@wandelbots/wandelbots-js-react-components 5.6.1 → 5.7.0

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-BsesHcbU.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;

package/dist/core.js

@@ -1,4 +1,4 @@
-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 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-BxyIEPXR.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";

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-OZwEAMLA.cjs"),e=require("./chunks/theming-BsesHcbU.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;

package/dist/index.js

@@ -1,5 +1,5 @@
-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 { 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-CrJO299j.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-BxyIEPXR.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";

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/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "5.6.1",
+  "version": "5.7.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -173,7 +173,7 @@
   "dependencies": {
     "@mui/x-charts": "^8.27.0",
     "@mui/x-data-grid": "^8.27.0",
-    "@wandelbots/nova-js": "^3.6.0",
+    "@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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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 ee(e){return e.name.endsWith("_FLG")}function te(e){return/_J[0-9]+$/.test(e.name)}function Se(e,n){let r;function o(i){if(ee(i)){if(r)throw Error(`Found multiple flange groups in robot model ${n}; first ${r.name} then ${i.name}. 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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;

package/dist/chunks/theming-DTS9g0aC.cjs

@@ -1,4 +0,0 @@
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t.coordinate_system===e.coordinate_system&&t.tcp===e.tcp&&Fe(t.tcp_pose,e.tcp_pose,n)}function Be(t,e){const n=new le.Vector3(e[0],e[1],e[2]),a=new le.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)]}const Me=1e-4;class ie{constructor(e,n,a,r,i,c){this.nova=e,this.controller=n,this.motionGroup=a,this.description=r,this.initialMotionState=i,this.motionStateSocket=c,this.rapidlyChangingMotionState=i,c.addEventListener("message",s=>{var u;const l=(u=J.tryParseJson(s.data))==null?void 0:u.result;if(!l)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${s.data}`);ge(this.rapidlyChangingMotionState.joint_position,l.joint_position,Me)||I.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=l.joint_position}),pe(this.rapidlyChangingMotionState,l,Me)||I.runInAction(()=>{var d,p,y;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=l.tcp_pose:(d=l.tcp_pose)!=null&&d.orientation&&((p=l.tcp_pose)!=null&&p.position)&&((y=this.rapidlyChangingMotionState.tcp_pose)!=null&&y.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:l.tcp_pose.position,orientation:Be(l.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",l.tcp_pose)}),l.tcp!==void 0&&this.rapidlyChangingMotionState.tcp!==l.tcp&&I.runInAction(()=>{this.rapidlyChangingMotionState.tcp=l.tcp}),this.rapidlyChangingMotionState.standstill!==l.standstill&&I.runInAction(()=>{this.rapidlyChangingMotionState.standstill=l.standstill});const g=this.rapidlyChangingMotionState.joint_limit_reached.limit_reached,x=l.joint_limit_reached.limit_reached;g.some((d,p)=>d!==x[p])&&I.runInAction(()=>{this.rapidlyChangingMotionState.joint_limit_reached=l.joint_limit_reached}),this.rapidlyChangingMotionState.execute!==l.execute&&I.runInAction(()=>{this.rapidlyChangingMotionState.execute=l.execute})}),I.makeAutoObservable(this)}static async open(e,n){var u;const[a,r]=n.split("@"),i=await e.api.controller.getCurrentRobotControllerState(r),c=i==null?void 0:i.motion_groups.find(d=>d.motion_group===n);if(!i||!c)throw new Error(`Controller ${r} or motion group ${n} not found`);const s=e.openReconnectingWebsocket(`/controllers/${r}/motion-groups/${n}/state-stream`),l=await s.firstMessage(),g=(u=J.tryParseJson(l.data))==null?void 0:u.result;if(!g)throw new Error(`Unable to parse initial motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
