@wandelbots/wandelbots-js-react-components 5.7.0 → 5.7.1-pr.feat-adorned-textfield.618.3cf7c50

package/dist/chunks/{MotionGroupVisualizer-CrJO299j.js → MotionGroupVisualizer-Da-rqhb2.js}

@@ -1,28 +1,28 @@
-import { jsx as r, jsxs as b, Fragment as C } from "react/jsx-runtime";
-import * as g from "three";
-import { Matrix4 as R, Vector3 as k, Quaternion as W } from "three";
-import { ConvexGeometry as se, RoundedBoxGeometry as ke } from "three-stdlib";
-import Ge, { useMemo as P, useRef as _, useEffect as T, useState as G, useCallback as L, Suspense as ae } from "react";
-import { d as Le, v as Ie, o as Pe, e as J } from "./externalizeComponent-EDymnaGR.js";
-import { Environment as Ae, Lightformer as I, Line as $, useGLTF as Fe, Bounds as Z } from "@react-three/drei";
-import { useTheme as De } from "@mui/material/styles";
-import v from "@mui/material/Box";
-import Q from "@mui/material/Button";
-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 { 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 { Nova as Ue, Manufacturer as M, JointTypeEnum as U } from "@wandelbots/nova-js/v2";
-import { ErrorBoundary as pe } from "react-error-boundary";
-function Ce(e) {
+import { jsx as r, jsxs as x, Fragment as J } from "react/jsx-runtime";
+import * as w from "three";
+import { Matrix4 as v, Vector3 as L, Quaternion as $ } from "three";
+import { ConvexGeometry as ce, RoundedBoxGeometry as Ge } from "three-stdlib";
+import Le, { useMemo as F, forwardRef as Ie, useRef as R, useEffect as T, useImperativeHandle as Ae, useState as I, useCallback as G, Suspense as le } from "react";
+import { d as Pe, v as Fe, o as De, e as C } from "./externalizeComponent-EDymnaGR.js";
+import { Environment as Oe, Lightformer as P, Line as N, useGLTF as Ve, Bounds as z } from "@react-three/drei";
+import { useTheme as Ee } from "@mui/material/styles";
+import M from "@mui/material/Box";
+import ee from "@mui/material/Button";
+import Ue from "@mui/material/Card";
+import te from "@mui/material/Divider";
+import re from "@mui/material/Typography";
+import { useThree as ue, useFrame as fe, Canvas as ne } from "@react-three/fiber";
+import { observer as Je } from "mobx-react-lite";
+import { useTranslation as Ce } from "react-i18next";
+import { V as pe, c as de, b as oe } from "./interpolation-DG8VTxzS.js";
+import { Nova as je, Manufacturer as _, JointTypeEnum as U } from "@wandelbots/nova-js/v2";
+import { ErrorBoundary as he } from "react-error-boundary";
+function Be(e) {
   switch (e.shape_type) {
     case "convex_hull":
-      return new se(
+      return new ce(
         e.vertices.map(
-          (t) => new g.Vector3(
+          (t) => new w.Vector3(
             t[0] / 1e3,
             t[1] / 1e3,
             t[2] / 1e3
@@ -30,89 +30,89 @@ function Ce(e) {
         )
       );
     case "box":
-      return new g.BoxGeometry(
+      return new w.BoxGeometry(
         e.size_x / 1e3,
         e.size_y / 1e3,
         e.size_z / 1e3
       );
     case "sphere":
-      return new g.SphereGeometry(e.radius / 1e3);
+      return new w.SphereGeometry(e.radius / 1e3);
     case "capsule":
-      return new g.CapsuleGeometry(
+      return new w.CapsuleGeometry(
         e.radius / 1e3,
         e.cylinder_height / 1e3
       );
     case "cylinder":
-      return new g.CylinderGeometry(
+      return new w.CylinderGeometry(
         e.radius / 1e3,
         e.radius / 1e3,
         e.height / 1e3
       );
     case "rectangle":
-      return new g.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
+      return new w.BoxGeometry(e.size_x / 1e3, e.size_y / 1e3, 0);
     default:
-      return console.warn(`${e.shape_type} is not supported`), new g.BufferGeometry();
+      return console.warn(`${e.shape_type} is not supported`), new w.BufferGeometry();
   }
 }
-function Je({
+function We({
   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];
+  const s = ((f = n.pose) == null ? void 0 : f.position) ?? [0, 0, 0], a = ((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]
+      position: new w.Vector3(
+        s[0],
+        s[1],
+        s[2]
       ).divideScalar(1e3),
-      rotation: new g.Euler(i[0], i[1], i[2], "XYZ"),
-      geometry: Ce(n.shape),
+      rotation: new w.Euler(a[0], a[1], a[2], "XYZ"),
+      geometry: Be(n.shape),
       children: t
     }
   );
 }
-function je({
+function $e({
   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(([a, f]) => /* @__PURE__ */ r(
+    We,
     {
-      name: i,
+      name: a,
       collider: f,
-      children: t(i, f)
+      children: t(a, f)
     },
-    i
+    a
   )) });
 }
-function wt({
+function xt({
   scene: e,
   meshChildrenProvider: n
 }) {
   const t = e.colliders;
   return /* @__PURE__ */ r("group", { children: t && /* @__PURE__ */ r(
-    je,
+    $e,
     {
       meshChildrenProvider: n,
       colliders: t
     }
   ) });
 }
-function ne() {
-  return /* @__PURE__ */ r(Ae, { frames: 1, children: /* @__PURE__ */ r(We, {}) });
+function ie() {
+  return /* @__PURE__ */ r(Oe, { frames: 1, children: /* @__PURE__ */ r(He, {}) });
 }
-const Be = [2, 0, 2, 0, 2, 0, 2, 0];
-function We({ positions: e = Be }) {
-  return /* @__PURE__ */ b(C, { children: [
+const Ne = [2, 0, 2, 0, 2, 0, 2, 0];
+function He({ positions: e = Ne }) {
+  return /* @__PURE__ */ x(J, { children: [
     /* @__PURE__ */ r(
-      I,
+      P,
       {
         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(
-      I,
+      P,
       {
         form: "circle",
         intensity: 5,
@@ -132,7 +132,7 @@ function We({ positions: e = Be }) {
       t
     )) }) }),
     /* @__PURE__ */ r(
-      I,
+      P,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -141,7 +141,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      I,
+      P,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -150,7 +150,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      I,
+      P,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -159,7 +159,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      I,
+      P,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -168,7 +168,7 @@ function We({ positions: e = Be }) {
       }
     ),
     /* @__PURE__ */ r(
-      I,
+      P,
       {
         form: "ring",
         color: "white",
@@ -180,7 +180,7 @@ function We({ positions: e = Be }) {
