie = {
   attach: "material",
   color: "#009f4d",
   opacity: 0.2,
@@ -189,41 +189,41 @@ const oe = {
   transparent: !0,
   polygonOffset: !0
 };
-function bt({
+function xt({
   safetyZones: e,
   dhParameters: n,
   ...t
 }) {
-  const l = I(
+  const s = P(
     () => Le(n ?? []),
     [n]
-  ), i = (c, o) => {
-    var u, d;
-    if (!((u = o == null ? void 0 : o.pose) != null && u.position) || !((d = o == null ? void 0 : o.pose) != null && d.orientation))
+  ), o = (c, i) => {
+    var f, d;
+    if (!((f = i == null ? void 0 : i.pose) != null && f.position) || !((d = i == null ? void 0 : i.pose) != null && d.orientation))
       return null;
     const y = new g.Vector3(
-      o.pose.position[0] / 1e3,
-      o.pose.position[1] / 1e3,
-      o.pose.position[2] / 1e3
-    ), s = new g.Vector3(
-      o.pose.orientation[0],
-      o.pose.orientation[1],
-      o.pose.orientation[2]
+      i.pose.position[0] / 1e3,
+      i.pose.position[1] / 1e3,
+      i.pose.position[2] / 1e3
+    ), a = new g.Vector3(
+      i.pose.orientation[0],
+      i.pose.orientation[1],
+      i.pose.orientation[2]
     );
     let h;
-    const a = o.shape.shape_type === "plane" ? { ...oe, side: g.DoubleSide } : { ...oe, side: g.FrontSide };
-    switch (o.shape.shape_type) {
+    const l = i.shape.shape_type === "plane" ? { ...ie, side: g.DoubleSide } : { ...ie, side: g.FrontSide };
+    switch (i.shape.shape_type) {
       /**
        * Plane shape, uses DH parameters to calculate the size of the plane (reach distance of a robot)
        */
       case "plane":
-        h = /* @__PURE__ */ r("planeGeometry", { args: [l, l] });
+        h = /* @__PURE__ */ r("planeGeometry", { args: [s, s] });
         break;
       /**
        * Sphere shape
        */
       case "sphere": {
-        const p = (o == null ? void 0 : o.shape).radius / 1e3;
+        const p = (i == null ? void 0 : i.shape).radius / 1e3;
         h = /* @__PURE__ */ r("sphereGeometry", { args: [p] });
         break;
       }
@@ -231,7 +231,7 @@ function bt({
        * Capsule shape
        */
       case "capsule": {
-        const p = (o == null ? void 0 : o.shape).radius / 1e3, m = (o == null ? void 0 : o.shape).cylinder_height / 1e3;
+        const p = (i == null ? void 0 : i.shape).radius / 1e3, m = (i == null ? void 0 : i.shape).cylinder_height / 1e3;
         h = /* @__PURE__ */ r("capsuleGeometry", { args: [p, m] });
         break;
       }
@@ -240,9 +240,9 @@ function bt({
        * renderer to be able to visualize the convex hull.
        */
       case "convex_hull": {
-        const p = (o == null ? void 0 : o.shape).vertices.map(
+        const p = (i == null ? void 0 : i.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],
@@ -254,7 +254,7 @@ function bt({
           h = /* @__PURE__ */ r(
             "primitive",
             {
-              object: new se(p),
+              object: new ae(p),
               attach: "geometry"
             }
           );
@@ -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 = i.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"
           }
         );
@@ -284,7 +284,7 @@ function bt({
       default:
         console.warn(
           "Unsupported safety zone shape type:",
-          o.shape.shape_type
+          i.shape.shape_type
         ), h = null;
     }
     return /* @__PURE__ */ b(
@@ -292,31 +292,31 @@ function bt({
       {
         renderOrder: c,
         position: y,
-        quaternion: Ie(s),
+        quaternion: Pe(a),
         children: [
           h,
-          /* @__PURE__ */ r("meshStandardMaterial", { ...a, polygonOffsetFactor: -c })
+          /* @__PURE__ */ r("meshStandardMaterial", { ...l, polygonOffsetFactor: -c })
         ]
       },
-      `safety-zone-${o.shape.shape_type}-${c}`
+      `safety-zone-${i.shape.shape_type}-${c}`
     );
-  }, f = I(() => Object.values(e ?? {}).map(
-    (c, o) => i(o, c)
-  ), [e, l]);
-  return /* @__PURE__ */ r("group", { ...t, children: f });
+  }, u = P(() => Object.values(e ?? {}).map(
+    (c, i) => o(i, c)
+  ), [e, s]);
+  return /* @__PURE__ */ r("group", { ...t, children: u });
 }
-function xt({
+function Rt({
   trajectory: e,
   ...n
 }) {
-  const t = (e == null ? void 0 : e.map((l) => {
-    if (l.position && l.position.length >= 3) {
-      const [i, f, c] = l.position;
-      if (Number.isFinite(i) && Number.isFinite(f) && Number.isFinite(c))
-        return new g.Vector3(i / 1e3, c / 1e3, -f / 1e3);
+  const t = (e == null ? void 0 : e.map((s) => {
+    if (s.position && s.position.length >= 3) {
+      const [o, u, c] = s.position;
+      if (Number.isFinite(o) && Number.isFinite(u) && Number.isFinite(c))
+        return new g.Vector3(o / 1e3, c / 1e3, -u / 1e3);
     }
     return null;
-  }).filter((l) => l !== null)) || [];
+  }).filter((s) => s !== null)) || [];
   return /* @__PURE__ */ r("group", { ...n, children: t.length > 0 && /* @__PURE__ */ r(
     $,
     {
@@ -328,31 +328,31 @@ function xt({
     }
   ) });
 }
-const B = /* @__PURE__ */ new Map();
-async function j(e, n) {
-  if (B.has(e))
-    return B.get(e);
+const j = /* @__PURE__ */ new Map();
+async function J(e, n) {
+  if (j.has(e))
+    return j.get(e);
   const t = (async () => {
     var c;
-    const l = n || "", i = new Ce({ instanceUrl: l }), f = i.api.motionGroupModels;
-    (c = f.axios) != null && c.interceptors && f.axios.interceptors.request.use((o) => {
+    const s = n || "", o = new Ue({ instanceUrl: s }), u = o.api.motionGroupModels;
+    (c = u.axios) != null && c.interceptors && u.axios.interceptors.request.use((i) => {
       var y;
-      return (y = o.url) != null && y.includes("/glb") && (o.responseType = "blob"), o;