-  `,g);const x=await e.api.motionGroup.getMotionGroupDescription(r,c.motion_group);return new ie(e,i,c,x,g,s)}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 Ie="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class re{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 ie.open(e,n),i=new re(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 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 ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(`/controllers/${this.motionStream.controllerId}/execution/jogging`),this.joggingSocket.addEventListener("message",r=>{var c,s,l,g;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(Ie))){(g=this.joggingSocket)==null||g.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 f=[...e.position];f[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:f,orientation:e.orientation}}})}else if(c.type==="rotate"){if(!e.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const f=new se.Vector3(e.orientation[0],e.orientation[1],e.orientation[2]),m=f.length(),j=f.clone().normalize(),b=c.distanceRads*(i==="-"?-1:1),T=new se.Vector3(0,0,0);T[r]=1;const C=Math.cos(.5*b)*Math.cos(.5*m),w=Math.sin(.5*b)*Math.sin(.5*m),k=Math.sin(.5*b)*Math.cos(.5*m),E=Math.cos(.5*b)*Math.sin(.5*m),M=T.dot(j),P=T.clone().cross(j),L=2*Math.acos(C-w*M),Y=L/Math.sin(.5*L),ee=new se.Vector3().addScaledVector(P,w).addScaledVector(T,k).addScaledVector(j,E).multiplyScalar(Y);s.push({limits_override:{tcp_orientation_velocity_limit:a},path:{path_definition_name:"PathLine",target_pose:{position:e.position,orientation:[...ee]}}})}const l=this.motionStream.description;if(l.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const g={motion_group_model:l.motion_group_model,cycle_time:l.cycle_time,mounting:l.mounting,global:l.operation_limits.auto_limits},x=await this.nova.api.trajectoryPlanning.planTrajectory({motion_group_setup:g,start_joint_position:n,motion_commands:s}),u=x.response;if(!u)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(x)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(`/controllers/${this.motionStream.controllerId}/execution/trajectory`);const d=f=>{var m;if(!f||f.add_trajectory_error||f.message)if(this.onError)this.onError(f);else throw new Error(((m=f==null?void 0:f.add_trajectory_error)==null?void 0:m.message)||(f==null?void 0:f.message)||"Failed to execute trajectory, unknown error");if(!this.trajectorySocket)throw new Error("Failed to execute trajectory, websocket not available anymore");this.trajectorySocket.sendJson({message_type:"StartMovementRequest",direction:"DIRECTION_FORWARD"})},p=async()=>{var f;await I.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await I.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(f=this.trajectorySocket)==null||f.dispose(),this.trajectorySocket=null},y=async()=>{var f;await I.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(f=this.trajectorySocket)==null||f.dispose(),this.trajectorySocket=null},S=async f=>{if(f!=null&&f.message)if(this.onError){this.onError(f);return}else throw new Error(f.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await p():await y()};this.trajectorySocket.addEventListener("message",f=>{var j,b;const m=J.tryParseJson(f.data);if(!((j=m==null?void 0:m.result)!=null&&j.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${f.data}`);if(this.onBlocked&&((b=m.result.message)!=null&&b.includes(Ie))){this.onBlocked();return}if(m.result.kind==="INITIALIZE_RECEIVED")d(m.result);else if(m.result.kind==="START_RECEIVED")S(m);else if(m.result.kind!=="PAUSE_RECEIVED")if(m.result.kind==="MOTION_ERROR"&&m.result.message)if(this.onError){this.onError(m);return}else throw new Error(m.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${m.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:u,tcp:this.tcp}})}}const Le=t=>{const e=t.softTimeout||3e3,[n,a]=h.useState(!1),r=A.useTheme();return h.useEffect(()=>{const i=setTimeout(()=>{a(!0)},e);return()=>clearTimeout(i)}),o.jsx(_,{width:"100%",height:"100%",alignItems:"center",justifyContent:"center",sx:{color:r.palette.text.primary},children:t.error?o.jsx(ze,{loadingMessage:t.message,error:t.error}):o.jsxs(o.Fragment,{children:[o.jsx(Oe,{sx:{marginBottom:"24px"}}),!!t.message&&o.jsx("div",{children:t.message}),o.jsx(_,{sx:{visibility:n?"visible":"hidden",marginTop:"1rem",color:r.palette.text.secondary},children:"This is taking longer than expected..."})]})})},ze=t=>{const e=at.makeErrorMessage(t.error),n=t.error instanceof Error?t.error.stack:null,a=A.useTheme();return o.jsxs(_,{sx:{maxHeight:"100%",maxWidth:"min(100%, 800px)",padding:2,overflow:"auto",color:a.palette.error.main,"& pre":{whiteSpace:"pre-wrap",wordBreak:"break-word",paddingBottom:"3rem"}},children:[(t.loadingMessage?