     )
   ] });
 }
-const oe = {
+const se = {
   attach: "material",
   color: "#009f4d",
   opacity: 0.2,
@@ -189,50 +189,50 @@ const oe = {
   transparent: !0,
   polygonOffset: !0
 };
-function bt({
+function Rt({
   safetyZones: e,
   dhParameters: n,
   ...t
 }) {
-  const l = P(
-    () => Le(n ?? []),
+  const s = F(
+    () => Pe(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))
+  ), a = (c, o) => {
+    var p, y;
+    if (!((p = o == null ? void 0 : o.pose) != null && p.position) || !((y = o == null ? void 0 : o.pose) != null && y.orientation))
       return null;
-    const y = new g.Vector3(
+    const g = new w.Vector3(
       o.pose.position[0] / 1e3,
       o.pose.position[1] / 1e3,
       o.pose.position[2] / 1e3
-    ), s = new g.Vector3(
+    ), i = new w.Vector3(
       o.pose.orientation[0],
       o.pose.orientation[1],
       o.pose.orientation[2]
     );
     let h;
-    const a = o.shape.shape_type === "plane" ? { ...oe, side: g.DoubleSide } : { ...oe, side: g.FrontSide };
+    const l = o.shape.shape_type === "plane" ? { ...se, side: w.DoubleSide } : { ...se, side: w.FrontSide };
     switch (o.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;
-        h = /* @__PURE__ */ r("sphereGeometry", { args: [p] });
+        const m = (o == null ? void 0 : o.shape).radius / 1e3;
+        h = /* @__PURE__ */ r("sphereGeometry", { args: [m] });
         break;
       }
       /**
        * Capsule shape
        */
       case "capsule": {
-        const p = (o == null ? void 0 : o.shape).radius / 1e3, m = (o == null ? void 0 : o.shape).cylinder_height / 1e3;
-        h = /* @__PURE__ */ r("capsuleGeometry", { args: [p, m] });
+        const m = (o == null ? void 0 : o.shape).radius / 1e3, u = (o == null ? void 0 : o.shape).cylinder_height / 1e3;
+        h = /* @__PURE__ */ r("capsuleGeometry", { args: [m, u] });
         break;
       }
       /**
@@ -240,26 +240,26 @@ function bt({
        * renderer to be able to visualize the convex hull.
        */
       case "convex_hull": {
-        const p = (o == null ? void 0 : o.shape).vertices.map(
-          (w) => new g.Vector3(w[0] / 1e3, w[1] / 1e3, w[2] / 1e3)
-        ), m = Ie(p);
-        if (m.isCoplanar && m.normal) {
-          const x = new g.Vector3().addVectors(
-            p[0],
-            m.normal.multiplyScalar(1e-4)
+        const m = (o == null ? void 0 : o.shape).vertices.map(
+          (d) => new w.Vector3(d[0] / 1e3, d[1] / 1e3, d[2] / 1e3)
+        ), u = Fe(m);
+        if (u.isCoplanar && u.normal) {
+          const b = new w.Vector3().addVectors(
+            m[0],
+            u.normal.multiplyScalar(1e-4)
           );
-          p.push(x);
+          m.push(b);
         }
         try {
           h = /* @__PURE__ */ r(
             "primitive",
             {
-              object: new se(p),
+              object: new ce(m),
               attach: "geometry"
             }
           );
-        } catch (w) {
-          return console.log("Error creating ConvexGeometry:", w), null;
+        } catch (d) {
+          return console.log("Error creating ConvexGeometry:", d), null;
         }
         break;
       }
@@ -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, A = m * 2;
+        const m = o.shape, u = m.radius / 1e3, d = m.sphere_center_distance_x / 1e3, b = m.sphere_center_distance_y / 1e3, S = u * 2;
         h = /* @__PURE__ */ r(
           "primitive",
           {
-            object: new ke(w, x, A, 2, m),
+            object: new Ge(d, b, S, 2, u),
             attach: "geometry"
           }
         );
@@ -287,38 +287,38 @@ function bt({
           o.shape.shape_type
         ), h = null;
     }
-    return /* @__PURE__ */ b(
+    return /* @__PURE__ */ x(
       "mesh",
       {
         renderOrder: c,
-        position: y,
-        quaternion: Pe(s),
+        position: g,
+        quaternion: De(i),
         children: [
           h,
-          /* @__PURE__ */ r("meshStandardMaterial", { ...a, polygonOffsetFactor: -c })
+          /* @__PURE__ */ r("meshStandardMaterial", { ...l, polygonOffsetFactor: -c })
         ]
       },
       `safety-zone-${o.shape.shape_type}-${c}`
     );
-  }, f = P(() => Object.values(e ?? {}).map(
-    (c, o) => i(o, c)
-  ), [e, l]);
+  }, f = F(() => Object.values(e ?? {}).map(
+    (c, o) => a(o, c)
+  ), [e, s]);
   return /* @__PURE__ */ r("group", { ...t, children: f });
 }
-function xt({
+function vt({
   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 [a, f, c] = s.position;
+      if (Number.isFinite(a) && Number.isFinite(f) && Number.isFinite(c))
+        return new w.Vector3(a / 1e3, c / 1e3, -f / 1e3);
     }
     return null;
-  }).filter((l) => l !== null)) || [];
+  }).filter((s) => s !== null)) || [];
   return /* @__PURE__ */ r("group", { ...n, children: t.length > 0 && /* @__PURE__ */ r(
-    $,
+    N,
     {
       points: t,
       lineWidth: 3,
@@ -328,19 +328,19 @@ function xt({
     }
   ) });
 }
-const B = /* @__PURE__ */ new Map();
+const W = /* @__PURE__ */ new Map();
 async function j(e, n) {
-  if (B.has(e))
-    return B.get(e);
+  if (W.has(e))
+    return W.get(e);
   const t = (async () => {
     var c;
-    const l = n || "", i = new Ue({ instanceUrl: l }), f = i.api.motionGroupModels;
+    const s = n || "", a = new je({ instanceUrl: s }), f = a.api.motionGroupModels;
     (c = f.axios) != null && c.interceptors && f.axios.interceptors.request.use((o) => {
-      var y;
-      return (y = o.url) != null && y.includes("/glb") && (o.responseType = "blob"), o;
+      var g;
+      return (g = o.url) != null && g.includes("/glb") && (o.responseType = "blob"), o;
     });
     try {
-      const o = await i.api.motionGroupModels.getMotionGroupGlbModel(
+      const o = await a.api.motionGroupModels.getMotionGroupGlbModel(
         e
       );
       return URL.createObjectURL(o);
@@ -348,163 +348,163 @@ async function j(e, n) {
       throw console.error("Failed to fetch model:", o), o;
     }
   })();
-  return B.set(e, t), t;
+  return W.set(e, t), t;
 }
-function de(e) {
+function me(e) {
   function n(t) {
-    return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((l) => n(l))];
+    return t.children.length === 0 ? [t] : [t, ...t.children.flatMap((s) => n(s))];
   }
-  return n(e).filter((t) => me(t));
