@wandelbots/wandelbots-js-react-components 5.8.0 → 5.9.0-pr.feat-allow-increment-jogging-for-tcp-orientation.619.7cb22c0

package/dist/3d.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/MotionGroupVisualizer-DKuoN4_j.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/MotionGroupVisualizer-CQM7YY5t.cjs");exports.CollisionSceneRenderer=e.CollisionSceneRenderer;exports.LinearAxis=e.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=e.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=e.MotionGroupVisualizer;exports.PresetEnvironment=e.PresetEnvironment;exports.Robot=e.Robot;exports.RobotCard=e.RobotCard;exports.SafetyZonesRenderer=e.SafetyZonesRenderer;exports.SupportedLinearAxis=e.SupportedLinearAxis;exports.SupportedRobot=e.SupportedRobot;exports.TrajectoryRenderer=e.TrajectoryRenderer;exports.defaultAxisConfig=e.defaultAxisConfig;exports.defaultGetModel=e.defaultGetModel;exports.extractManufacturer=e.extractManufacturer;exports.getDefaultHomeConfig=e.getDefaultHomeConfig;

package/dist/3d.js

@@ -1,4 +1,4 @@
-import { C as o, L as r, M as s, h as t, P as n, b as i, R as d, S as f, c as u, f as R, T as l, a as C, d as p, e as M, g as S } from "./chunks/MotionGroupVisualizer-Da-rqhb2.js";
+import { C as o, L as r, M as s, h as t, P as n, b as i, R as d, S as f, c as u, f as R, T as l, a as C, d as p, e as M, g as S } from "./chunks/MotionGroupVisualizer-DUOPtwog.js";
 export {
   o as CollisionSceneRenderer,
   r as LinearAxis,

package/dist/SafetyBar/index.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const e=require("../chunks/SafetyBar-VvOZ9aRM.cjs");exports.SafetyBar=e.SafetyBar;exports.default=e.SafetyBar;
+"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const e=require("../chunks/SafetyBar-C0nTqK_K.cjs");exports.SafetyBar=e.SafetyBar;exports.default=e.SafetyBar;

package/dist/SafetyBar/index.js

@@ -1,4 +1,4 @@
-import { S as f, S as r } from "../chunks/SafetyBar-CxxIVVeR.js";
+import { S as f, S as r } from "../chunks/SafetyBar-BwRxye23.js";
 export {
   f as SafetyBar,
   r as default

package/dist/chunks/{MotionGroupVisualizer-DKuoN4_j.cjs → MotionGroupVisualizer-CQM7YY5t.cjs}

@@ -1 +1 @@
-"use strict";const e=require("react/jsx-runtime"),b=require("three"),O=require("three-stdlib"),l=require("react"),L=require("./externalizeComponent-OO4jcrz5.cjs"),M=require("@react-three/drei"),he=require("@mui/material/styles"),v=require("@mui/material/Box"),X=require("@mui/material/Button"),me=require("@mui/material/Card"),Z=require("@mui/material/Divider"),K=require("@mui/material/Typography"),k=require("@react-three/fiber"),xe=require("mobx-react-lite"),ye=require("react-i18next"),E=require("./interpolation-C9sLsved.cjs"),R=require("@wandelbots/nova-js/v2"),ee=require("react-error-boundary");function ge(t){const n=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(t){for(const r in t)if(r!=="default"){const o=Object.getOwnPropertyDescriptor(t,r);Object.defineProperty(n,r,o.get?o:{enumerable:!0,get:()=>t[r]})}}return n.default=t,Object.freeze(n)}const w=ge(b);function je(t){switch(t.shape_type){case"convex_hull":return new O.ConvexGeometry(t.vertices.map(r=>new w.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new w.BoxGeometry(t.size_x/1e3,t.size_y/1e3,t.size_z/1e3);case"sphere":return new w.SphereGeometry(t.radius/1e3);case"capsule":return new w.CapsuleGeometry(t.radius/1e3,t.cylinder_height/1e3);case"cylinder":return new w.CylinderGeometry(t.radius/1e3,t.radius/1e3,t.height/1e3);case"rectangle":return new w.BoxGeometry(t.size_x/1e3,t.size_y/1e3,0);default:return console.warn(`${t.shape_type} is not supported`),new w.BufferGeometry}}function be({name:t,collider:n,children:r}){var d,c;const o=((d=n.pose)==null?void 0:d.position)??[0,0,0],a=((c=n.pose)==null?void 0:c.orientation)??[0,0,0];return n.margin&&console.warn(`${t} margin is not supported`),e.jsx("mesh",{name:t,position:new w.Vector3(o[0],o[1],o[2]).divideScalar(1e3),rotation:new w.Euler(a[0],a[1],a[2],"XYZ"),geometry:je(n.shape),children:r})}function we({name:t,colliders:n,meshChildrenProvider:r,...o}){return e.jsx("group",{name:t,...o,children:Object.entries(n).map(([a,d])=>e.jsx(be,{name:a,collider:d,children:r(a,d)},a))})}function Re({scene:t,meshChildrenProvider:n}){const r=t.colliders;return e.jsx("group",{children:r&&e.jsx(we,{meshChildrenProvider:n,colliders:r})})}function D(){return e.jsx(M.Environment,{frames:1,children:e.jsx(ve,{})})}const Me=[2,0,2,0,2,0,2,0];function ve({positions:t=Me}){return e.jsxs(e.Fragment,{children:[e.jsx(M.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),e.jsx("group",{rotation:[0,.5,0],children:e.jsx("group",{children:t.map((n,r)=>e.jsx(M.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[n,4,r*4],scale:[3,1,1]},r))})}),e.jsx(M.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),e.jsx(M.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),e.jsx(M.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),e.jsx(M.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),e.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 Se({safetyZones:t,dhParameters:n,...r}){const o=l.useMemo(()=>L.dhParametersToPlaneSize(n??[]),[n]),a=(c,s)=>{var p,y;if(!((p=s==null?void 0:s.pose)!=null&&p.position)||!((y=s==null?void 0:s.pose)!=null&&y.orientation))return null;const g=new w.Vector3(s.pose.position[0]/1e3,s.pose.position[1]/1e3,s.pose.position[2]/1e3),i=new w.Vector3(s.pose.orientation[0],s.pose.orientation[1],s.pose.orientation[2]);let m;const u=s.shape.shape_type==="plane"?