+      return (y = i.url) != null && y.includes("/glb") && (i.responseType = "blob"), i;
     });
     try {
-      const o = await i.api.motionGroupModels.getMotionGroupGlbModel(
+      const i = await o.api.motionGroupModels.getMotionGroupGlbModel(
         e
       );
-      return URL.createObjectURL(o);
-    } catch (o) {
-      throw console.error("Failed to fetch model:", o), o;
+      return URL.createObjectURL(i);
+    } catch (i) {
+      throw console.error("Failed to fetch model:", i), i;
     }
   })();
-  return B.set(e, t), t;
+  return j.set(e, t), t;
 }
 function de(e) {
   function n(t) {
-    return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((l) => n(l))];
+    return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((s) => n(s))];
   }
   return n(e).filter((t) => me(t));
 }
@@ -364,108 +364,122 @@ function me(e) {
 }
 function $e(e, n) {
   let t;
-  function l(i) {
-    if (he(i)) {
+  function s(o) {
+    if (he(o)) {
       if (t)
         throw Error(
-          `Found multiple flange groups in robot model ${n}; first ${t.name} then ${i.name}. Only one _FLG group is allowed.`
+          `Found multiple flange groups in robot model ${n}; first ${t.name} then ${o.name}. Only one _FLG group is allowed.`
         );
-      t = i;
+      t = o;
     }
-    me(i), i.children.map(l);
+    me(o), o.children.map(s);
   }
-  if (l(e.scene), !t)
+  if (s(e.scene), !t)
     throw Error(
       `No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`
     );
   return { gltf: e };
 }
+function Ne(e, n = 2e3, t = 200) {
+  const { invalidate: s } = N(), o = R(null), u = R(null), c = S(() => {
+    o.current && (clearInterval(o.current), o.current = null), u.current && (clearTimeout(u.current), u.current = null);
+  }, []), i = S(() => {
+    c(), o.current = setInterval(() => {
+      s();
+    }, t), u.current = setTimeout(() => {
+      c(), s();
+    }, n);
+  }, [n, t, s, c]);
+  return T(() => (e !== null && i(), () => {
+    c();
+  }), [e, i, c]), { startBoost: i, stopBoost: c };
+}
 function ye({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   onRotationChanged: t,
-  children: l
+  children: s
 }) {
-  const i = M([]), f = M(null), { invalidate: c } = le(), o = M(e);
-  o.current = e, T(() => {
-    const a = e.joint_position.filter(
-      (u) => u !== void 0
+  const o = R([]), u = R(null), { invalidate: c } = N(), i = R(e);
+  i.current = e, Ne(e.motion_group, 2e3, 200), T(() => {
+    const l = e.joint_position.filter(
+      (f) => f !== void 0
     );
-    return f.current = new ue(a, {
+    return u.current = new ue(l, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
       // Controls damping - higher values reduce oscillation and create smoother settling
       threshold: 1e-3
     }), () => {
-      var u;
-      (u = f.current) == null || u.destroy();
+      var f;
+      (f = u.current) == null || f.destroy();
     };
-  }, []), ce((a, u) => {
-    if (f.current) {
-      const d = f.current.update(u);
-      s(), d || c();
+  }, []), le((l, f) => {
+    if (u.current) {
+      const d = u.current.update(f);
+      a(), d || c();
     }
   });
-  function y(a) {
-    a && (i.current = de(a), s(), c());
+  function y(l) {
+    l && (o.current = de(l), a(), c());
   }
-  function s() {
-    var u;
-    const a = ((u = f.current) == null ? void 0 : u.getCurrentValues()) || [];
+  function a() {
+    var f;
+    const l = ((f = u.current) == null ? void 0 : f.getCurrentValues()) || [];
     if (t)
-      t(i.current, a);
+      t(o.current, l);
     else
-      for (const [d, p] of i.current.entries()) {
+      for (const [d, p] of o.current.entries()) {
         const m = n[d], w = m.theta || 0, x = m.reverse_rotation_direction ? -1 : 1;
-        p.rotation.y = x * (a[d] || 0) + w;
+        p.rotation.y = x * (l[d] || 0) + w;
       }
   }
-  function h(a) {
+  function h(l) {
     var d;
-    const u = a.joint_position.filter(
+    const f = l.joint_position.filter(
       (p) => p !== void 0
     );
-    (d = f.current) == null || d.setTarget(u), c();
+    (d = u.current) == null || d.setTarget(f), c();
   }
   return fe(() => {
-    h(o.current);
+    h(i.current);
   }), T(() => {
     h(e);
-  }, [e]), /* @__PURE__ */ r("group", { ref: y, children: l });
+  }, [e]), /* @__PURE__ */ r("group", { ref: y, children: s });
 }
-const Ne = "line", He = "mesh";
-function Ye({
+const He = "line", Ye = "mesh";
+function qe({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...t
 }) {
-  const l = new R(), i = M([]), f = M([]);
+  const s = new v(), o = R([]), u = R([]);
   Ge.useEffect(() => {
-    i.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
+    o.current = new Array(n.length).fill(null), u.current = new Array(n.length).fill(null);
   }, [n.length]);
-  function c(s, h) {
-    const a = new k(), u = new W(), d = new k();
-    l.decompose(a, u, d);
-    const p = a.clone(), m = new R().makeRotationY(
-      s.theta + h * (s.reverse_rotation_direction ? -1 : 1)
-    ).multiply(new R().makeTranslation(0, s.d / 1e3, 0)).multiply(new R().makeTranslation(s.a / 1e3, 0, 0)).multiply(new R().makeRotationX(s.alpha));
-    return l.multiply(m), l.decompose(a, u, d), { a: p, b: a };
+  function c(a, h) {
+    const l = new G(), f = new W(), d = new G();
+    s.decompose(l, f, d);
+    const p = l.clone(), m = new v().makeRotationY(
+      a.theta + h * (a.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new v().makeTranslation(0, a.d / 1e3, 0)).multiply(new v().makeTranslation(a.a / 1e3, 0, 0)).multiply(new v().makeRotationX(a.alpha));
+    return s.multiply(m), s.decompose(l, f, d), { a: p, b: l };