+  return n(e).filter((t) => ge(t));
 }
-function he(e) {
+function ye(e) {
   return e.name.endsWith("_FLG");
 }
-function me(e) {
+function ge(e) {
   return /_J[0-9]+$/.test(e.name);
 }
-function $e(e, n) {
+function Ye(e, n) {
   let t;
-  function l(i) {
-    if (he(i)) {
+  function s(a) {
+    if (ye(a)) {
       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 ${a.name}. Only one _FLG group is allowed.`
         );
-      t = i;
+      t = a;
     }
-    me(i), i.children.map(l);
+    ge(a), a.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 ye({
-  rapidlyChangingMotionState: e,
-  dhParameters: n,
-  onRotationChanged: t,
-  children: l
-}) {
-  const i = _([]), f = _(null), { invalidate: c } = le(), o = _(e);
-  o.current = e, T(() => {
-    const a = e.joint_position.filter(
-      (u) => u !== void 0
-    );
-    return f.current = new ue(a, {
-      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();
-    };
-  }, []), ce((a, u) => {
-    if (f.current) {
-      const d = f.current.update(u);
-      s(), d || c();
+const be = Ie(
+  function({ rapidlyChangingMotionState: n, dhParameters: t, onRotationChanged: s, children: a }, f) {
+    const c = R(null), o = R([]), g = R(null), { invalidate: i } = ue(), h = R(n);
+    h.current = n, T(() => {
+      const u = n.joint_position.filter(
+        (d) => d !== void 0
+      );
+      return g.current = new pe(u, {
+        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 d;
+        (d = g.current) == null || d.destroy();
+      };
+    }, []), fe((u, d) => {
+      if (!g.current) return;
+      o.current.length === 0 && c.current && p();
+      const b = g.current.update(d);
+      y(), b || i();
+    });
+    function l(u) {
+      c.current = u, u && p();
     }
-  });
-  function y(a) {
-    a && (i.current = de(a), s(), c());
-  }
-  function s() {
-    var u;
-    const a = ((u = f.current) == null ? void 0 : u.getCurrentValues()) || [];
-    if (t)
-      t(i.current, a);
-    else
-      for (const [d, p] of i.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;
-      }
-  }
-  function h(a) {
-    var d;
-    const u = a.joint_position.filter(
-      (p) => p !== void 0
-    );
-    (d = f.current) == null || d.setTarget(u), c();
+    function p() {
+      c.current && (o.current = me(c.current), y(), i());
+    }
+    Ae(f, () => ({ recollectJoints: p }));
+    function y() {
+      var d;
+      const u = ((d = g.current) == null ? void 0 : d.getCurrentValues()) || [];
+      if (s)
+        s(o.current, u);
+      else
+        for (const [b, S] of o.current.entries()) {
+          const A = t[b], B = A.theta || 0, H = A.reverse_rotation_direction ? -1 : 1;
+          S.rotation.y = H * (u[b] || 0) + B;
+        }
+    }
+    function m(u) {
+      var b;
+      const d = u.joint_position.filter(
+        (S) => S !== void 0
+      );
+      (b = g.current) == null || b.setTarget(d), i();
+    }
+    return de(() => {
+      m(h.current);
+    }), T(() => {
+      m(n);
+    }, [n]), /* @__PURE__ */ r("group", { ref: l, children: a });
   }
-  return fe(() => {
-    h(o.current);
-  }), T(() => {
-    h(e);
-  }, [e]), /* @__PURE__ */ r("group", { ref: y, children: l });
-}
-const Ne = "line", He = "mesh";
-function Ye({
+), qe = "line", Xe = "mesh";
+function Ke({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...t
 }) {
-  const l = new R(), i = _([]), f = _([]);
-  Ge.useEffect(() => {
-    i.current = new Array(n.length).fill(null), f.current = new Array(n.length).fill(null);
+  const s = new v(), a = R([]), f = R([]);
+  Le.useEffect(() => {
+    a.current = new Array(n.length).fill(null), f.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(i, h) {
+    const l = new L(), p = new $(), y = new L();
+    s.decompose(l, p, y);
+    const m = l.clone(), u = new v().makeRotationY(
+      i.theta + h * (i.reverse_rotation_direction ? -1 : 1)
+    ).multiply(new v().makeTranslation(0, i.d / 1e3, 0)).multiply(new v().makeTranslation(i.a / 1e3, 0, 0)).multiply(new v().makeRotationX(i.alpha));
+    return s.multiply(u), s.decompose(l, p, y), { a: m, b: l };
   }
-  function o(s, h, a, u) {
+  function o(i, h, l, p) {
     if (!n)
       return;
-    const d = n[s];
-    if (!d)
+    const y = n[i];
+    if (!y)
       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: m, b: u } = c(y, p);
+    h.geometry.setPositions([m.toArray(), u.toArray()].flat()), l.position.set(u.x, u.y, u.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 g(i, h) {
+    s.identity();
+    for (let l = 0; l < Math.min(i.length, h.length); l++) {
+      const p = a.current[l], y = f.current[l];
+      p && y && o(l, p, y, h[l]);
     }
   }
   return /* @__PURE__ */ r(
-    ye,
+    be,
     {
       rapidlyChangingMotionState: e,
       dhParameters: n,
-      onRotationChanged: y,
-      children: /* @__PURE__ */ b("group", { ...t, name: "Scene", children: [
-        /* @__PURE__ */ b("mesh", { children: [
+      onRotationChanged: g,
+      children: /* @__PURE__ */ x("group", { ...t, name: "Scene", children: [
+        /* @__PURE__ */ x("mesh", { children: [
           /* @__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((i, h) => {
+          const { a: l, b: p } = c(
+            i,
             e.joint_position[h] ?? 0
-          ), d = `dhrobot_J0${h}`;
-          return /* @__PURE__ */ b("group", { name: d, children: [
+          ), y = `dhrobot_J0${h}`;
+          return /* @__PURE__ */ x("group", { name: y, children: [
             /* @__PURE__ */ r(
-              $,
+              N,
               {
-                ref: (p) => {
-                  i.current[h] = p;
+                ref: (m) => {
+                  a.current[h] = m;
                 },
-                name: Ne,
-                points: [a, u],
+                name: qe,
+                points: [l, p],
                 color: "white",
                 lineWidth: 5
               }
             ),
-            /* @__PURE__ */ b(
+            /* @__PURE__ */ x(
               "mesh",
               {
-                ref: (p) => {
-                  f.current[h] = p;
+                ref: (m) => {
+                  f.current[h] = m;
                 },
-                name: He,
-                position: u,
+                name: Xe,
+                position: p,