{...z,side:w.DoubleSide}:{...z,side:w.FrontSide};switch(s.shape.shape_type){case"plane":m=e.jsx("planeGeometry",{args:[o,o]});break;case"sphere":{const x=(s==null?void 0:s.shape).radius/1e3;m=e.jsx("sphereGeometry",{args:[x]});break}case"capsule":{const x=(s==null?void 0:s.shape).radius/1e3,f=(s==null?void 0:s.shape).cylinder_height/1e3;m=e.jsx("capsuleGeometry",{args:[x,f]});break}case"convex_hull":{const x=(s==null?void 0:s.shape).vertices.map(h=>new w.Vector3(h[0]/1e3,h[1]/1e3,h[2]/1e3)),f=L.verticesToCoplanarity(x);if(f.isCoplanar&&f.normal){const j=new w.Vector3().addVectors(x[0],f.normal.multiplyScalar(1e-4));x.push(j)}try{m=e.jsx("primitive",{object:new O.ConvexGeometry(x),attach:"geometry"})}catch(h){return console.log("Error creating ConvexGeometry:",h),null}break}case"rectangular_capsule":{const x=s.shape,f=x.radius/1e3,h=x.sphere_center_distance_x/1e3,j=x.sphere_center_distance_y/1e3,S=f*2;m=e.jsx("primitive",{object:new O.RoundedBoxGeometry(h,j,S,2,f),attach:"geometry"});break}default:console.warn("Unsupported safety zone shape type:",s.shape.shape_type),m=null}return e.jsxs("mesh",{renderOrder:c,position:g,quaternion:L.orientationToQuaternion(i),children:[m,e.jsx("meshStandardMaterial",{...u,polygonOffsetFactor:-c})]},`safety-zone-${s.shape.shape_type}-${c}`)},d=l.useMemo(()=>Object.values(t??{}).map((c,s)=>a(s,c)),[t,o]);return e.jsx("group",{...r,children:d})}function _e({trajectory:t,...n}){const r=(t==null?void 0:t.map(o=>{if(o.position&&o.position.length>=3){const[a,d,c]=o.position;if(Number.isFinite(a)&&Number.isFinite(d)&&Number.isFinite(c))return new w.Vector3(a/1e3,c/1e3,-d/1e3)}return null}).filter(o=>o!==null))||[];return e.jsx("group",{...n,children:r.length>0&&e.jsx(M.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}const V=new Map;async function G(t,n){if(V.has(t))return V.get(t);const r=(async()=>{var c;const o=n||"",a=new R.Nova({instanceUrl:o}),d=a.api.motionGroupModels;(c=d.axios)!=null&&c.interceptors&&d.axios.interceptors.request.use(s=>{var g;return(g=s.url)!=null&&g.includes("/glb")&&(s.responseType="blob"),s});try{const s=await a.api.motionGroupModels.getMotionGroupGlbModel(t);return URL.createObjectURL(s)}catch(s){throw console.error("Failed to fetch model:",s),s}})();return V.set(t,r),r}function te(t){function n(r){return r.children.length===0?[r]:[r,...r.children.flatMap(o=>n(o))]}return n(t).filter(r=>ne(r))}function re(t){return t.name.endsWith("_FLG")}function ne(t){return/_J[0-9]+$/.test(t.name)}function Te(t,n){let r;function o(a){if(re(a)){if(r)throw Error(`Found multiple flange groups in robot model ${n}; first ${r.name} then ${a.name}. Only one _FLG group is allowed.`);r=a}ne(a),a.children.map(o)}if(o(t.scene),!r)throw Error(`No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`);return{gltf:t}}const se=l.forwardRef(function({rapidlyChangingMotionState:n,dhParameters:r,onRotationChanged:o,children:a},d){const c=l.useRef(null),s=l.useRef([]),g=l.useRef(null),{invalidate:i}=k.useThree(),m=l.useRef(n);m.current=n,l.useEffect(()=>{const f=n.joint_position.filter(h=>h!==void 0);return g.current=new E.ValueInterpolator(f,{tension:120,friction:20,threshold:.001}),()=>{var h;(h=g.current)==null||h.destroy()}},[]),k.useFrame((f,h)=>{if(!g.current)return;s.current.length===0&&c.current&&p();const j=g.current.update(h);y(),j||i()});function u(f){c.current=f,f&&p()}function p(){c.current&&(s.current=te(c.current),y(),i())}l.useImperativeHandle(d,()=>({recollectJoints:p}));function y(){var h;const f=((h=g.current)==null?void 0:h.getCurrentValues())||[];if(o)o(s.current,f);else for(const[j,S]of s.current.entries()){const T=r[j],F=T.theta||0,B=T.reverse_rotation_direction?-1:1;S.rotation.y=B*(f[j]||0)+F}}function x(f){var j;const h=f.joint_position.filter(S=>S!==void 0);(j=g.current)==null||j.setTarget(h),i()}return E.useAutorun(()=>{x(m.current)}),l.useEffect(()=>{x(n)},[n]),e.jsx("group",{ref:u,children:a})}),Le="line",ke="mesh";function Ee({rapidlyChangingMotionState:t,dhParameters:n,...r}){const o=new b.Matrix4,a=l.useRef([]),d=l.useRef([]);l.useEffect(()=>{a.current=new Array(n.length).fill(null),d.current=new Array(n.length).fill(null)},[n.length]);function c(i,m){const u=new b.Vector3,p=new b.Quaternion,y=new b.Vector3;o.decompose(u,p,y);const x=u.clone(),f=new b.Matrix4().makeRotationY(i.theta+m*(i.reverse_rotation_direction?-1:1)).multiply(new b.Matrix4().makeTranslation(0,i.d/1e3,0)).multiply(new b.Matrix4().makeTranslation(i.a/1e3,0,0)).multiply(new b.Matrix4().makeRotationX(i.alpha));return o.multiply(f),o.decompose(u,p,y),{a:x,b:u}}function s(i,m,u,p){if(!n)return;const y=n[i];if(!y)return;const{a:x,b:f}=c(y,p);m.geometry.setPositions([x.toArray(),f.toArray()].flat()),u.position.set(f.x,f.y,f.z)}function g(i,m){o.identity();for(let u=0;u<Math.min(i.length,m.length);u++){const p=a.current[u],y=d.current[u];p&&y&&s(u,p,y,m[u])}}return e.jsx(se,{rapidlyChangingMotionState:t,dhParameters:n,onRotationChanged:g,children:e.jsxs("group",{...r,name:"Scene",children:[e.jsxs("mesh",{children:[e.jsx("sphereGeometry",{args:[.01,32,32]}),e.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),n==null?void 0:n.map((i,m)=>{const{a:u,b:p}=c(i,t.joint_position[m]??0),y=`dhrobot_J0${m}`;return e.jsxs("group",{name:y,children:[e.jsx(M.Line,{ref:x=>{a.current[m]=x},name:Le,points:[u,p],color:"white",lineWidth:5}),e.jsxs("mesh",{ref:x=>{d.current[m]=x},name:ke,position:p,children:[e.jsx("sphereGeometry",{args:[.01,32,32]}),e.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},`mesh_${m}`)]},y)})]})})}const Ge=console.warn;function oe(){return l.useEffect(()=>{console.warn=t=>{t!