   }
-  function o(s, h, a, u) {
+  function i(a, h, l, f) {
     if (!n)
       return;
-    const d = n[s];
+    const d = n[a];
     if (!d)
       return;
-    const { a: p, b: m } = c(d, u);
-    h.geometry.setPositions([p.toArray(), m.toArray()].flat()), a.position.set(m.x, m.y, m.z);
+    const { a: p, b: m } = c(d, f);
+    h.geometry.setPositions([p.toArray(), m.toArray()].flat()), l.position.set(m.x, m.y, m.z);
   }
-  function y(s, h) {
-    l.identity();
-    for (let a = 0; a < Math.min(s.length, h.length); a++) {
-      const u = i.current[a], d = f.current[a];
-      u && d && o(a, u, d, h[a]);
+  function y(a, h) {
+    s.identity();
+    for (let l = 0; l < Math.min(a.length, h.length); l++) {
+      const f = o.current[l], d = u.current[l];
+      f && d && i(l, f, d, h[l]);
     }
   }
   return /* @__PURE__ */ r(
@@ -479,9 +493,9 @@ function Ye({
           /* @__PURE__ */ r("sphereGeometry", { args: [0.01, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "black", depthTest: !0 })
         ] }),
-        n == null ? void 0 : n.map((s, h) => {
-          const { a, b: u } = c(
-            s,
+        n == null ? void 0 : n.map((a, h) => {
+          const { a: l, b: f } = c(
+            a,
             e.joint_position[h] ?? 0
           ), d = `dhrobot_J0${h}`;
           return /* @__PURE__ */ b("group", { name: d, children: [
@@ -489,10 +503,10 @@ function Ye({
               $,
               {
                 ref: (p) => {
-                  i.current[h] = p;
+                  o.current[h] = p;
                 },
-                name: Ne,
-                points: [a, u],
+                name: He,
+                points: [l, f],
                 color: "white",
                 lineWidth: 5
               }
@@ -501,10 +515,10 @@ function Ye({
               "mesh",
               {
                 ref: (p) => {
-                  f.current[h] = p;
+                  u.current[h] = p;
                 },
-                name: He,
-                position: u,
+                name: Ye,
+                position: f,
                 children: [
                   /* @__PURE__ */ r("sphereGeometry", { args: [0.01, 32, 32] }),
                   /* @__PURE__ */ r("meshStandardMaterial", { color: "black", depthTest: !0 })
@@ -518,92 +532,92 @@ function Ye({
     }
   );
 }
-const qe = console.warn;
+const Xe = console.warn;
 function ge() {
   return T(() => {
     console.warn = (e) => {
-      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && qe(e);
+      e !== "Cannot call the manual advancement of rafz whilst frameLoop is not set as demand" && Xe(e);
     };
   }, []), null;
 }
-function Xe(e) {
+function Ke(e) {
   return e.type === "Mesh";
 }
-function Ke({
+function Ze({
   url: e,
   flangeRef: n,
   postModelRender: t,
-  ...l
+  ...s
 }) {
-  const i = Fe(e), c = $e(i, "robot.glb").gltf, o = L(
-    (s) => {
-      s && t && t();
+  const o = Fe(e), c = $e(o, "robot.glb").gltf, i = S(
+    (a) => {
+      a && t && t();
     },
     [t]
   );
-  function y(s) {
+  function y(a) {
     try {
-      return Xe(s) ? s.geometry ? /* @__PURE__ */ r(
+      return Ke(a) ? a.geometry ? /* @__PURE__ */ r(
         "mesh",
         {
-          name: s.name,
-          geometry: s.geometry,
-          material: s.material,
-          position: s.position,
-          rotation: s.rotation
+          name: a.name,
+          geometry: a.geometry,
+          material: a.material,
+          position: a.position,
+          rotation: a.rotation
         },
-        s.uuid
+        a.uuid
       ) : /* @__PURE__ */ r(
         "group",
         {
-          name: s.name,
-          position: s.position,
-          rotation: s.rotation
+          name: a.name,
+          position: a.position,
+          rotation: a.rotation
         },
-        s.uuid
+        a.uuid
       ) : /* @__PURE__ */ r(
         "group",
         {
-          name: s.name,
-          position: s.position,
-          rotation: s.rotation,
-          ref: he(s) ? n : void 0,
-          children: s.children.map(y)
+          name: a.name,
+          position: a.position,
+          rotation: a.rotation,
+          ref: he(a) ? n : void 0,
+          children: a.children.map(y)
         },
-        s.uuid
+        a.uuid
       );
     } catch (h) {
-      return console.warn("Error rendering node", s.name, h), null;
+      return console.warn("Error rendering node", a.name, h), null;
     }
   }
-  return /* @__PURE__ */ r("group", { ...l, dispose: null, ref: o, children: y(c.scene) });
+  return /* @__PURE__ */ r("group", { ...s, dispose: null, ref: i, children: y(c.scene) });
 }
 function we({
   modelURL: e,
   flangeRef: n,
   postModelRender: t,
-  ...l
+  ...s
 }) {
-  const [i, f] = G(null);
+  const [o, u] = L(null);
   return T(() => {
     let c = !1;
     return (async () => {
       try {
         const y = typeof e == "string" ? e : await e;
-        c || f((s) => s === y ? s : y);
+        c || u((a) => a === y ? a : y);
       } catch (y) {
         console.error("Failed to resolve model URL:", y);
       }
     })(), () => {
       c = !0;
     };
-  }, [e]), i ? /* @__PURE__ */ r(
-    Ke,
+  }, [e]), o ? /* @__PURE__ */ r(
+    Ze,
     {
-      url: i,
+      url: o,
       flangeRef: n,
       postModelRender: t,
-      ...l
+      ...s
     }
   ) : null;
 }
@@ -611,15 +625,15 @@ const be = (e, n) => {
   e.userData.isGhost || (e.traverse((t) => {
     if (t instanceof g.Mesh) {
       t.material instanceof g.Material && (t.material.colorWrite = !1);
-      const l = t.clone(), i = t.clone();
-      l.material = new g.MeshStandardMaterial({