`Error while ${ue.lowerFirst(rt.capitalize(t.loadingMessage))} - `:"")+e,o.jsx("br",{}),n&&o.jsx("pre",{children:n})]})},Wt=D.observer(({store:t})=>{const{t:e}=B.useTranslation();return o.jsx(Ee,{"data-testid":"jogging-blocked","aria-label":"jogging-blocked",open:!0,sx:{position:"absolute",zIndex:n=>n.zIndex.drawer+1,color:"#fff",background:"rgba(15, 15, 15, 0.88)",justifyContent:"flex-start",alignItems:"flex-start"},children:o.jsxs(_,{sx:{m:2,width:"100%"},children:[o.jsxs(st,{severity:"error",sx:{mb:2},children:[o.jsx(lt,{children:e("Jogging.Blocked.ti")}),e("Jogging.Blocked.lb")]}),o.jsx(H,{variant:"contained",color:"secondary",onClick:()=>t.unblock(),children:e("Jogging.Blocked.Reenable.bt")})]})})}),$e=D.observer(({store:t})=>{const{t:e}=B.useTranslation(),[n,a]=h.useState(t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached),r=h.useRef(n);Q.useAnimationFrame(()=>{const c=t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached;ct(r.current,c)||(r.current=c,a(c))});const i=[];for(const[c,s]of n.entries())s&&i.push(c);return o.jsx(v,{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(", ")})})})}),Gt=A.styled(ut)(({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 ne({labelValue:t,...e}){return o.jsxs(Gt,{fullWidth:!0,variant:"filled",children:[o.jsx(gt,{id:e.labelId,children:t}),o.jsx(pt,{...e})]})}const de=[{id:"0.1",mm:.1,degrees:.05},{id:"1",mm:1,degrees:.5},{id:"5",mm:5,degrees:2.5},{id:"10",mm:10,degrees:5}],Ut=[{id:"continuous"},...de],Ht=["coordsys","tool"];class ae{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 g of n)if(g.coordinate_system===""){g.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,I.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(I.autorun(()=>this.saveToLocalStorage())),this.disposers.push(I.autorun(()=>{const g=this.jogger.motionStream.rapidlyChangingMotionState.tcp;g&&g!==this.selectedTcpId&&I.runInAction(()=>{this.selectedTcpId=g,this.tcpChangeInProgress=!1})})),window.joggingStore=this}static async loadFor(e){const{nova:n}=e,[a,r]=await Promise.all([n.api.controller.listCoordinateSystems(e.motionStream.controllerId,"ROTATION_VECTOR"),n.api.motionGroup.getMotionGroupDescription(e.motionStream.controllerId,e.motionGroupId)]),i=await n.api.motionGroupModels.getMotionGroupKinematicModel(r.motion_group_model),c=Object.entries(r.tcps||{}).map(([s,l])=>({id:s,readable_name:l.name,position:l.pose.position,orientation:l.pose.orientation}));return new ae(e,a||[],r,c,i.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return ue.countBy(this.coordSystems,e=>e.name)}async deactivate(){this.jogger.mode==="jogging"&&await this.jogger.setJoggingMode("off")}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&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 Ut}get discreteIncrementOptions(){return de}get incrementOptionsById(){return te(this.incrementOptions,e=>e.id)}get tabsById(){return te(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return te(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return te(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:de.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}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)),I.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(()=>{}),I.runInAction(()=>{this.jogger.tcp=n,this.selectedTcpId=this.jogger.motionStream.rapidlyChangingMotionState.tcp??""}),r}finally{I.runInAction(()=>{this.tcpChangeInProgress=!1})}}waitForTcpConfirmation(e,n){return new Promise(a=>{const r=setTimeout(()=>{i(),a(!1)},n),i=I.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=ht();this.lock(n);try{return await e()}finally{this.unlock(n)}}}const Yt=D.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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h.useEffect(()=>{e?