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&Ge(t)}},[]),null}function Ae(t){return t.type==="Mesh"}function Ce({url:t,flangeRef:n,postModelRender:r,...o}){const a=M.useGLTF(t),c=Te(a,"robot.glb").gltf,s=l.useCallback(i=>{i&&r&&r()},[r]);function g(i){try{return Ae(i)?i.geometry?e.jsx("mesh",{name:i.name,geometry:i.geometry,material:i.material,position:i.position,rotation:i.rotation},i.uuid):e.jsx("group",{name:i.name,position:i.position,rotation:i.rotation},i.uuid):e.jsx("group",{name:i.name,position:i.position,rotation:i.rotation,ref:re(i)?n:void 0,children:i.children.map(g)},i.uuid)}catch(m){return console.warn("Error rendering node",i.name,m),null}}return e.jsx("group",{...o,dispose:null,ref:s,children:g(c.scene)})}function ie({modelURL:t,flangeRef:n,postModelRender:r,...o}){const[a,d]=l.useState(null);return l.useEffect(()=>{let c=!1;return(async()=>{try{const g=typeof t=="string"?t:await t;c||d(i=>i===g?i:g)}catch(g){console.error("Failed to resolve model URL:",g)}})(),()=>{c=!0}},[t]),a?e.jsx(Ce,{url:a,flangeRef:n,postModelRender:r,...o}):null}const ae=(t,n)=>{t.userData.isGhost||(t.traverse(r=>{if(r instanceof w.Mesh){r.material instanceof w.Material&&(r.material.colorWrite=!1);const o=r.clone(),a=r.clone();o.material=new w.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:-1,side:w.DoubleSide}),o.userData.isGhost=!0,a.material=new w.MeshStandardMaterial({color:n,opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-2,side:w.DoubleSide}),a.userData.isGhost=!0,r.parent&&(r.parent.add(o),r.parent.add(a))}}),t.userData.isGhost=!0)},ce=t=>{if(!t.userData.isGhost)return;const n=[];t.traverse(r=>{var o;r instanceof w.Mesh&&((o=r.userData)!=null&&o.isGhost?n.push(r):r.material instanceof w.Material&&(r.material.colorWrite=!0))}),n.forEach(r=>{r.parent&&r.parent.remove(r)}),t.userData.isGhost=!1},J=L.externalizeComponent(({rapidlyChangingMotionState:t,modelFromController:n,dhParameters:r,getModel:o=G,flangeRef:a,postModelRender:d,transparentColor:c,instanceUrl:s,...g})=>{const[i,m]=l.useState(null),u=l.useRef(null),p=l.useCallback(h=>{m(h)},[]),y=l.useCallback(()=>{var h;(h=u.current)==null||h.recollectJoints(),d==null||d()},[d]);l.useEffect(()=>{i&&(c?ae(i,c):ce(i))},[i,c]);const x=l.useMemo(()=>{const h=o(n,s);if(!h)throw new Error(`No model found for robot "${n}". Ensure the model is available or provide a custom getModel function.`);return h},[n,s,o]),f=e.jsx(Ee,{rapidlyChangingMotionState:t,dhParameters:r,...g});return e.jsxs(ee.ErrorBoundary,{fallback:f,onError:h=>{console.warn(h)},children:[e.jsx(l.Suspense,{fallback:f,children:e.jsx("group",{ref:p,children:e.jsx(se,{ref:u,rapidlyChangingMotionState:t,dhParameters:r,children:e.jsx(ie,{modelURL:x,postModelRender:y,flangeRef:a,...g})})})}),e.jsx(oe,{})]})});function ue({connectedMotionGroup:t,getModel:n=G,flangeRef:r,transparentColor:o,postModelRender:a,...d}){return t.dhParameters?e.jsx(J,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,modelFromController:t.modelFromController||"",dhParameters:t.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:a,...d}):null}const Ie=L.externalizeComponent(xe.observer(({robotName:t,programState:n,safetyState:r,operationMode:o,driveToHomeEnabled:a=!1,onDriveToHomePress:d,onDriveToHomeRelease:c,connectedMotionGroup:s,robotComponent:g=ue,customContentComponent:i,className:m})=>{var H;const u=he.useTheme(),{t:p}=ye.useTranslation(),[y,x]=l.useState(!1),f=l.useRef(null),h=l.useRef(null),[j,S]=l.useState(!1),[T,F]=l.useState({width:400,height:600}),[B,pe]=l.useState(0);l.useEffect(()=>{const P=()=>{if(h.current){const{offsetWidth:Y,offsetHeight:Q}=h.current;S(Y>Q),F({width:Y,height:Q})}};P();const $=new ResizeObserver(P);return h.current&&$.observe(h.current),()=>{$.disconnect()}},[]);const N=l.useCallback(()=>{pe(P=>P+1)},[]),A=l.useCallback(()=>{!a||!d||(x(!0),d())},[a,d]),C=l.useCallback(()=>{!a||!c||(x(!1),c())},[a,c]),W=l.useCallback(()=>{y&&c&&(x(!1),c())},[y,c]),_=j?T.width<350:T.height<200,I=j?T.height<310:T.height<450;return e.jsx(me,{ref:h,className:m,sx:{width:"100%",height:"100%",display:"flex",flexDirection:j?"row":"column",position:"relative",overflow:"hidden",minWidth:{xs:180,sm:220,md:250},minHeight:j?{xs:200,sm:240,md:260}:{xs:150,sm:180,md:220},border:`1px solid ${u.palette.divider}`,borderRadius:"18px",boxShadow:"none",backgroundColor:((H=u.palette.backgroundPaperElevation)==null?void 0:H[8])||"#2A2A3F",backgroundImage:"none"},children:j?e.jsxs(e.Fragment,{children:[e.jsx(v,{sx:{flex:"0 0 50%",position:"relative",height:"100%",minHeight:"100%",maxHeight:"100%",borderRadius:1,m:{xs:1.5,sm:2,md:3},mr:{xs:.75,sm:1,md:1.5},overflow:"hidden",display:_?"none":"block"},children:!_&&e.jsxs(k.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:u.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute",top:0,left:0},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[e.jsx(D,{}),e.jsx(M.Bounds,{fit:!0,observe:!0,margin:1,maxDuration:1,children:e.jsx(g,{connectedMotionGroup:s,postModelRender:N})})]})}),e.jsxs(v,{sx:{flex:"1",display:"flex",flexDirection:"column",justifyContent:"flex-start",width:_?"100%":"50%"},children:[e.jsxs(v,{sx:{p:{xs:1.5,sm:2,md:3},pb:{xs:1,sm:1.5,md:2},textAlign:"left"},children:[e.jsx(K,{variant:"h6",component:"h2",sx:{mb:1},children:t}),e.jsx(E.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:o})]}),e.jsxs(v,{sx:{p:{xs:1.5,sm:2,md:3},pt:0,flex:"1",display:"flex",flexDirection:"column",justifyContent:"space-between"},children:[!I&&i&&e.jsxs(v,{children:[e.jsx(i,{}),e.jsx(Z,{sx:{mt:1,mb:0,borderColor:u.palette.divider,opacity:.5}})]}),e.jsx(v,{sx:{mt:!I&&i?"auto":0},children:e.jsx(v,{sx:{display:"flex",justifyContent:"flex-start",mt:{xs:1,sm:1.5,md:2},mb:{xs:.5,sm:.75,md:1}},children:e.jsx(X,{ref:f,variant:"contained",color:"secondary",size:"small",disabled:!a,onMouseDown:A,onMouseUp:C,onMouseLeave:W,onTouchStart:A,onTouchEnd:C,sx:{textTransform:"none",px:1.5,py:.5},children:p("RobotCard.DriveToHome.bt")})})})]})]})]}):e.jsx(e.Fragment,{children:e.jsxs(v,{sx:{p:3,height:"100%",display:"flex",flexDirection:"column"},children:[e.jsxs(v,{children:[e.jsx(K,{variant:"h6",component:"h2",sx:{mb:1},children:t}),e.jsx(E.