+      const s = t.clone(), o = t.clone();
+      s.material = new g.MeshStandardMaterial({
         depthTest: !0,
         depthWrite: !0,
         colorWrite: !1,
         polygonOffset: !0,
         polygonOffsetFactor: -1,
         side: g.DoubleSide
-      }), l.userData.isGhost = !0, i.material = new g.MeshStandardMaterial({
+      }), s.userData.isGhost = !0, o.material = new g.MeshStandardMaterial({
         color: n,
         opacity: 0.3,
         depthTest: !0,
@@ -628,45 +642,45 @@ const be = (e, n) => {
         polygonOffset: !0,
         polygonOffsetFactor: -2,
         side: g.DoubleSide
-      }), i.userData.isGhost = !0, t.parent && (t.parent.add(l), t.parent.add(i));
+      }), o.userData.isGhost = !0, t.parent && (t.parent.add(s), t.parent.add(o));
     }
   }), e.userData.isGhost = !0);
 }, xe = (e) => {
   if (!e.userData.isGhost) return;
   const n = [];
   e.traverse((t) => {
-    var l;
-    t instanceof g.Mesh && ((l = t.userData) != null && l.isGhost ? n.push(t) : t.material instanceof g.Material && (t.material.colorWrite = !0));
+    var s;
+    t instanceof g.Mesh && ((s = t.userData) != null && s.isGhost ? n.push(t) : t.material instanceof g.Material && (t.material.colorWrite = !0));
   }), n.forEach((t) => {
     t.parent && t.parent.remove(t);
   }), e.userData.isGhost = !1;
-}, Re = J(
+}, Re = C(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: l = j,
-    flangeRef: i,
-    postModelRender: f,
+    getModel: s = J,
+    flangeRef: o,
+    postModelRender: u,
     transparentColor: c,
-    instanceUrl: o,
+    instanceUrl: i,
     ...y
   }) => {
-    const [s, h] = G(null), a = L((p) => {
+    const [a, h] = L(null), l = S((p) => {
       h(p);
     }, []);
     T(() => {
-      s && (c ? be(s, c) : xe(s));
-    }, [s, c]);
-    const u = I(() => {
-      const p = l(n, o);
+      a && (c ? be(a, c) : xe(a));
+    }, [a, c]);
+    const f = P(() => {
+      const p = s(n, i);
       if (!p)
         throw new Error(
           `No model found for robot "${n}". Ensure the model is available or provide a custom getModel function.`
         );
       return p;
-    }, [n, o, l]), d = /* @__PURE__ */ r(
-      Ye,
+    }, [n, i, s]), d = /* @__PURE__ */ r(
+      qe,
       {
         rapidlyChangingMotionState: e,
         dhParameters: t,
@@ -681,7 +695,7 @@ const be = (e, n) => {
           console.warn(p);
         },
         children: [
-          /* @__PURE__ */ r(ae, { fallback: d, children: /* @__PURE__ */ r("group", { ref: a, children: /* @__PURE__ */ r(
+          /* @__PURE__ */ r(ce, { fallback: d, children: /* @__PURE__ */ r("group", { ref: l, children: /* @__PURE__ */ r(
             ye,
             {
               rapidlyChangingMotionState: e,
@@ -689,9 +703,9 @@ const be = (e, n) => {
               children: /* @__PURE__ */ r(
                 we,
                 {
-                  modelURL: u,
-                  postModelRender: f,
-                  flangeRef: i,
+                  modelURL: f,
+                  postModelRender: u,
+                  flangeRef: o,
                   ...y
                 }
               )
@@ -703,13 +717,13 @@ const be = (e, n) => {
     );
   }
 );
-function Ze({
+function Qe({
   connectedMotionGroup: e,
-  getModel: n = j,
+  getModel: n = J,
   flangeRef: t,
-  transparentColor: l,
-  postModelRender: i,
-  ...f
+  transparentColor: s,
+  postModelRender: o,
+  ...u
 }) {
   return e.dhParameters ? /* @__PURE__ */ r(
     Re,
@@ -719,51 +733,51 @@ function Ze({
       dhParameters: e.dhParameters,
       getModel: n,
       flangeRef: t,
-      transparentColor: l,
-      postModelRender: i,
-      ...f
+      transparentColor: s,
+      postModelRender: o,
+      ...u
     }
   ) : null;
 }
-const Rt = J(
+const vt = C(
   Ve(
     ({
       robotName: e,
       programState: n,
       safetyState: t,
-      operationMode: l,
-      driveToHomeEnabled: i = !1,
-      onDriveToHomePress: f,
+      operationMode: s,
+      driveToHomeEnabled: o = !1,
+      onDriveToHomePress: u,
       onDriveToHomeRelease: c,
-      connectedMotionGroup: o,
-      robotComponent: y = Ze,
-      customContentComponent: s,
+      connectedMotionGroup: i,
+      robotComponent: y = Qe,
+      customContentComponent: a,
       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);
+      var q;
+      const l = De(), { t: f } = Ee(), [d, p] = L(!1), m = R(null), w = R(null), [x, A] = L(!1), [F, Te] = L({ width: 400, height: 600 }), [et, Se] = L(0);
       T(() => {
         const E = () => {
           if (w.current) {
-            const { offsetWidth: X, offsetHeight: K } = w.current;
-            P(X > K), Te({ width: X, height: K });
+            const { offsetWidth: K, offsetHeight: Z } = w.current;
+            A(K > Z), Te({ width: K, height: Z });
           }
         };
         E();
-        const q = new ResizeObserver(E);
-        return w.current && q.observe(w.current), () => {
-          q.disconnect();
+        const X = new ResizeObserver(E);
+        return w.current && X.observe(w.current), () => {
+          X.disconnect();
         };
       }, []);
-      const N = L(() => {
+      const H = S(() => {
         Se((E) => E + 1);
-      }, []), D = L(() => {
-        !i || !f || (p(!0), f());
-      }, [i, f]), O = L(() => {
-        !i || !c || (p(!1), c());
-      }, [i, c]), H = L(() => {
+      }, []), D = S(() => {
+        !o || !u || (p(!0), u());
+      }, [o, u]), O = S(() => {
+        !o || !c || (p(!1), c());
+      }, [o, c]), Y = S(() => {
         d && c && (p(!1), c());
-      }, [d, c]), S = x ? F.width < 350 : F.height < 200, V = x ? F.height < 310 : F.height < 450;