                 children: [
                   /* @__PURE__ */ r("sphereGeometry", { args: [0.01, 32, 32] }),
                   /* @__PURE__ */ r("meshStandardMaterial", { color: "black", depthTest: !0 })
@@ -512,114 +512,114 @@ function Ye({
               },
               `mesh_${h}`
             )
-          ] }, d);
+          ] }, y);
         })
       ] })
     }
   );
 }
-const qe = console.warn;
-function ge() {
+const Ze = console.warn;
+function we() {
   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" && Ze(e);
     };
   }, []), null;
 }
-function Xe(e) {
+function Qe(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 a = Ve(e), c = Ye(a, "robot.glb").gltf, o = G(
+    (i) => {
+      i && t && t();
     },
     [t]
   );
-  function y(s) {
+  function g(i) {
     try {
-      return Xe(s) ? s.geometry ? /* @__PURE__ */ r(
+      return Qe(i) ? i.geometry ? /* @__PURE__ */ r(
         "mesh",
         {
-          name: s.name,
-          geometry: s.geometry,
-          material: s.material,
-          position: s.position,
-          rotation: s.rotation
+          name: i.name,
+          geometry: i.geometry,
+          material: i.material,
+          position: i.position,
+          rotation: i.rotation
         },
-        s.uuid
+        i.uuid
       ) : /* @__PURE__ */ r(
         "group",
         {
-          name: s.name,
-          position: s.position,
-          rotation: s.rotation
+          name: i.name,
+          position: i.position,
+          rotation: i.rotation
         },
-        s.uuid
+        i.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: i.name,
+          position: i.position,
+          rotation: i.rotation,
+          ref: ye(i) ? n : void 0,
+          children: i.children.map(g)
         },
-        s.uuid
+        i.uuid
       );
     } catch (h) {
-      return console.warn("Error rendering node", s.name, h), null;
+      return console.warn("Error rendering node", i.name, h), null;
     }
   }
-  return /* @__PURE__ */ r("group", { ...l, dispose: null, ref: o, children: y(c.scene) });
+  return /* @__PURE__ */ r("group", { ...s, dispose: null, ref: o, children: g(c.scene) });
 }
-function we({
+function xe({
   modelURL: e,
   flangeRef: n,
   postModelRender: t,
-  ...l
+  ...s
 }) {
-  const [i, f] = G(null);
+  const [a, f] = I(null);
   return T(() => {
     let c = !1;
     return (async () => {
       try {
-        const y = typeof e == "string" ? e : await e;
-        c || f((s) => s === y ? s : y);
-      } catch (y) {
-        console.error("Failed to resolve model URL:", y);
+        const g = typeof e == "string" ? e : await e;
+        c || f((i) => i === g ? i : g);
+      } catch (g) {
+        console.error("Failed to resolve model URL:", g);
       }
     })(), () => {
       c = !0;
     };
-  }, [e]), i ? /* @__PURE__ */ r(
-    Ke,
+  }, [e]), a ? /* @__PURE__ */ r(
+    ze,
     {
-      url: i,
+      url: a,
       flangeRef: n,
       postModelRender: t,
-      ...l
+      ...s
     }
   ) : null;
 }
-const be = (e, n) => {
+const Re = (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({
+    if (t instanceof w.Mesh) {
+      t.material instanceof w.Material && (t.material.colorWrite = !1);
+      const s = t.clone(), a = t.clone();
+      s.material = new w.MeshStandardMaterial({
         depthTest: !0,
         depthWrite: !0,
         colorWrite: !1,
         polygonOffset: !0,
         polygonOffsetFactor: -1,
-        side: g.DoubleSide
-      }), l.userData.isGhost = !0, i.material = new g.MeshStandardMaterial({
+        side: w.DoubleSide
+      }), s.userData.isGhost = !0, a.material = new w.MeshStandardMaterial({
         color: n,
         opacity: 0.3,
         depthTest: !0,
@@ -627,168 +627,172 @@ const be = (e, n) => {
         transparent: !0,
         polygonOffset: !0,
         polygonOffsetFactor: -2,
-        side: g.DoubleSide
-      }), i.userData.isGhost = !0, t.parent && (t.parent.add(l), t.parent.add(i));
+        side: w.DoubleSide
+      }), a.userData.isGhost = !0, t.parent && (t.parent.add(s), t.parent.add(a));
     }
   }), e.userData.isGhost = !0);
-}, xe = (e) => {
+}, ve = (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 w.Mesh && ((s = t.userData) != null && s.isGhost ? n.push(t) : t.material instanceof w.Material && (t.material.colorWrite = !0));
   }), n.forEach((t) => {
     t.parent && t.parent.remove(t);
   }), e.userData.isGhost = !1;
-}, Re = J(
+}, Me = C(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: l = j,
-    flangeRef: i,
+    getModel: s = j,
+    flangeRef: a,
     postModelRender: f,
     transparentColor: c,
     instanceUrl: o,
-    ...y
+    ...g
   }) => {
-    const [s, h] = G(null), a = L((p) => {
-      h(p);
-    }, []);
+    const [i, h] = I(null), l = R(null), p = G((d) => {
+      h(d);
+    }, []), y = G(() => {
+      var d;
+      (d = l.current) == null || d.recollectJoints(), f == null || f();
+    }, [f]);
     T(() => {
-      s && (c ? be(s, c) : xe(s));
-    }, [s, c]);
-    const u = P(() => {
-      const p = l(n, o);
-      if (!p)
+      i && (c ? Re(i, c) : ve(i));
+    }, [i, c]);
+    const m = F(() => {
+      const d = s(n, o);
+      if (!d)
         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,
+      return d;
+    }, [n, o, s]), u = /* @__PURE__ */ r(
+      Ke,
       {
         rapidlyChangingMotionState: e,
         dhParameters: t,
-        ...y
+        ...g
       }
     );
-    return /* @__PURE__ */ b(
-      pe,
+    return /* @__PURE__ */ x(
+      he,
       {
-        fallback: d,
-        onError: (p) => {
-          console.warn(p);
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+        onError: (d) => {
+          console.warn(d);
         },
         children: [
-          /* @__PURE__ */ r(ae, { fallback: d, children: /* @__PURE__ */ r("group", { ref: a, children: /* @__PURE__ */ r(
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+            be,
             {
+              ref: l,
               rapidlyChangingMotionState: e,
               dhParameters: t,
               children: /* @__PURE__ */ r(
-                we,
+                xe,
                 {
-                  modelURL: u,
-                  postModelRender: f,
-                  flangeRef: i,