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:o})]}),e.jsx(v,{sx:{flex:_?0:1,position:"relative",minHeight:_?0:{xs:120,sm:150,md:200},height:_?0:"auto",borderRadius:1,overflow:"hidden",display:_?"none":"block"},children:!_&&e.jsxs(k.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:u.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute"},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[e.jsx(D,{}),e.jsx(M.Bounds,{fit:!0,clip:!0,observe:!0,margin:1,maxDuration:1,children:e.jsx(g,{connectedMotionGroup:s,postModelRender:N})})]})}),e.jsxs(v,{children:[!I&&i&&e.jsxs(e.Fragment,{children:[e.jsx(i,{}),e.jsx(Z,{sx:{mt:1,mb:0,borderColor:u.palette.divider,opacity:.5}})]}),e.jsx(v,{sx:{display:"flex",justifyContent:"flex-start",mt:!I&&i?{xs:1,sm:2,md:5}:{xs:.5,sm:1,md:2},mb:{xs:.5,sm:.75,md:1}},children:e.jsx(X,{ref:f,variant:"contained",color:"secondary",size:"small",disabled:!a,onMouseDown:A,onMouseUp:C,onMouseLeave:W,onTouchStart:A,onTouchEnd:C,sx:{textTransform:"none",px:1.5,py:.5},children:p("RobotCard.DriveToHome.bt")})})]})]})})})})),Pe=Array(6).fill(2*Math.PI);function le({rapidlyChangingMotionState:t,dhParameters:n,onTranslationChanged:r,children:o}){const a=l.useRef([]),d=l.useRef([]),c=l.useRef(null),{invalidate:s}=k.useThree();l.useEffect(()=>{const u=t.joint_position.filter(p=>p!==void 0);return c.current=new E.ValueInterpolator(u,{tension:120,friction:20,threshold:.001}),()=>{var p;(p=c.current)==null||p.destroy()}},[]),k.useFrame((u,p)=>{if(c.current){const y=c.current.update(p);i(),y||s()}});function g(u){u&&(d.current=te(u),i(),s())}function i(){var p;const u=((p=c.current)==null?void 0:p.getCurrentValues())||[];if(r)r(d.current,u);else for(const[y,x]of d.current.entries()){const h=n[y].reverse_rotation_direction?-1:1;x.position.y=h*(u[y]||0)/1e3}}const m=l.useCallback(()=>{const u=t.joint_position.filter(p=>p!==void 0);requestAnimationFrame(()=>{var p;a.current=u,(p=c.current)==null||p.setTarget(u)})},[t]);return l.useEffect(()=>{m()},[t,m]),E.useAutorun(()=>{m()}),e.jsx("group",{ref:g,children:o})}function fe({rapidlyChangingMotionState:t,dhParameters:n,...r}){const o=new b.Matrix4,a=l.useRef(null),d=l.useRef(null);function c(i){const m=new b.Matrix4;for(let x=0;x<n.length;x++){const f=n[x],h=i[x]??0,j=new b.Matrix4().makeRotationY(f.theta).multiply(new b.Matrix4().makeTranslation(f.a/1e3,(f.d+h*(f.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new b.Matrix4().makeRotationX(f.alpha));m.multiply(j)}const u=new b.Vector3,p=new b.Quaternion,y=new b.Vector3;return m.decompose(u,p,y),u}const s=c(t.joint_position);function g(i,m){o.identity();let u=new b.Vector3;for(let f=0;f<n.length;f++){const h=m[f]??0,j=n[f],S=new b.Matrix4().makeRotationY(j.theta).multiply(new b.Matrix4().makeTranslation(j.a/1e3,(j.d+h*(j.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new b.Matrix4().makeRotationX(j.alpha));o.multiply(S)}const p=new b.Vector3,y=new b.Quaternion,x=new b.Vector3;if(o.decompose(p,y,x),u=p,a.current&&a.current.position.set(u.x,u.y,u.z),d.current){const f=d.current.geometry;f!=null&&f.setPositions&&f.setPositions([0,0,0,u.x,u.y,u.z])}}return e.jsx(le,{rapidlyChangingMotionState:t,dhParameters:n,onTranslationChanged:g,children:e.jsxs("group",{...r,name:"Scene",children:[e.jsxs("mesh",{name:"Base",position:[0,0,0],children:[e.jsx("sphereGeometry",{args:[.02,32,32]}),e.jsx("meshStandardMaterial",{color:"green",depthTest:!0})]}),e.jsx(M.Line,{ref:d,points:[new b.Vector3(0,0,0),s],color:"White",lineWidth:5}),e.jsxs("mesh",{ref:a,name:"TCP",position:s,children:[e.jsx("sphereGeometry",{args:[.025,32,32]}),e.jsx("meshStandardMaterial",{color:"red",depthTest:!0})]})]})})}const U=L.externalizeComponent(({rapidlyChangingMotionState:t,modelFromController:n,dhParameters:r,getModel:o=G,flangeRef:a,postModelRender:d,transparentColor:c,instanceUrl:s,...g})=>{const[i,m]=l.useState(null),u=l.useCallback(y=>{m(y)},[]);l.useEffect(()=>{i&&(c?ae(i,c):ce(i))},[i,c]);const p=e.jsx(fe,{rapidlyChangingMotionState:t,dhParameters:r,...g});return e.jsxs(ee.ErrorBoundary,{fallback:p,onError:y=>{console.warn(y)},children:[e.jsx(l.Suspense,{fallback:p,children:e.jsx("group",{ref:u,children:e.jsx(le,{rapidlyChangingMotionState:t,dhParameters:r,children:e.jsx(ie,{modelURL:(()=>{const y=o(n,s);if(!y){const x=new Blob([],{type:"model/gltf-binary"}),f=new File([x],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(f))}return y})(),postModelRender:d,flangeRef:a,...g})})})}),e.jsx(oe,{})]})});function Fe({connectedMotionGroup:t,getModel:n=G,flangeRef:r,transparentColor:o,postModelRender:a,...d}){if(!t.dhParameters)return null;const c=t.modelFromController||"";return c&&n(c)?e.jsx(U,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,modelFromController:c,dhParameters:t.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:a,...d}):e.jsx(fe,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,dhParameters:t.dhParameters,...d})}const q={[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],[R.Manufacturer.Staubli]:[0,-Math.PI/2,Math.PI/2,0,0,0,0]};function de(t){const[n]=t.