(i.isRunning&&(c(m=>({...m,wasRunningBeforeError:!0})),p()),a()):(i.wasRunningBeforeError&&!i.isRunning&&(c(m=>({...m,wasRunningBeforeError:!1})),y()),r())},[e,i.isRunning,i.wasRunningBeforeError,p,y,a,r]),h.useEffect(()=>{if(i.isRunning){const m=()=>{if(l.current){const b=(Date.now()-l.current)/1e3+g.current,T=b/60%1*100;c(w=>({...w,elapsedTime:Math.floor(b)})),Math.abs(T-x.current)>.1&&(u.setTarget([T]),x.current=T)}s.current=requestAnimationFrame(m)};s.current=requestAnimationFrame(m)}else s.current&&(cancelAnimationFrame(s.current),s.current=null);return()=>{s.current&&(cancelAnimationFrame(s.current),s.current=null)}},[i.isRunning,u]),h.useEffect(()=>{let m=null;const j=()=>{u.update(),m=requestAnimationFrame(j)};return 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oe{constructor(e,n,a,r,i,c,s,l,g,x){this.nova=e,this.controller=n,this.motionGroup=a,this.initialMotionState=r,this.motionStateSocket=i,this.isVirtual=c,this.tcps=s,this.description=l,this.initialControllerState=g,this.controllerStateSocket=x,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.rapidlyChangingMotionState=r,this.controllerState=g,x.addEventListener("message",u=>{var p;const d=(p=J.tryParseJson(u.data))==null?void 0:p.result;d&&I.runInAction(()=>{this.controllerState=d})}),i.addEventListener("message",u=>{var p;const d=(p=J.tryParseJson(u.data))==null?void 0:p.result;if(!d)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${u.data}`);ge(this.rapidlyChangingMotionState.joint_position,d.joint_position,Re)||I.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=d.joint_position}),pe(this.rapidlyChangingMotionState,d,Re)||I.runInAction(()=>{this.rapidlyChangingMotionState.tcp_pose=d.tcp_pose}),d.tcp!==void 0&&this.rapidlyChangingMotionState.tcp!==d.tcp&&I.runInAction(()=>{this.rapidlyChangingMotionState.tcp=d.tcp}),this.rapidlyChangingMotionState.standstill!==d.standstill&&I.runInAction(()=>{this.rapidlyChangingMotionState.standstill=d.standstill})}),I.makeAutoObservable(this)}static async connectMultiple(e,n){return Promise.all(n.map(a=>oe.connect(e,a)))}static async connect(e,n){var m,j;const[a,r]=n.split("@"),i=await e.api.controller.getCurrentRobotControllerState(r),c=i==null?void 0:i.motion_groups.find(b=>b.motion_group===n);if(!i||!c)throw new Error(`Controller ${r} or motion group ${n} not found`);const s=e.openReconnectingWebsocket(`/controllers/${r}/motion-groups/${n}/state-stream`),l=await s.firstMessage(),g=(m=J.tryParseJson(l.data))==null?void 0:m.result;if(!g)throw new Error(`Unable to parse initial motion state message ${l.data}`);console.log(`Connected motion state websocket to motion group ${c.motion_group}. Initial state:
-  `,g);const u=(await e.api.controller.getRobotController(i.controller)).configuration.kind==="VirtualController",d=await e.api.motionGroup.getMotionGroupDescription(r,c.motion_group),p=Object.entries(d.tcps||{}).map(([b,T])=>({id:b,readable_name:T.name,position:T.pose.position,orientation:T.pose.orientation})),y=e.openReconnectingWebsocket(`/controllers/${i.controller}/state-stream?response_rate=1000`),S=await y.firstMessage(),f=(j=J.tryParseJson(S.data))==null?void 0:j.result;if(!f)throw new Error(`Unable to parse initial controller state message ${S.data}`);return console.log(`Connected controller state websocket to controller ${i.controller}. Initial state:
-  `,f),new oe(e,i,c,g,s,u,p,d,f,y)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((e,n)=>({index:n}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(e=>({...vn,...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,g;const e=new we.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,((g=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:g[2])||0),n=e.length(),a=e.normalize();return new we.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}I.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),I.runInAction(()=>{this.activationState="inactive"})}catch(e){throw I.runInAction(()=>{this.activationState="active"}),e}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}I.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),I.runInAction(()=>{this.activationState="active"})}catch(e){throw I.runInAction(()=>{this.activationState="inactive"}),e}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(e){this.joggingVelocity=e}}function Ye(){var e,n,a,r,i,c;const t=A.createTheme({palette:{mode:"dark",text:{primary:"rgba(255, 255, 255, 1)",secondary:"rgba(255, 255, 255, 0.7)",disabled:"rgba(255, 255, 255, 0.38)"},primary:{main:"rgba(142, 86, 252, 1)",dark:"rgba(136, 58, 255, 1)",light:"rgba(157, 131, 246, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},secondary:{main:"rgba(255, 255, 255, 1)",dark:"rgba(255, 255, 255, 0.06)",contrastText:"rgba(255, 255, 255, 0.87)"},tertiary:{main:"rgba(100, 255, 218, 1)",dark:"rgba(38, 166, 154, 1)",light:"rgba(167, 255, 235, 1)",contrastText:"rgba(0, 0, 0, 1)"},error:{main:"rgba(239, 83, 80, 1)",dark:"rgba(229, 57, 53, 1)",light:"rgba(239, 