-                  ...y
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+                  postModelRender: y,
+                  flangeRef: a,
+                  ...g
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ r(ge, {})
+          /* @__PURE__ */ r(we, {})
         ]
       }
     );
   }
 );
-function Ze({
+function et({
   connectedMotionGroup: e,
   getModel: n = j,
   flangeRef: t,
-  transparentColor: l,
-  postModelRender: i,
+  transparentColor: s,
+  postModelRender: a,
   ...f
 }) {
   return e.dhParameters ? /* @__PURE__ */ r(
-    Re,
+    Me,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       modelFromController: e.modelFromController || "",
       dhParameters: e.dhParameters,
       getModel: n,
       flangeRef: t,
-      transparentColor: l,
-      postModelRender: i,
+      transparentColor: s,
+      postModelRender: a,
       ...f
     }
   ) : null;
 }
-const Rt = J(
-  Ve(
+const Mt = C(
+  Je(
     ({
       robotName: e,
       programState: n,
       safetyState: t,
-      operationMode: l,
-      driveToHomeEnabled: i = !1,
+      operationMode: s,
+      driveToHomeEnabled: a = !1,
       onDriveToHomePress: f,
       onDriveToHomeRelease: c,
       connectedMotionGroup: o,
-      robotComponent: y = Ze,
-      customContentComponent: s,
+      robotComponent: g = et,
+      customContentComponent: i,
       className: h
     }) => {
-      var Y;
-      const a = De(), { t: u } = Ee(), [d, p] = G(!1), m = _(null), w = _(null), [x, A] = G(!1), [F, Te] = G({ width: 400, height: 600 }), [ze, Se] = G(0);
+      var X;
+      const l = Ee(), { t: p } = Ce(), [y, m] = I(!1), u = R(null), d = R(null), [b, S] = I(!1), [A, B] = I({ width: 400, height: 600 }), [H, ke] = I(0);
       T(() => {
         const E = () => {
-          if (w.current) {
-            const { offsetWidth: X, offsetHeight: K } = w.current;
-            A(X > K), Te({ width: X, height: K });
+          if (d.current) {
+            const { offsetWidth: Z, offsetHeight: Q } = d.current;
+            S(Z > Q), B({ width: Z, height: Q });
           }
         };
         E();
-        const q = new ResizeObserver(E);
-        return w.current && q.observe(w.current), () => {
-          q.disconnect();
+        const K = new ResizeObserver(E);
+        return d.current && K.observe(d.current), () => {
+          K.disconnect();
         };
       }, []);
-      const N = L(() => {
-        Se((E) => E + 1);
-      }, []), D = L(() => {
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-        d && c && (p(!1), c());
-      }, [d, c]), S = x ? F.width < 350 : F.height < 200, V = x ? F.height < 310 : F.height < 450;
+      const Y = G(() => {
+        ke((E) => E + 1);
+      }, []), D = G(() => {
+        !a || !f || (m(!0), f());
+      }, [a, f]), O = G(() => {
+        !a || !c || (m(!1), c());
+      }, [a, c]), q = G(() => {
+        y && c && (m(!1), c());
+      }, [y, c]), k = b ? A.width < 350 : A.height < 200, V = b ? A.height < 310 : A.height < 450;
       return /* @__PURE__ */ r(
-        Oe,
+        Ue,
         {
-          ref: w,
+          ref: d,
           className: h,
           sx: {
             width: "100%",
             height: "100%",
             display: "flex",
-            flexDirection: x ? "row" : "column",
+            flexDirection: b ? "row" : "column",
             position: "relative",
             overflow: "hidden",
             minWidth: { xs: 180, sm: 220, md: 250 },
-            minHeight: x ? { xs: 200, sm: 240, md: 260 } : { xs: 150, sm: 180, md: 220 },
+            minHeight: b ? { 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: ((X = l.palette.backgroundPaperElevation) == null ? void 0 : X[8]) || "#2A2A3F",
             backgroundImage: "none"
             // Override any gradient from elevation
           },
-          children: x ? /* @__PURE__ */ b(C, { children: [
+          children: b ? /* @__PURE__ */ x(J, { children: [
             /* @__PURE__ */ r(
-              v,
+              M,
               {
                 sx: {
                   flex: "0 0 50%",
@@ -801,10 +805,10 @@ 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__ */ x(
+                  ne,
                   {
                     orthographic: !0,
                     camera: {
@@ -814,7 +818,7 @@ const Rt = J(
                     shadows: !0,
                     frameloop: "demand",
                     style: {
-                      borderRadius: a.shape.borderRadius,
+                      borderRadius: l.shape.borderRadius,
                       width: "100%",
                       height: "100%",
                       background: "transparent",
@@ -825,12 +829,12 @@ 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(
-                        y,
+                      /* @__PURE__ */ r(ie, {}),
+                      /* @__PURE__ */ r(z, { fit: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
+                        g,
                         {
                           connectedMotionGroup: o,
-                          postModelRender: N
+                          postModelRender: Y
                         }
                       ) })
                     ]
@@ -838,19 +842,19 @@ const Rt = J(
                 )
               }
             ),
-            /* @__PURE__ */ b(
-              v,
+            /* @__PURE__ */ x(
+              M,
               {
                 sx: {
                   flex: "1",
                   display: "flex",
                   flexDirection: "column",
                   justifyContent: "flex-start",
-                  width: S ? "100%" : "50%"
+                  width: k ? "100%" : "50%"
                 },
                 children: [
-                  /* @__PURE__ */ b(
-                    v,
+                  /* @__PURE__ */ x(
+                    M,
                     {
                       sx: {
                         p: { xs: 1.5, sm: 2, md: 3 },
@@ -858,20 +862,20 @@ const Rt = J(
                         textAlign: "left"
                       },
                       children: [
-                        /* @__PURE__ */ r(ee, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
+                        /* @__PURE__ */ r(re, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