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;case"STAUBLI":return R.Manufacturer.Staubli;default:return null}}function Ve(t,n){const r=de(t);return r&&r in q?q[r]:n||null}const Oe=L.externalizeComponent(t=>{const{inverseSolver:n,dhParameters:r,...o}=t,[a,d]=l.useState(R.JointTypeEnum.RevoluteJoint);l.useEffect(()=>{r.length&&d(r[0].type??R.JointTypeEnum.RevoluteJoint)},[r]);const c=l.useMemo(()=>n===null&&a===R.JointTypeEnum.RevoluteJoint,[n,a]),s=l.useMemo(()=>n===null&&a===R.JointTypeEnum.PrismaticJoint,[n,a]);return l.useMemo(()=>!!n,[n])||c?e.jsx(J,{dhParameters:r,...o}):s?e.jsx(U,{dhParameters:r,...o}):null});exports.CollisionSceneRenderer=Re;exports.LinearAxis=Fe;exports.MANUFACTURER_HOME_CONFIGS=q;exports.MotionGroupVisualizer=Oe;exports.PresetEnvironment=D;exports.Robot=ue;exports.RobotCard=Ie;exports.SafetyZonesRenderer=Se;exports.SupportedLinearAxis=U;exports.SupportedRobot=J;exports.TrajectoryRenderer=_e;exports.defaultAxisConfig=Pe;exports.defaultGetModel=G;exports.extractManufacturer=de;exports.getDefaultHomeConfig=Ve;
+"use strict";const e=require("react/jsx-runtime"),b=require("three"),O=require("three-stdlib"),l=require("react"),L=require("./externalizeComponent-qE94FGXZ.cjs"),M=require("@react-three/drei"),he=require("@mui/material/styles"),v=require("@mui/material/Box"),X=require("@mui/material/Button"),me=require("@mui/material/Card"),Z=require("@mui/material/Divider"),K=require("@mui/material/Typography"),k=require("@react-three/fiber"),xe=require("mobx-react-lite"),ye=require("react-i18next"),E=require("./interpolation-DTeU_M2z.cjs"),R=require("@wandelbots/nova-js/v2"),ee=require("react-error-boundary");function ge(t){const n=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(t){for(const r in t)if(r!=="default"){const o=Object.getOwnPropertyDescriptor(t,r);Object.defineProperty(n,r,o.get?o:{enumerable:!0,get:()=>t[r]})}}return n.default=t,Object.freeze(n)}const w=ge(b);function je(t){switch(t.shape_type){case"convex_hull":return new O.ConvexGeometry(t.vertices.map(r=>new w.Vector3(r[0]/1e3,r[1]/1e3,r[2]/1e3)));case"box":return new w.BoxGeometry(t.size_x/1e3,t.size_y/1e3,t.size_z/1e3);case"sphere":return new w.SphereGeometry(t.radius/1e3);case"capsule":return new w.CapsuleGeometry(t.radius/1e3,t.cylinder_height/1e3);case"cylinder":return new w.CylinderGeometry(t.radius/1e3,t.radius/1e3,t.height/1e3);case"rectangle":return new w.BoxGeometry(t.size_x/1e3,t.size_y/1e3,0);default:return console.warn(`${t.shape_type} is not supported`),new w.BufferGeometry}}function be({name:t,collider:n,children:r}){var d,c;const o=((d=n.pose)==null?void 0:d.position)??[0,0,0],a=((c=n.pose)==null?void 0:c.orientation)??[0,0,0];return n.margin&&console.warn(`${t} margin is not supported`),e.jsx("mesh",{name:t,position:new w.Vector3(o[0],o[1],o[2]).divideScalar(1e3),rotation:new w.Euler(a[0],a[1],a[2],"XYZ"),geometry:je(n.shape),children:r})}function we({name:t,colliders:n,meshChildrenProvider:r,...o}){return e.jsx("group",{name:t,...o,children:Object.entries(n).map(([a,d])=>e.jsx(be,{name:a,collider:d,children:r(a,d)},a))})}function Re({scene:t,meshChildrenProvider:n}){const r=t.colliders;return e.jsx("group",{children:r&&e.jsx(we,{meshChildrenProvider:n,colliders:r})})}function D(){return e.jsx(M.Environment,{frames:1,children:e.jsx(ve,{})})}const Me=[2,0,2,0,2,0,2,0];function ve({positions:t=Me}){return e.jsxs(e.Fragment,{children:[e.jsx(M.Lightformer,{intensity:5,"rotation-x":Math.PI/2,position:[0,5,-9],scale:[10,10,1]}),e.jsx("group",{rotation:[0,.5,0],children:e.jsx("group",{children:t.map((n,r)=>e.jsx(M.Lightformer,{form:"circle",intensity:5,rotation:[Math.PI/2,0,0],position:[n,4,r*4],scale:[3,1,1]},r))})}),e.jsx(M.Lightformer,{intensity:40,"rotation-y":Math.PI/2,position:[-5,1,-1],scale:[20,.1,1]}),e.jsx(M.Lightformer,{intensity:20,"rotation-y":-Math.PI,position:[-5,-2,-1],scale:[20,.1,1]}),e.jsx(M.Lightformer,{"rotation-y":Math.PI/2,position:[-5,-1,-1],scale:[20,.5,1],intensity:5}),e.jsx(M.Lightformer,{"rotation-y":-Math.PI/2,position:[10,1,0],scale:[20,1,1],intensity:10}),e.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 Se({safetyZones:t,dhParameters:n,...r}){const o=l.useMemo(()=>L.dhParametersToPlaneSize(n??[]),[n]),a=(c,s)=>{var p,y;if(!((p=s==null?void 0:s.pose)!=null&&p.position)||!((y=s==null?void 0:s.pose)!=null&&y.orientation))return null;const g=new w.Vector3(s.pose.position[0]/1e3,s.pose.position[1]/1e3,s.pose.position[2]/1e3),i=new w.Vector3(s.pose.orientation[0],s.pose.orientation[1],s.pose.orientation[2]);let m;const u=s.shape.shape_type==="plane"?{...z,side:w.DoubleSide}:{...z,side:w.FrontSide};switch(s.shape.shape_type){case"plane":m=e.jsx("planeGeometry",{args:[o,o]});break;case"sphere":{const x=(s==null?void 0:s.shape).radius/1e3;m=e.jsx("sphereGeometry",{args:[x]});break}case"capsule":{const x=(s==null?void 0:s.shape).radius/1e3,f=(s==null?void 0:s.shape).cylinder_height/1e3;m=e.jsx("capsuleGeometry",{args:[x,f]});break}case"convex_hull":{const x=(s==null?void 0:s.shape).vertices.map(h=>new w.Vector3(h[0]/1e3,h[1]/1e3,h[2]/1e3)),f=L.verticesToCoplanarity(x);if(f.isCoplanar&&f.normal){const j=new w.Vector3().addVectors(x[0],f.normal.multiplyScalar(1e-4));x.push(j)}try{m=e.jsx("primitive",{object:new O.ConvexGeometry(x),attach:"geometry"})}catch(h){return console.log("Error creating ConvexGeometry:",h),null}break}case"rectangular_capsule":{const x=s.shape,f=x.radius/1e3,h=x.sphere_center_distance_x/1e3,j=x.sphere_center_distance_y/1e3,S=f*2;m=e.jsx("primitive",{object:new O.RoundedBoxGeometry(h,j,S,2,f),attach:"geometry"});break}default:console.warn("Unsupported safety zone shape type:",s.shape.shape_type),m=null}return e.jsxs("mesh",{renderOrder:c,position:g,quaternion:L.orientationToQuaternion(i),children:[m,e.jsx("meshStandardMaterial",{...u,polygonOffsetFactor:-c})]},`safety-zone-${s.shape.shape_type}-${c}`)},d=l.useMemo(()=>Object.values(t??