154, 154, 1)",contrastText:"rgba(255, 255, 255, 1)"},warning:{main:"rgba(255, 171, 64, 1)",dark:"rgba(255, 145, 0, 1)",light:"rgba(255, 209, 128, 1)",contrastText:"rgba(0, 0, 0, 0.87)"},success:{main:"rgba(38, 166, 154, 1)",dark:"rgba(0, 121, 107, 1)",light:"rgba(128, 203, 196, 1)",contrastText:"rgba(255, 255, 255, 0.87)"},background:{default:"rgba(2, 6, 23, 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0.5)"},secondary:{tonal:"rgba(255,255,255,0.1)"}}});return{...t,components:{MuiCssBaseline:{styleOverrides:{"html, body, *":{scrollbarWidth:"none",msOverflowStyle:"none"},"html:hover, body:hover, *:hover":{scrollbarWidth:"thin",scrollbarColor:`${t.palette.divider} transparent`},".MuiDataGrid-panelContent":{borderRadius:"16px !important","& .MuiPaper-root":{borderRadius:"16px !important"}},".MuiDataGrid-filterForm":{borderRadius:"16px !important","& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}},"& .MuiTextField-root":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}},".MuiDataGrid-filterFormValueInput":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}}},MuiDataGrid:{styleOverrides:{root:{},panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:"10px !important","& fieldset":{borderRadius:"10px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"10px !important"}}}}},MuiButton:{styleOverrides:{root:{textTransform:"none",borderRadius:"10px"}},variants:[{props:{color:"secondary",variant:"contained"},style:{border:`1px solid ${t.palette.divider}`,background:(a=(n=(e=t.paletteExt)==null?void 0:e.secondary)==null?void 0:n.tonal)==null?void 0:a.toString()}},{props:{color:"secondary",variant:"outlined"},style:{border:`1px solid ${t.palette.divider}`}}]},MuiTab:{styleOverrides:{root:{textTransform:"none",color:t.palette.text.secondary,"&.Mui-selected":{color:t.palette.text.primary}}}},MuiTabs:{styleOverrides:{root:{background:(r=t.palette.backgroundPaperElevation)==null?void 0:r[1]}}},MuiToggleButtonGroup:{styleOverrides:{root:{".MuiToggleButtonGroup-firstButton":{borderRadius:"10px 0 0 10px"},".MuiToggleButtonGroup-lastButton":{borderRadius:"0 10px 10px 0"}}}},MuiToggleButton:{styleOverrides:{root:{textTransform:"none",padding:"6px 16px"}}},MuiSelect:{variants:[{props:{variant:"filled"},style:{borderRadius:"10px","::before, ::after":{visibility:"collapse"},".MuiInputBase-input":{padding:"6px 16px",borderRadius:"10px"}}}]},MuiDrawer:{styleOverrides:{paper:{border:"none",boxShadow:"4px 0 8px -4px rgba(0, 0, 0, 0.3)"}}},MuiFab:{styleOverrides:{root:{background:(c=(i=t.paletteExt)==null?void 0:i.secondary)==null?void 0:c.tonal}},variants:[{props:{color:"primary"},style:{background:t.palette.primary.main}}]}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:t.palette.text.primary},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:t.palette.text.primary},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:t.palette.text.primary}}},JoggingJoint:{Joint:{arrowColor:t.palette.text.primary}},VelocitySlider:{sliderLegendColor:t.palette.text.primary}}}}}function Tn(){const t=Ye();return t.palette.mode="light",t}function wn(t){var a,r,i,c;let e=!0;((a=t.palette)==null?void 0:a.mode)==="light"?e=!1:((r=t.palette)==null?void 0:r.mode)!=="dark"&&(e=!(typeof window<"u"&&((c=(i=window.matchMedia)==null?void 0:i.call(window,"(prefers-color-scheme: light)"))==null?void 0:c.matches)));const n=e?Ye():Tn();return A.createTheme(n,t)}exports.AppHeader=Ft;exports.ConnectedMotionGroup=oe;exports.CycleTimer=Nt;exports.JoggerConnection=re;exports.JoggingCartesianAxisControl=ce;exports.JoggingJointValueControl=Je;exports.JoggingPanel=Kt;exports.JoggingStore=ae;exports.LoadingCover=Le;exports.LoadingErrorMessage=ze;exports.LogPanel=ln;exports.LogStore=Ge;exports.LogViewer=Ue;exports.MotionStreamConnection=ie;exports.NoMotionGroupModal=dn;exports.PoseCartesianValues=tn;exports.PoseJointValues=nn;exports.RobotListItem=un;exports.RobotSetupReadinessIndicator=He;exports.RobotSetupReadinessState=me;exports.SelectableFab=pn;exports.TabBar=fn;exports.Timer=Cn;exports.VelocitySlider=Ve;exports.VelocitySliderLabel=he;exports.WandelbotsDataGrid=De;exports.createDebugMessage=on;exports.createErrorMessage=sn;exports.createInfoMessage=rn;exports.createLogMessage=K;exports.createNovaMuiTheme=wn;exports.createWarningMessage=an;exports.jointValuesEqual=ge;exports.poseEqual=Fe;exports.tcpMotionEqual=pe;exports.unwrapRotationVector=Be;