+      }, [d, c]), k = x ? F.width < 350 : F.height < 200, V = x ? F.height < 310 : F.height < 450;
       return /* @__PURE__ */ r(
         Oe,
         {
@@ -779,16 +793,16 @@ const Rt = J(
             minWidth: { xs: 180, sm: 220, md: 250 },
             minHeight: x ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
             // Allow progressive hiding in portrait mode
-            border: `1px solid ${a.palette.divider}`,
+            border: `1px solid ${l.palette.divider}`,
             borderRadius: "18px",
             boxShadow: "none",
-            backgroundColor: ((Y = a.palette.backgroundPaperElevation) == null ? void 0 : Y[8]) || "#2A2A3F",
+            backgroundColor: ((q = l.palette.backgroundPaperElevation) == null ? void 0 : q[8]) || "#2A2A3F",
             backgroundImage: "none"
             // Override any gradient from elevation
           },
-          children: x ? /* @__PURE__ */ b(U, { children: [
+          children: x ? /* @__PURE__ */ b(B, { children: [
             /* @__PURE__ */ r(
-              v,
+              M,
               {
                 sx: {
                   flex: "0 0 50%",
@@ -801,10 +815,10 @@ const Rt = J(
                   mr: { xs: 0.75, sm: 1, md: 1.5 },
                   overflow: "hidden",
                   // Prevent content from affecting container size
-                  display: S ? "none" : "block"
+                  display: k ? "none" : "block"
                 },
-                children: !S && /* @__PURE__ */ b(
-                  te,
+                children: !k && /* @__PURE__ */ b(
+                  re,
                   {
                     orthographic: !0,
                     camera: {
@@ -814,7 +828,7 @@ const Rt = J(
                     shadows: !0,
                     frameloop: "demand",
                     style: {
-                      borderRadius: a.shape.borderRadius,
+                      borderRadius: l.shape.borderRadius,
                       width: "100%",
                       height: "100%",
                       background: "transparent",
@@ -825,12 +839,12 @@ const Rt = J(
                     dpr: [1, 2],
                     gl: { alpha: !0, antialias: !0 },
                     children: [
-                      /* @__PURE__ */ r(ne, {}),
-                      /* @__PURE__ */ r(Z, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
+                      /* @__PURE__ */ r(oe, {}),
+                      /* @__PURE__ */ r(Q, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
                         y,
                         {
-                          connectedMotionGroup: o,
-                          postModelRender: N
+                          connectedMotionGroup: i,
+                          postModelRender: H
                         }
                       ) })
                     ]
@@ -839,18 +853,18 @@ const Rt = J(
               }
             ),
             /* @__PURE__ */ b(
-              v,
+              M,
               {
                 sx: {
                   flex: "1",
                   display: "flex",
                   flexDirection: "column",
                   justifyContent: "flex-start",
-                  width: S ? "100%" : "50%"
+                  width: k ? "100%" : "50%"
                 },
                 children: [
                   /* @__PURE__ */ b(
-                    v,
+                    M,
                     {
                       sx: {
                         p: { xs: 1.5, sm: 2, md: 3 },
@@ -858,20 +872,20 @@ const Rt = J(
                         textAlign: "left"
                       },
                       children: [
-                        /* @__PURE__ */ r(ee, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
+                        /* @__PURE__ */ r(te, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
                         /* @__PURE__ */ r(
-                          re,
+                          ne,
                           {
                             programState: n,
                             safetyState: t,
-                            operationMode: l
+                            operationMode: s
                           }
                         )
                       ]
                     }
                   ),
                   /* @__PURE__ */ b(
-                    v,
+                    M,
                     {
                       sx: {
                         p: { xs: 1.5, sm: 2, md: 3 },
@@ -882,28 +896,28 @@ const Rt = J(
                         justifyContent: "space-between"
                       },
                       children: [
-                        !V && s && /* @__PURE__ */ b(v, { children: [
-                          /* @__PURE__ */ r(s, {}),
+                        !V && a && /* @__PURE__ */ b(M, { children: [
+                          /* @__PURE__ */ r(a, {}),
                           /* @__PURE__ */ r(
-                            z,
+                            ee,
                             {
                               sx: {
                                 mt: 1,
                                 mb: 0,
-                                borderColor: a.palette.divider,
+                                borderColor: l.palette.divider,
                                 opacity: 0.5
                               }
                             }
                           )
                         ] }),
                         /* @__PURE__ */ r(
-                          v,
+                          M,
                           {
                             sx: {
-                              mt: !V && s ? "auto" : 0