{}).map((c,s)=>a(s,c)),[t,o]);return e.jsx("group",{...r,children:d})}function _e({trajectory:t,...n}){const r=(t==null?void 0:t.map(o=>{if(o.position&&o.position.length>=3){const[a,d,c]=o.position;if(Number.isFinite(a)&&Number.isFinite(d)&&Number.isFinite(c))return new w.Vector3(a/1e3,c/1e3,-d/1e3)}return null}).filter(o=>o!==null))||[];return e.jsx("group",{...n,children:r.length>0&&e.jsx(M.Line,{points:r,lineWidth:3,polygonOffset:!0,polygonOffsetFactor:10,polygonOffsetUnits:10})})}const V=new Map;async function G(t,n){if(V.has(t))return V.get(t);const r=(async()=>{var c;const o=n||"",a=new R.Nova({instanceUrl:o}),d=a.api.motionGroupModels;(c=d.axios)!=null&&c.interceptors&&d.axios.interceptors.request.use(s=>{var g;return(g=s.url)!=null&&g.includes("/glb")&&(s.responseType="blob"),s});try{const s=await a.api.motionGroupModels.getMotionGroupGlbModel(t);return URL.createObjectURL(s)}catch(s){throw console.error("Failed to fetch model:",s),s}})();return V.set(t,r),r}function te(t){function n(r){return r.children.length===0?[r]:[r,...r.children.flatMap(o=>n(o))]}return n(t).filter(r=>ne(r))}function re(t){return t.name.endsWith("_FLG")}function ne(t){return/_J[0-9]+$/.test(t.name)}function Te(t,n){let r;function o(a){if(re(a)){if(r)throw Error(`Found multiple flange groups in robot model ${n}; first ${r.name} then ${a.name}. Only one _FLG group is allowed.`);r=a}ne(a),a.children.map(o)}if(o(t.scene),!r)throw Error(`No flange group found in robot model ${n}. Flange must be identified with a name ending in _FLG.`);return{gltf:t}}const se=l.forwardRef(function({rapidlyChangingMotionState:n,dhParameters:r,onRotationChanged:o,children:a},d){const c=l.useRef(null),s=l.useRef([]),g=l.useRef(null),{invalidate:i}=k.useThree(),m=l.useRef(n);m.current=n,l.useEffect(()=>{const f=n.joint_position.filter(h=>h!==void 0);return g.current=new E.ValueInterpolator(f,{tension:120,friction:20,threshold:.001}),()=>{var h;(h=g.current)==null||h.destroy()}},[]),k.useFrame((f,h)=>{if(!g.current)return;s.current.length===0&&c.current&&p();const j=g.current.update(h);y(),j||i()});function u(f){c.current=f,f&&p()}function p(){c.current&&(s.current=te(c.current),y(),i())}l.useImperativeHandle(d,()=>({recollectJoints:p}));function y(){var h;const f=((h=g.current)==null?void 0:h.getCurrentValues())||[];if(o)o(s.current,f);else for(const[j,S]of s.current.entries()){const T=r[j],F=T.theta||0,B=T.reverse_rotation_direction?-1:1;S.rotation.y=B*(f[j]||0)+F}}function x(f){var j;const h=f.joint_position.filter(S=>S!==void 0);(j=g.current)==null||j.setTarget(h),i()}return E.useAutorun(()=>{x(m.current)}),l.useEffect(()=>{x(n)},[n]),e.jsx("group",{ref:u,children:a})}),Le="line",ke="mesh";function Ee({rapidlyChangingMotionState:t,dhParameters:n,...r}){const o=new b.Matrix4,a=l.useRef([]),d=l.useRef([]);l.useEffect(()=>{a.current=new Array(n.length).fill(null),d.current=new Array(n.length).fill(null)},[n.length]);function c(i,m){const u=new b.Vector3,p=new b.Quaternion,y=new b.Vector3;o.decompose(u,p,y);const x=u.clone(),f=new b.Matrix4().makeRotationY(i.theta+m*(i.reverse_rotation_direction?-1:1)).multiply(new b.Matrix4().makeTranslation(0,i.d/1e3,0)).multiply(new b.Matrix4().makeTranslation(i.a/1e3,0,0)).multiply(new b.Matrix4().makeRotationX(i.alpha));return o.multiply(f),o.decompose(u,p,y),{a:x,b:u}}function s(i,m,u,p){if(!n)return;const y=n[i];if(!y)return;const{a:x,b:f}=c(y,p);m.geometry.setPositions([x.toArray(),f.toArray()].flat()),u.position.set(f.x,f.y,f.z)}function g(i,m){o.identity();for(let u=0;u<Math.min(i.length,m.length);u++){const p=a.current[u],y=d.current[u];p&&y&&s(u,p,y,m[u])}}return e.jsx(se,{rapidlyChangingMotionState:t,dhParameters:n,onRotationChanged:g,children:e.jsxs("group",{...r,name:"Scene",children:[e.jsxs("mesh",{children:[e.jsx("sphereGeometry",{args:[.01,32,32]}),e.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]}),n==null?void 0:n.map((i,m)=>{const{a:u,b:p}=c(i,t.joint_position[m]??0),y=`dhrobot_J0${m}`;return e.jsxs("group",{name:y,children:[e.jsx(M.Line,{ref:x=>{a.current[m]=x},name:Le,points:[u,p],color:"white",lineWidth:5}),e.jsxs("mesh",{ref:x=>{d.current[m]=x},name:ke,position:p,children:[e.jsx("sphereGeometry",{args:[.01,32,32]}),e.jsx("meshStandardMaterial",{color:"black",depthTest:!0})]},`mesh_${m}`)]},y)})]})})}const Ge=console.warn;function oe(){return l.useEffect(()=>{console.warn=t=>{t!=="Cannot call the manual advancement of rafz whilst frameLoop is not set as demand"&&Ge(t)}},[]),null}function Ce(t){return t.type==="Mesh"}function Ie({url:t,flangeRef:n,postModelRender:r,...o}){const a=M.useGLTF(t),c=Te(a,"robot.glb").gltf,s=l.useCallback(i=>{i&&r&&r()},[r]);function g(i){try{return Ce(i)?i.geometry?e.jsx("mesh",{name:i.name,geometry:i.geometry,material:i.material,position:i.position,rotation:i.rotation},i.uuid):e.jsx("group",{name:i.name,position:i.position,rotation:i.rotation},i.uuid):e.jsx("group",{name:i.name,position:i.position,rotation:i.rotation,ref:re(i)?n:void 0,children:i.children.map(g)},i.uuid)}catch(m){return console.warn("Error rendering node",i.name,m),null}}return e.jsx("group",{...o,dispose:null,ref:s,children:g(c.scene)})}function ie({modelURL:t,flangeRef:n,postModelRender:r,...o}){const[a,d]=l.useState(null);return l.useEffect(()=>{let c=!1;return(async()=>{try{const g=typeof t=="string"?t:await t;c||d(i=>i===g?i:g)}catch(g){console.error("Failed to resolve model URL:",g)}})(),()=>{c=!0}},[t]),a?e.jsx(Ie,{url:a,flangeRef:n,postModelRender:r,...o}):null}const ae=(t,n)=>{t.userData.isGhost||(t.traverse(r=>{if(r instanceof w.Mesh){r.material instanceof w.Material&&(r.material.colorWrite=!1);const o=r.clone(),a=r.clone();o.material=new w.MeshStandardMaterial({depthTest:!0,depthWrite:!0,colorWrite:!1,polygonOffset:!0,polygonOffsetFactor:-1,side:w.DoubleSide}),o.userData.isGhost=!0,a.material=new w.MeshStandardMaterial({color:n,opacity:.3,depthTest:!0,depthWrite:!1,transparent:!0,polygonOffset:!0,polygonOffsetFactor:-2,side:w.DoubleSide}),a.userData.isGhost=!0,r.parent&&(r.parent.add(o),r.parent.add(a))}}),t.userData.isGhost=!0)},ce=t=>{if(!t.userData.isGhost)return;const n=[];t.traverse(r=>{var o;r instanceof w.Mesh&&((o=r.userData)!