                         /* @__PURE__ */ r(
-                          re,
+                          oe,
                           {
                             programState: n,
                             safetyState: t,
-                            operationMode: l
+                            operationMode: s
                           }
                         )
                       ]
                     }
                   ),
-                  /* @__PURE__ */ b(
-                    v,
+                  /* @__PURE__ */ x(
+                    M,
                     {
                       sx: {
                         p: { xs: 1.5, sm: 2, md: 3 },
@@ -882,28 +886,28 @@ const Rt = J(
                         justifyContent: "space-between"
                       },
                       children: [
-                        !V && s && /* @__PURE__ */ b(v, { children: [
-                          /* @__PURE__ */ r(s, {}),
+                        !V && i && /* @__PURE__ */ x(M, { children: [
+                          /* @__PURE__ */ r(i, {}),
                           /* @__PURE__ */ r(
-                            z,
+                            te,
                             {
                               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 && i ? "auto" : 0
                             },
                             children: /* @__PURE__ */ r(
-                              v,
+                              M,
                               {
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                                   display: "flex",
@@ -912,16 +916,16 @@ const Rt = J(
                                   mb: { xs: 0.5, sm: 0.75, md: 1 }
                                 },
                                 children: /* @__PURE__ */ r(
-                                  Q,
+                                  ee,
                                   {
-                                    ref: m,
+                                    ref: u,
                                     variant: "contained",
                                     color: "secondary",
                                     size: "small",
-                                    disabled: !i,
+                                    disabled: !a,
                                     onMouseDown: D,
                                     onMouseUp: O,
-                                    onMouseLeave: H,
+                                    onMouseLeave: q,
                                     onTouchStart: D,
                                     onTouchEnd: O,
                                     sx: {
@@ -929,7 +933,7 @@ const Rt = J(
                                       px: 1.5,
                                       py: 0.5
                                     },
-                                    children: u("RobotCard.DriveToHome.bt")
+                                    children: p("RobotCard.DriveToHome.bt")
                                   }
                                 )
                               }
@@ -942,8 +946,8 @@ const Rt = J(
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               }
             )
-          ] }) : /* @__PURE__ */ r(C, { children: /* @__PURE__ */ b(
-            v,
+          ] }) : /* @__PURE__ */ r(J, { children: /* @__PURE__ */ x(
+            M,
             {
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@@ -952,31 +956,31 @@ const Rt = J(
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               children: [
-                /* @__PURE__ */ b(v, { children: [
-                  /* @__PURE__ */ r(ee, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
+                /* @__PURE__ */ x(M, { children: [
+                  /* @__PURE__ */ r(re, { variant: "h6", component: "h2", sx: { mb: 1 }, children: e }),
                   /* @__PURE__ */ r(
-                    re,
+                    oe,
                     {
                       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__ */ x(
+                      ne,
                       {
                         orthographic: !0,
                         camera: {
@@ -986,7 +990,7 @@ const Rt = J(
                         shadows: !0,
                         frameloop: "demand",
                         style: {
-                          borderRadius: a.shape.borderRadius,
+                          borderRadius: l.shape.borderRadius,
                           width: "100%",
                           height: "100%",
                           background: "transparent",
@@ -995,12 +999,12 @@ 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(
-                            y,
+                          /* @__PURE__ */ r(ie, {}),
+                          /* @__PURE__ */ r(z, { fit: !0, clip: !0, observe: !0, margin: 1, maxDuration: 1, children: /* @__PURE__ */ r(
+                            g,
                             {
                               connectedMotionGroup: o,
-                              postModelRender: N
+                              postModelRender: Y
                             }
                           ) })
                         ]
@@ -1008,41 +1012,41 @@ const Rt = J(
                     )
                   }
                 ),
-                /* @__PURE__ */ b(v, { children: [
-                  !V && s && /* @__PURE__ */ b(C, { children: [
-                    /* @__PURE__ */ r(s, {}),
+                /* @__PURE__ */ x(M, { children: [
+                  !V && i && /* @__PURE__ */ x(J, { children: [
+                    /* @__PURE__ */ r(i, {}),
                     /* @__PURE__ */ r(
-                      z,
+                      te,
                       {
                         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 && i ? { 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,
+                        ee,
                         {
-                          ref: m,
+                          ref: u,
                           variant: "contained",
                           color: "secondary",
                           size: "small",
-                          disabled: !i,
+                          disabled: !a,
                           onMouseDown: D,
                           onMouseUp: O,