+                              mt: !V && a ? "auto" : 0
                             },
                             children: /* @__PURE__ */ r(
-                              v,
+                              M,
                               {
                                 sx: {
                                   display: "flex",
@@ -912,16 +926,16 @@ const Rt = J(
                                   mb: { xs: 0.5, sm: 0.75, md: 1 }
                                 },
                                 children: /* @__PURE__ */ r(
-                                  Q,
+                                  z,
                                   {
                                     ref: m,
                                     variant: "contained",
                                     color: "secondary",
                                     size: "small",
-                                    disabled: !i,
+                                    disabled: !o,
                                     onMouseDown: D,
                                     onMouseUp: O,
-                                    onMouseLeave: H,
+                                    onMouseLeave: Y,
                                     onTouchStart: D,
                                     onTouchEnd: O,
                                     sx: {
@@ -929,7 +943,7 @@ const Rt = J(
                                       px: 1.5,
                                       py: 0.5
                                     },
-                                    children: u("RobotCard.DriveToHome.bt")
+                                    children: f("RobotCard.DriveToHome.bt")
                                   }
                                 )
                               }
@@ -942,8 +956,8 @@ const Rt = J(
                 ]
               }
             )
-          ] }) : /* @__PURE__ */ r(U, { children: /* @__PURE__ */ b(
-            v,
+          ] }) : /* @__PURE__ */ r(B, { children: /* @__PURE__ */ b(
+            M,
             {
               sx: {
                 p: 3,
@@ -952,31 +966,31 @@ const Rt = J(
                 flexDirection: "column"
               },
               children: [
-                /* @__PURE__ */ b(v, { children: [
-                  /* @__PURE__ */ r(ee, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
+                /* @__PURE__ */ b(M, { children: [
+                  /* @__PURE__ */ r(te, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
                   /* @__PURE__ */ r(
-                    re,
+                    ne,
                     {
                       programState: n,
                       safetyState: t,
-                      operationMode: l
+                      operationMode: s
                     }
                   )
                 ] }),
                 /* @__PURE__ */ r(
-                  v,
+                  M,
                   {
                     sx: {
-                      flex: S ? 0 : 1,
+                      flex: k ? 0 : 1,
                       position: "relative",
-                      minHeight: S ? 0 : { xs: 120, sm: 150, md: 200 },
-                      height: S ? 0 : "auto",
+                      minHeight: k ? 0 : { xs: 120, sm: 150, md: 200 },
+                      height: k ? 0 : "auto",
                       borderRadius: 1,
                       overflow: "hidden",
-                      display: S ? "none" : "block"
+                      display: k ? "none" : "block"
                     },
-                    children: !S && /* @__PURE__ */ b(
-                      te,
+                    children: !k && /* @__PURE__ */ b(
+                      re,
                       {
                         orthographic: !0,
                         camera: {
@@ -986,7 +1000,7 @@ const Rt = J(
                         shadows: !0,
                         frameloop: "demand",
                         style: {
-                          borderRadius: a.shape.borderRadius,
+                          borderRadius: l.shape.borderRadius,
                           width: "100%",
                           height: "100%",
                           background: "transparent",
@@ -995,12 +1009,12 @@ const Rt = J(
                         dpr: [1, 2],
                         gl: { alpha: !0, antialias: !0 },
                         children: [
-                          /* @__PURE__ */ r(ne, {}),
-                          /* @__PURE__ */ r(Z, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
+                          /* @__PURE__ */ r(oe, {}),
+                          /* @__PURE__ */ r(Q, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
                             y,
                             {
-                              connectedMotionGroup: o,
-                              postModelRender: N
+                              connectedMotionGroup: i,
+                              postModelRender: H
                             }
                           ) })
                         ]
@@ -1008,41 +1022,41 @@ const Rt = J(
                     )
                   }
                 ),
-                /* @__PURE__ */ b(v, { children: [
-                  !V && s && /* @__PURE__ */ b(U, { children: [
-                    /* @__PURE__ */ r(s, {}),
+                /* @__PURE__ */ b(M, { children: [
+                  !V && a && /* @__PURE__ */ b(B, { children: [
+                    /* @__PURE__ */ r(a, {}),
                     /* @__PURE__ */ r(
-                      z,
+                      ee,
                       {
                         sx: {