=null&&o.isGhost?n.push(r):r.material instanceof w.Material&&(r.material.colorWrite=!0))}),n.forEach(r=>{r.parent&&r.parent.remove(r)}),t.userData.isGhost=!1},J=L.externalizeComponent(({rapidlyChangingMotionState:t,modelFromController:n,dhParameters:r,getModel:o=G,flangeRef:a,postModelRender:d,transparentColor:c,instanceUrl:s,...g})=>{const[i,m]=l.useState(null),u=l.useRef(null),p=l.useCallback(h=>{m(h)},[]),y=l.useCallback(()=>{var h;(h=u.current)==null||h.recollectJoints(),d==null||d()},[d]);l.useEffect(()=>{i&&(c?ae(i,c):ce(i))},[i,c]);const x=l.useMemo(()=>{const h=o(n,s);if(!h)throw new Error(`No model found for robot "${n}". Ensure the model is available or provide a custom getModel function.`);return h},[n,s,o]),f=e.jsx(Ee,{rapidlyChangingMotionState:t,dhParameters:r,...g});return e.jsxs(ee.ErrorBoundary,{fallback:f,onError:h=>{console.warn(h)},children:[e.jsx(l.Suspense,{fallback:f,children:e.jsx("group",{ref:p,children:e.jsx(se,{ref:u,rapidlyChangingMotionState:t,dhParameters:r,children:e.jsx(ie,{modelURL:x,postModelRender:y,flangeRef:a,...g})})})}),e.jsx(oe,{})]})});function ue({connectedMotionGroup:t,getModel:n=G,flangeRef:r,transparentColor:o,postModelRender:a,...d}){return t.dhParameters?e.jsx(J,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,modelFromController:t.modelFromController||"",dhParameters:t.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:a,...d}):null}const Ae=L.externalizeComponent(xe.observer(({robotName:t,programState:n,safetyState:r,operationMode:o,driveToHomeEnabled:a=!1,onDriveToHomePress:d,onDriveToHomeRelease:c,connectedMotionGroup:s,robotComponent:g=ue,customContentComponent:i,className:m})=>{var H;const u=he.useTheme(),{t:p}=ye.useTranslation(),[y,x]=l.useState(!1),f=l.useRef(null),h=l.useRef(null),[j,S]=l.useState(!1),[T,F]=l.useState({width:400,height:600}),[B,pe]=l.useState(0);l.useEffect(()=>{const P=()=>{if(h.current){const{offsetWidth:Y,offsetHeight:Q}=h.current;S(Y>Q),F({width:Y,height:Q})}};P();const $=new ResizeObserver(P);return h.current&&$.observe(h.current),()=>{$.disconnect()}},[]);const N=l.useCallback(()=>{pe(P=>P+1)},[]),C=l.useCallback(()=>{!a||!d||(x(!0),d())},[a,d]),I=l.useCallback(()=>{!a||!c||(x(!1),c())},[a,c]),W=l.useCallback(()=>{y&&c&&(x(!1),c())},[y,c]),_=j?T.width<350:T.height<200,A=j?T.height<310:T.height<450;return e.jsx(me,{ref:h,className:m,sx:{width:"100%",height:"100%",display:"flex",flexDirection:j?"row":"column",position:"relative",overflow:"hidden",minWidth:{xs:180,sm:220,md:250},minHeight:j?{xs:200,sm:240,md:260}:{xs:150,sm:180,md:220},border:`1px solid ${u.palette.divider}`,borderRadius:"18px",boxShadow:"none",backgroundColor:((H=u.palette.backgroundPaperElevation)==null?void 0:H[8])||"#292B3F",backgroundImage:"none"},children:j?e.jsxs(e.Fragment,{children:[e.jsx(v,{sx:{flex:"0 0 50%",position:"relative",height:"100%",minHeight:"100%",maxHeight:"100%",borderRadius:1,m:{xs:1.5,sm:2,md:3},mr:{xs:.75,sm:1,md:1.5},overflow:"hidden",display:_?"none":"block"},children:!_&&e.jsxs(k.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:u.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute",top:0,left:0},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[e.jsx(D,{}),e.jsx(M.Bounds,{fit:!0,observe:!0,margin:1,maxDuration:1,children:e.jsx(g,{connectedMotionGroup:s,postModelRender:N})})]})}),e.jsxs(v,{sx:{flex:"1",display:"flex",flexDirection:"column",justifyContent:"flex-start",width:_?"100%":"50%"},children:[e.jsxs(v,{sx:{p:{xs:1.5,sm:2,md:3},pb:{xs:1,sm:1.5,md:2},textAlign:"left"},children:[e.jsx(K,{variant:"h6",component:"h2",sx:{mb:1},children:t}),e.jsx(E.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:o})]}),e.jsxs(v,{sx:{p:{xs:1.5,sm:2,md:3},pt:0,flex:"1",display:"flex",flexDirection:"column",justifyContent:"space-between"},children:[!A&&i&&e.jsxs(v,{children:[e.jsx(i,{}),e.jsx(Z,{sx:{mt:1,mb:0,borderColor:u.palette.divider,opacity:.5}})]}),e.jsx(v,{sx:{mt:!A&&i?"auto":0},children:e.jsx(v,{sx:{display:"flex",justifyContent:"flex-start",mt:{xs:1,sm:1.5,md:2},mb:{xs:.5,sm:.75,md:1}},children:e.jsx(X,{ref:f,variant:"contained",color:"secondary",size:"small",disabled:!a,onMouseDown:C,onMouseUp:I,onMouseLeave:W,onTouchStart:C,onTouchEnd:I,sx:{textTransform:"none",px:1.5,py:.5},children:p("RobotCard.DriveToHome.bt")})})})]})]})]}):e.jsx(e.Fragment,{children:e.jsxs(v,{sx:{p:3,height:"100%",display:"flex",flexDirection:"column"},children:[e.jsxs(v,{children:[e.jsx(K,{variant:"h6",component:"h2",sx:{mb:1},children:t}),e.jsx(E.ProgramStateIndicator,{programState:n,safetyState:r,operationMode:o})]}),e.jsx(v,{sx:{flex:_?0:1,position:"relative",minHeight:_?0:{xs:120,sm:150,md:200},height:_?0:"auto",borderRadius:1,overflow:"hidden",display:_?"none":"block"},children:!