-                          onMouseLeave: H,
+                          onMouseLeave: q,
                           onTouchStart: D,
                           onTouchEnd: O,
                           sx: {
@@ -1050,7 +1054,7 @@ const Rt = J(
                             px: 1.5,
                             py: 0.5
                           },
-                          children: u("RobotCard.DriveToHome.bt")
+                          children: p("RobotCard.DriveToHome.bt")
                         }
                       )
                     }
@@ -1063,138 +1067,138 @@ const Rt = J(
       );
     }
   )
-), vt = Array(6).fill(2 * Math.PI);
-function ve({
+), _t = Array(6).fill(2 * Math.PI);
+function _e({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   onTranslationChanged: t,
-  children: l
+  children: s
 }) {
-  const i = _([]), f = _([]), c = _(null), { invalidate: o } = le();
+  const a = R([]), f = R([]), c = R(null), { invalidate: o } = ue();
   T(() => {
-    const a = e.joint_position.filter(
-      (u) => u !== void 0
+    const l = e.joint_position.filter(
+      (p) => p !== void 0
     );
-    return c.current = new ue(a, {
+    return c.current = new pe(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 p;
+      (p = c.current) == null || p.destroy();
     };
-  }, []), ce((a, u) => {
+  }, []), fe((l, p) => {
     if (c.current) {
-      const d = c.current.update(u);
-      s(), d || o();
+      const y = c.current.update(p);
+      i(), y || o();
     }
   });
-  function y(a) {
-    a && (f.current = de(a), s(), o());
+  function g(l) {
+    l && (f.current = me(l), i(), o());
   }
-  function s() {
-    var u;
-    const a = ((u = c.current) == null ? void 0 : u.getCurrentValues()) || [];
+  function i() {
+    var p;
+    const l = ((p = c.current) == null ? void 0 : p.getCurrentValues()) || [];
     if (t)
-      t(f.current, a);
+      t(f.current, l);
     else
-      for (const [d, p] of f.current.entries()) {
-        const w = n[d].reverse_rotation_direction ? -1 : 1;
-        p.position.y = w * (a[d] || 0) / 1e3;
+      for (const [y, m] of f.current.entries()) {
+        const d = n[y].reverse_rotation_direction ? -1 : 1;
+        m.position.y = d * (l[y] || 0) / 1e3;
       }
   }
-  const h = L(() => {
-    const a = e.joint_position.filter(
-      (u) => u !== void 0
+  const h = G(() => {
+    const l = e.joint_position.filter(
+      (p) => p !== void 0
     );
     requestAnimationFrame(() => {
-      var u;
-      i.current = a, (u = c.current) == null || u.setTarget(a);
+      var p;
+      a.current = l, (p = c.current) == null || p.setTarget(l);
     });
   }, [e]);
   return T(() => {
     h();
-  }, [e, h]), fe(() => {
+  }, [e, h]), de(() => {
     h();
-  }), /* @__PURE__ */ r("group", { ref: y, children: l });
+  }), /* @__PURE__ */ r("group", { ref: g, children: s });
 }
-function Me({
+function Te({
   rapidlyChangingMotionState: e,
   dhParameters: n,
   ...t
 }) {
-  const l = new R(), i = _(null), f = _(null);
-  function c(s) {
-    const h = new R();
-    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(
-          m.a / 1e3,
-          (m.d + w * (m.reverse_rotation_direction ? -1 : 1)) / 1e3,
+  const s = new v(), a = R(null), f = R(null);
+  function c(i) {
+    const h = new v();
+    for (let m = 0; m < n.length; m++) {
+      const u = n[m], d = i[m] ?? 0, b = new v().makeRotationY(u.theta).multiply(
+        new v().makeTranslation(
+          u.a / 1e3,
+          (u.d + d * (u.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(m.alpha));
-      h.multiply(x);
+      ).multiply(new v().makeRotationX(u.alpha));
+      h.multiply(b);
     }
-    const a = new k(), u = new W(), d = new k();
-    return h.decompose(a, u, d), a;
+    const l = new L(), p = new $(), y = new L();
+    return h.decompose(l, p, y), l;
   }
   const o = c(
     e.joint_position
   );
-  function y(s, h) {
-    l.identity();
-    let a = new k();
-    for (let m = 0; m < n.length; m++) {
-      const w = h[m] ?? 0, x = n[m], A = new R().makeRotationY(x.theta).multiply(
-        new R().makeTranslation(
-          x.a / 1e3,
-          (x.d + w * (x.reverse_rotation_direction ? -1 : 1)) / 1e3,
+  function g(i, h) {
+    s.identity();
+    let l = new L();
+    for (let u = 0; u < n.length; u++) {
+      const d = h[u] ?? 0, b = n[u], S = new v().makeRotationY(b.theta).multiply(
+        new v().makeTranslation(
+          b.a / 1e3,
+          (b.d + d * (b.reverse_rotation_direction ? -1 : 1)) / 1e3,
           0
         )
-      ).multiply(new R().makeRotationX(x.alpha));
-      l.multiply(A);
+      ).multiply(new v().makeRotationX(b.alpha));
+      s.multiply(S);
     }
-    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
+    const p = new L(), y = new $(), m = new L();
+    if (s.decompose(p, y, m), l = p, a.current && a.current.position.set(
+      l.x,
+      l.y,
+      l.z
     ), f.current) {
-      const m = f.current.geometry;
-      m != null && m.setPositions && m.setPositions([
+      const u = f.current.geometry;
+      u != null && u.setPositions && u.setPositions([
         0,
         0,
         0,
-        a.x,
-        a.y,
-        a.z
+        l.x,
+        l.y,
+        l.z
       ]);
     }
   }
   return /* @__PURE__ */ r(
-    ve,
+    _e,
     {
       rapidlyChangingMotionState: e,
       dhParameters: n,
-      onTranslationChanged: y,
-      children: /* @__PURE__ */ b("group", { ...t, name: "Scene", children: [
-        /* @__PURE__ */ b("mesh", { name: "Base", position: [0, 0, 0], children: [
+      onTranslationChanged: g,
+      children: /* @__PURE__ */ x("group", { ...t, name: "Scene", children: [
+        /* @__PURE__ */ x("mesh", { name: "Base", position: [0, 0, 0], children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.02, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "green", depthTest: !0 })
         ] }),
         /* @__PURE__ */ r(
-          $,
+          N,
           {
             ref: f,
-            points: [new k(0, 0, 0), o],
+            points: [new L(0, 0, 0), o],
             color: "White",
             lineWidth: 5
           }
         ),
-        /* @__PURE__ */ b("mesh", { ref: i, name: "TCP", position: o, children: [
+        /* @__PURE__ */ x("mesh", { ref: a, name: "TCP", position: o, children: [