                           mt: 1,
                           mb: 0,
-                          borderColor: a.palette.divider,
+                          borderColor: l.palette.divider,
                           opacity: 0.5
                         }
                       }
                     )
                   ] }),
                   /* @__PURE__ */ r(
-                    v,
+                    M,
                     {
                       sx: {
                         display: "flex",
                         justifyContent: "flex-start",
-                        mt: !V && s ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
+                        mt: !V && a ? { xs: 1, sm: 2, md: 5 } : { xs: 0.5, sm: 1, md: 2 },
                         mb: { xs: 0.5, sm: 0.75, md: 1 }
                       },
                       children: /* @__PURE__ */ r(
-                        Q,
+                        z,
                         {
                           ref: m,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
-                          disabled: !i,
+                          disabled: !o,
                           onMouseDown: D,
                           onMouseUp: O,
-                          onMouseLeave: H,
+                          onMouseLeave: Y,
                           onTouchStart: D,
                           onTouchEnd: O,
                           sx: {
@@ -1050,7 +1064,7 @@ const Rt = J(
                             px: 1.5,
                             py: 0.5
                           },
-                          children: u("RobotCard.DriveToHome.bt")
+                          children: f("RobotCard.DriveToHome.bt")
                         }
                       )
                     }
@@ -1063,114 +1077,114 @@ const Rt = J(
       );
     }
   )
-), vt = Array(6).fill(2 * Math.PI);
+), Mt = Array(6).fill(2 * Math.PI);
 function ve({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   onTranslationChanged: t,
-  children: l
+  children: s
 }) {
-  const i = M([]), f = M([]), c = M(null), { invalidate: o } = le();
+  const o = R([]), u = R([]), c = R(null), { invalidate: i } = N();
   T(() => {
-    const a = e.joint_position.filter(
-      (u) => u !== void 0
+    const l = e.joint_position.filter(
+      (f) => f !== void 0
     );
-    return c.current = new ue(a, {
+    return c.current = new ue(l, {
       tension: 120,
       // Controls spring stiffness - higher values create faster, more responsive motion
       friction: 20,
       // Controls damping - higher values reduce oscillation and create smoother settling
       threshold: 1e-3
     }), () => {
-      var u;
-      (u = c.current) == null || u.destroy();
+      var f;
+      (f = c.current) == null || f.destroy();
     };
-  }, []), ce((a, u) => {
+  }, []), le((l, f) => {
     if (c.current) {
-      const d = c.current.update(u);
-      s(), d || o();
+      const d = c.current.update(f);
+      a(), d || i();
     }
   });
-  function y(a) {
-    a && (f.current = de(a), s(), o());
+  function y(l) {
+    l && (u.current = de(l), a(), i());
   }
-  function s() {
-    var u;
-    const a = ((u = c.current) == null ? void 0 : u.getCurrentValues()) || [];
+  function a() {
+    var f;
+    const l = ((f = c.current) == null ? void 0 : f.getCurrentValues()) || [];
     if (t)
-      t(f.current, a);
+      t(u.current, l);
     else
-      for (const [d, p] of f.current.entries()) {
+      for (const [d, p] of u.current.entries()) {
         const w = n[d].reverse_rotation_direction ? -1 : 1;
-        p.position.y = w * (a[d] || 0) / 1e3;
+        p.position.y = w * (l[d] || 0) / 1e3;
       }
   }
-  const h = L(() => {
-    const a = e.joint_position.filter(
-      (u) => u !== void 0
+  const h = S(() => {
+    const l = e.joint_position.filter(
+      (f) => f !== void 0
     );
     requestAnimationFrame(() => {
-      var u;
-      i.current = a, (u = c.current) == null || u.setTarget(a);
+      var f;
+      o.current = l, (f = c.current) == null || f.setTarget(l);
     });
   }, [e]);
   return T(() => {
     h();
   }, [e, h]), fe(() => {
     h();
-  }), /* @__PURE__ */ r("group", { ref: y, children: l });
+  }), /* @__PURE__ */ r("group", { ref: y, children: s });
 }
 function Me({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...t
 }) {
-  const l = new R(), i = M(null), f = M(null);
-  function c(s) {
-    const h = new R();
+  const s = new v(), o = R(null), u = R(null);
+  function c(a) {
+    const h = new v();
     for (let p = 0; p < n.length; p++) {
-      const m = n[p], w = s[p] ?? 0, x = new R().makeRotationY(m.theta).multiply(
-        new R().makeTranslation(
+      const m = n[p], w = a[p] ?? 0, x = new v().makeRotationY(m.theta).multiply(
+        new v().makeTranslation(
           m.a / 1e3,
           (m.d + w * (m.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(m.alpha));
+      ).multiply(new v().makeRotationX(m.alpha));
       h.multiply(x);
     }
-    const a = new k(), u = new W(), d = new k();
-    return h.decompose(a, u, d), a;
+    const l = new G(), f = new W(), d = new G();
+    return h.decompose(l, f, d), l;
   }
-  const o = c(
+  const i = c(
     e.joint_position
   );
-  function y(s, h) {
-    l.identity();
-    let a = new k();
+  function y(a, h) {
+    s.identity();
+    let l = new G();
     for (let m = 0; m < n.length; m++) {
-      const w = h[m] ?? 0, x = n[m], P = new R().makeRotationY(x.theta).multiply(
-        new R().makeTranslation(
+      const w = h[m] ?? 0, x = n[m], A = new v().makeRotationY(x.theta).multiply(
+        new v().makeTranslation(
           x.a / 1e3,
           (x.d + w * (x.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(x.alpha));
-      l.multiply(P);
+      ).multiply(new v().makeRotationX(x.alpha));
+      s.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(
-      a.x,
-      a.y,
-      a.z
-    ), f.current) {
-      const m = f.current.geometry;
+    const f = new G(), d = new W(), p = new G();
+    if (s.decompose(f, d, p), l = f, o.current && o.current.position.set(
+      l.x,
+      l.y,
+      l.z
+    ), u.current) {
+      const m = u.current.geometry;
       m != null && m.setPositions && m.setPositions([
         0,
         0,
         0,
-        a.x,
-        a.y,
-        a.z
+        l.x,
+        l.y,
+        l.z
       ]);
     }
   }
@@ -1188,13 +1202,13 @@ function Me({
         /* @__PURE__ */ r(
           $,
           {
-            ref: f,
-            points: [new k(0, 0, 0), o],
+            ref: u,
+            points: [new G(0, 0, 0), i],
             color: "White",
             lineWidth: 5
           }
         ),
-        /* @__PURE__ */ b("mesh", { ref: i, name: "TCP", position: o, children: [
+        /* @__PURE__ */ b("mesh", { ref: o, name: "TCP", position: i, children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.025, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "red", depthTest: !0 })
         ] })
@@ -1202,25 +1216,25 @@ function Me({
     }
   );
 }
-const _e = J(
+const _e = C(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: l = j,
-    flangeRef: i,
-    postModelRender: f,
+    getModel: s = J,
+    flangeRef: o,
+    postModelRender: u,
     transparentColor: c,
-    instanceUrl: o,
+    instanceUrl: i,
     ...y
   }) => {
-    const [s, h] = G(null), a = L((d) => {
+    const [a, h] = L(null), l = S((d) => {
       h(d);
     }, []);
     T(() => {
-      s && (c ? be(s, c) : xe(s));
-    }, [s, c]);
-    const u = /* @__PURE__ */ r(
+      a && (c ? be(a, c) : xe(a));
+    }, [a, c]);
+    const f = /* @__PURE__ */ r(
       Me,
       {
         rapidlyChangingMotionState: e,
@@ -1231,12 +1245,12 @@ const _e = J(
     return /* @__PURE__ */ b(
       pe,
       {
-        fallback: u,
+        fallback: f,
         onError: (d) => {
           console.warn(d);
         },
         children: [
-          /* @__PURE__ */ r(ae, { fallback: u, children: /* @__PURE__ */ r("group", { ref: a, children: /* @__PURE__ */ r(
+          /* @__PURE__ */ r(ce, { fallback: f, children: /* @__PURE__ */ r("group", { ref: l, children: /* @__PURE__ */ r(
             ve,
             {
               rapidlyChangingMotionState: e,
@@ -1245,7 +1259,7 @@ const _e = J(
                 we,
                 {
                   modelURL: (() => {
-                    const d = l(n, o);
+                    const d = s(n, i);
                     if (!d) {
                       const p = new Blob([], { type: "model/gltf-binary" }), m = new File(
                         [p],
@@ -1256,8 +1270,8 @@ const _e = J(
                     }
                     return d;
                   })(),
-                  postModelRender: f,
-                  flangeRef: i,
+                  postModelRender: u,
+                  flangeRef: o,
                   ...y
                 }
               )
@@ -1269,13 +1283,13 @@ const _e = J(
     );
   }
 );
-function Mt({
+function _t({
   connectedMotionGroup: e,
-  getModel: n = j,
+  getModel: n = J,
   flangeRef: t,
-  transparentColor: l,
-  postModelRender: i,
-  ...f
+  transparentColor: s,
+  postModelRender: o,
+  ...u
 }) {
   if (!e.dhParameters)
     return null;
@@ -1288,20 +1302,20 @@ function Mt({
       dhParameters: e.dhParameters,
       getModel: n,
       flangeRef: t,
-      transparentColor: l,
-      postModelRender: i,
-      ...f
+      transparentColor: s,
+      postModelRender: o,
+      ...u
     }
   ) : /* @__PURE__ */ r(
     Me,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       dhParameters: e.dhParameters,
-      ...f
+      ...u
     }
   );
 }
-const ie = {
+const se = {
   [_.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],
@@ -1322,9 +1336,10 @@ const ie = {
     Math.PI / 2,
     -Math.PI / 2,
     0
-  ]
+  ],
+  [_.Staubli]: [0, -Math.PI / 2, Math.PI / 2, 0, 0, 0, 0]
 };
-function Qe(e) {
+function ze(e) {
   const [n] = e.split("_");
   switch (n) {
     case "ABB":
@@ -1337,38 +1352,40 @@ function Qe(e) {
       return _.Kuka;
     case "UniversalRobots":
       return _.Universalrobots;
+    case "STAUBLI":
+      return _.Staubli;
     default:
       return null;
   }
 }
-function _t(e, n) {
-  const t = Qe(e);
-  return t && t in ie ? ie[t] : n || null;
+function Tt(e, n) {
+  const t = ze(e);
+  return t && t in se ? se[t] : n || null;
 }
-const Tt = J((e) => {
-  const { inverseSolver: n, dhParameters: t, ...l } = e, [i, f] = G(
-    C.RevoluteJoint
+const St = C((e) => {
+  const { inverseSolver: n, dhParameters: t, ...s } = e, [o, u] = L(
+    U.RevoluteJoint
   );
   T(() => {
-    t.length && f(t[0].type ?? C.RevoluteJoint);
+    t.length && u(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 && o === U.RevoluteJoint, [n, o]), i = P(() => n === null && o === U.PrismaticJoint, [n, o]);
+  return P(() => !!n, [n]) || c ? /* @__PURE__ */ r(Re, { dhParameters: t, ...s }) : i ? /* @__PURE__ */ r(_e, { dhParameters: t, ...s }) : null;
 });
 export {
-  wt as C,
-  Mt as L,
-  ie as M,
-  ne as P,
-  Rt as R,
-  bt as S,
-  xt as T,
-  vt as a,
-  Ze as b,
+  bt as C,
+  _t as L,
+  se as M,
+  oe as P,
+  vt as R,
+  xt as S,
+  Rt as T,
+  Mt as a,
+  Qe as b,
   _e as c,
-  j as d,
-  Qe as e,
+  J as d,
+  ze as e,
   Re as f,
-  _t as g,
-  Tt as h
+  Tt as g,
+  St as h
 };