           /* @__PURE__ */ r("sphereGeometry", { args: [0.025, 32, 32] }),
           /* @__PURE__ */ r("meshStandardMaterial", { color: "red", depthTest: !0 })
         ] })
@@ -1202,98 +1206,98 @@ function Me({
     }
   );
 }
-const _e = J(
+const Se = C(
   ({
     rapidlyChangingMotionState: e,
     modelFromController: n,
     dhParameters: t,
-    getModel: l = j,
-    flangeRef: i,
+    getModel: s = j,
+    flangeRef: a,
     postModelRender: f,
     transparentColor: c,
     instanceUrl: o,
-    ...y
+    ...g
   }) => {
-    const [s, h] = G(null), a = L((d) => {
-      h(d);
+    const [i, h] = I(null), l = G((y) => {
+      h(y);
     }, []);
     T(() => {
-      s && (c ? be(s, c) : xe(s));
-    }, [s, c]);
-    const u = /* @__PURE__ */ r(
-      Me,
+      i && (c ? Re(i, c) : ve(i));
+    }, [i, c]);
+    const p = /* @__PURE__ */ r(
+      Te,
       {
         rapidlyChangingMotionState: e,
         dhParameters: t,
-        ...y
+        ...g
       }
     );
-    return /* @__PURE__ */ b(
-      pe,
+    return /* @__PURE__ */ x(
+      he,
       {
-        fallback: u,
-        onError: (d) => {
-          console.warn(d);
+        fallback: p,
+        onError: (y) => {
+          console.warn(y);
         },
         children: [
-          /* @__PURE__ */ r(ae, { fallback: u, children: /* @__PURE__ */ r("group", { ref: a, children: /* @__PURE__ */ r(
-            ve,
+          /* @__PURE__ */ r(le, { fallback: p, children: /* @__PURE__ */ r("group", { ref: l, children: /* @__PURE__ */ r(
+            _e,
             {
               rapidlyChangingMotionState: e,
               dhParameters: t,
               children: /* @__PURE__ */ r(
-                we,
+                xe,
                 {
                   modelURL: (() => {
-                    const d = l(n, o);
-                    if (!d) {
-                      const p = new Blob([], { type: "model/gltf-binary" }), m = new File(
-                        [p],
+                    const y = s(n, o);
+                    if (!y) {
+                      const m = new Blob([], { type: "model/gltf-binary" }), u = new File(
+                        [m],
                         `${n}.glb`,
                         { type: "model/gltf-binary" }
                       );
-                      return Promise.resolve(URL.createObjectURL(m));
+                      return Promise.resolve(URL.createObjectURL(u));
                     }
-                    return d;
+                    return y;
                   })(),
                   postModelRender: f,
-                  flangeRef: i,
-                  ...y
+                  flangeRef: a,
+                  ...g
                 }
               )
             }
           ) }) }),
-          /* @__PURE__ */ r(ge, {})
+          /* @__PURE__ */ r(we, {})
         ]
       }
     );
   }
 );
-function Mt({
+function Tt({
   connectedMotionGroup: e,
   getModel: n = j,
   flangeRef: t,
-  transparentColor: l,
-  postModelRender: i,
+  transparentColor: s,
+  postModelRender: a,
   ...f
 }) {
   if (!e.dhParameters)
     return null;
   const c = e.modelFromController || "";
   return c && n(c) ? /* @__PURE__ */ r(
-    _e,
+    Se,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       modelFromController: c,
       dhParameters: e.dhParameters,
       getModel: n,
       flangeRef: t,
-      transparentColor: l,
-      postModelRender: i,
+      transparentColor: s,
+      postModelRender: a,
       ...f
     }
   ) : /* @__PURE__ */ r(
-    Me,
+    Te,
     {
       rapidlyChangingMotionState: e.rapidlyChangingMotionState,
       dhParameters: e.dhParameters,
@@ -1301,11 +1305,11 @@ function Mt({
     }
   );
 }
-const ie = {
-  [M.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
-  [M.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
-  [M.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
-  [M.Kuka]: [
+const ae = {
+  [_.Abb]: [0, 0, 0, 0, Math.PI / 2, 0, 0],
+  [_.Fanuc]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [_.Yaskawa]: [0, 0, 0, 0, -Math.PI / 2, 0, 0],
+  [_.Kuka]: [
     0,
     -Math.PI / 2,
     Math.PI / 2,
@@ -1314,7 +1318,7 @@ const ie = {
     0,
     0
   ],
-  [M.Universalrobots]: [
+  [_.Universalrobots]: [
     0,
     -Math.PI / 2,
     -Math.PI / 2,
@@ -1323,55 +1327,55 @@ const ie = {
     -Math.PI / 2,
     0
   ],
-  [M.Staubli]: [0, -Math.PI / 2, Math.PI / 2, 0, 0, 0, 0]
+  [_.Staubli]: [0, -Math.PI / 2, Math.PI / 2, 0, 0, 0, 0]
 };
-function Qe(e) {
+function tt(e) {
   const [n] = e.split("_");
   switch (n) {
     case "ABB":
-      return M.Abb;
+      return _.Abb;
     case "FANUC":
-      return M.Fanuc;
+      return _.Fanuc;
     case "YASKAWA":
-      return M.Yaskawa;
+      return _.Yaskawa;
     case "KUKA":
-      return M.Kuka;
+      return _.Kuka;
     case "UniversalRobots":
-      return M.Universalrobots;
+      return _.Universalrobots;
     case "STAUBLI":
-      return M.Staubli;
+      return _.Staubli;
     default:
       return null;
   }
 }
-function _t(e, n) {
-  const t = Qe(e);
-  return t && t in ie ? ie[t] : n || null;
+function St(e, n) {
+  const t = tt(e);
+  return t && t in ae ? ae[t] : n || null;
 }
-const Tt = J((e) => {
-  const { inverseSolver: n, dhParameters: t, ...l } = e, [i, f] = G(
+const kt = C((e) => {
+  const { inverseSolver: n, dhParameters: t, ...s } = e, [a, f] = I(
     U.RevoluteJoint
   );
   T(() => {
     t.length && f(t[0].type ?? U.RevoluteJoint);
   }, [t]);
-  const c = P(() => n === null && i === U.RevoluteJoint, [n, i]), o = P(() => n === null && i === U.PrismaticJoint, [n, i]);
-  return P(() => !!n, [n]) || c ? /* @__PURE__ */ r(Re, { dhParameters: t, ...l }) : o ? /* @__PURE__ */ r(_e, { dhParameters: t, ...l }) : null;
+  const c = F(() => n === null && a === U.RevoluteJoint, [n, a]), o = F(() => n === null && a === U.PrismaticJoint, [n, a]);
+  return F(() => !!n, [n]) || c ? /* @__PURE__ */ r(Me, { dhParameters: t, ...s }) : o ? /* @__PURE__ */ r(Se, { 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,
-  _e as c,
+  xt as C,
+  Tt as L,
+  ae as M,
+  ie as P,
+  Mt as R,
+  Rt as S,
+  vt as T,
+  _t as a,
+  et as b,
+  Se as c,
   j as d,
-  Qe as e,
-  Re as f,
-  _t as g,
-  Tt as h
+  tt as e,
+  Me as f,
+  St as g,
+  kt as h
 };