_&&e.jsxs(k.Canvas,{orthographic:!0,camera:{position:[3,2,3],zoom:1},shadows:!0,frameloop:"demand",style:{borderRadius:u.shape.borderRadius,width:"100%",height:"100%",background:"transparent",position:"absolute"},dpr:[1,2],gl:{alpha:!0,antialias:!0},children:[e.jsx(D,{}),e.jsx(M.Bounds,{fit:!0,clip:!0,observe:!0,margin:1,maxDuration:1,children:e.jsx(g,{connectedMotionGroup:s,postModelRender:N})})]})}),e.jsxs(v,{children:[!A&&i&&e.jsxs(e.Fragment,{children:[e.jsx(i,{}),e.jsx(Z,{sx:{mt:1,mb:0,borderColor:u.palette.divider,opacity:.5}})]}),e.jsx(v,{sx:{display:"flex",justifyContent:"flex-start",mt:!A&&i?{xs:1,sm:2,md:5}:{xs:.5,sm:1,md:2},mb:{xs:.5,sm:.75,md:1}},children:e.jsx(X,{ref:f,variant:"contained",color:"secondary",size:"small",disabled:!a,onMouseDown:C,onMouseUp:I,onMouseLeave:W,onTouchStart:C,onTouchEnd:I,sx:{textTransform:"none",px:1.5,py:.5},children:p("RobotCard.DriveToHome.bt")})})]})]})})})})),Pe=Array(6).fill(2*Math.PI);function le({rapidlyChangingMotionState:t,dhParameters:n,onTranslationChanged:r,children:o}){const a=l.useRef([]),d=l.useRef([]),c=l.useRef(null),{invalidate:s}=k.useThree();l.useEffect(()=>{const u=t.joint_position.filter(p=>p!==void 0);return c.current=new E.ValueInterpolator(u,{tension:120,friction:20,threshold:.001}),()=>{var p;(p=c.current)==null||p.destroy()}},[]),k.useFrame((u,p)=>{if(c.current){const y=c.current.update(p);i(),y||s()}});function g(u){u&&(d.current=te(u),i(),s())}function i(){var p;const u=((p=c.current)==null?void 0:p.getCurrentValues())||[];if(r)r(d.current,u);else for(const[y,x]of d.current.entries()){const h=n[y].reverse_rotation_direction?-1:1;x.position.y=h*(u[y]||0)/1e3}}const m=l.useCallback(()=>{const u=t.joint_position.filter(p=>p!==void 0);requestAnimationFrame(()=>{var p;a.current=u,(p=c.current)==null||p.setTarget(u)})},[t]);return l.useEffect(()=>{m()},[t,m]),E.useAutorun(()=>{m()}),e.jsx("group",{ref:g,children:o})}function fe({rapidlyChangingMotionState:t,dhParameters:n,...r}){const o=new b.Matrix4,a=l.useRef(null),d=l.useRef(null);function c(i){const m=new b.Matrix4;for(let x=0;x<n.length;x++){const f=n[x],h=i[x]??0,j=new b.Matrix4().makeRotationY(f.theta).multiply(new b.Matrix4().makeTranslation(f.a/1e3,(f.d+h*(f.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new b.Matrix4().makeRotationX(f.alpha));m.multiply(j)}const u=new b.Vector3,p=new b.Quaternion,y=new b.Vector3;return m.decompose(u,p,y),u}const s=c(t.joint_position);function g(i,m){o.identity();let u=new b.Vector3;for(let f=0;f<n.length;f++){const h=m[f]??0,j=n[f],S=new b.Matrix4().makeRotationY(j.theta).multiply(new b.Matrix4().makeTranslation(j.a/1e3,(j.d+h*(j.reverse_rotation_direction?-1:1))/1e3,0)).multiply(new b.Matrix4().makeRotationX(j.alpha));o.multiply(S)}const p=new b.Vector3,y=new b.Quaternion,x=new b.Vector3;if(o.decompose(p,y,x),u=p,a.current&&a.current.position.set(u.x,u.y,u.z),d.current){const f=d.current.geometry;f!=null&&f.setPositions&&f.setPositions([0,0,0,u.x,u.y,u.z])}}return e.jsx(le,{rapidlyChangingMotionState:t,dhParameters:n,onTranslationChanged:g,children:e.jsxs("group",{...r,name:"Scene",children:[e.jsxs("mesh",{name:"Base",position:[0,0,0],children:[e.jsx("sphereGeometry",{args:[.02,32,32]}),e.jsx("meshStandardMaterial",{color:"green",depthTest:!0})]}),e.jsx(M.Line,{ref:d,points:[new b.Vector3(0,0,0),s],color:"White",lineWidth:5}),e.jsxs("mesh",{ref:a,name:"TCP",position:s,children:[e.jsx("sphereGeometry",{args:[.025,32,32]}),e.jsx("meshStandardMaterial",{color:"red",depthTest:!0})]})]})})}const U=L.externalizeComponent(({rapidlyChangingMotionState:t,modelFromController:n,dhParameters:r,getModel:o=G,flangeRef:a,postModelRender:d,transparentColor:c,instanceUrl:s,...g})=>{const[i,m]=l.useState(null),u=l.useCallback(y=>{m(y)},[]);l.useEffect(()=>{i&&(c?ae(i,c):ce(i))},[i,c]);const p=e.jsx(fe,{rapidlyChangingMotionState:t,dhParameters:r,...g});return e.jsxs(ee.ErrorBoundary,{fallback:p,onError:y=>{console.warn(y)},children:[e.jsx(l.Suspense,{fallback:p,children:e.jsx("group",{ref:u,children:e.jsx(le,{rapidlyChangingMotionState:t,dhParameters:r,children:e.jsx(ie,{modelURL:(()=>{const y=o(n,s);if(!y){const x=new Blob([],{type:"model/gltf-binary"}),f=new File([x],`${n}.glb`,{type:"model/gltf-binary"});return Promise.resolve(URL.createObjectURL(f))}return y})(),postModelRender:d,flangeRef:a,...g})})})}),e.jsx(oe,{})]})});function Fe({connectedMotionGroup:t,getModel:n=G,flangeRef:r,transparentColor:o,postModelRender:a,...d}){if(!t.dhParameters)return null;const c=t.modelFromController||"";return c&&n(c)?e.jsx(U,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,modelFromController:c,dhParameters:t.dhParameters,getModel:n,flangeRef:r,transparentColor:o,postModelRender:a,...d}):e.jsx(fe,{rapidlyChangingMotionState:t.rapidlyChangingMotionState,dhParameters:t.dhParameters,...d})}const q={[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],[R.Manufacturer.Staubli]:[0,-Math.PI/2,Math.PI/2,0,0,0,0]};function de(t){const[n]=t.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;case"STAUBLI":return R.Manufacturer.Staubli;default:return null}}function Ve(t,n){const r=de(t);return r&&r in q?q[r]:n||null}const Oe=L.externalizeComponent(t=>{const{inverseSolver:n,dhParameters:r,...o}=t,[a,d]=l.useState(R.JointTypeEnum.RevoluteJoint);l.useEffect(()=>{r.length&&d(r[0].type??R.JointTypeEnum.RevoluteJoint)},[r]);const c=l.useMemo(()=>n===null&&a===R.JointTypeEnum.RevoluteJoint,[n,a]),s=l.useMemo(()=>n===null&&a===R.JointTypeEnum.PrismaticJoint,[n,a]);return l.useMemo(()=>!!n,[n])||c?e.jsx(J,{dhParameters:r,...o}):s?e.jsx(U,{dhParameters:r,...o}):null});exports.CollisionSceneRenderer=Re;exports.LinearAxis=Fe;exports.MANUFACTURER_HOME_CONFIGS=q;exports.MotionGroupVisualizer=Oe;exports.PresetEnvironment=D;exports.Robot=ue;exports.RobotCard=Ae;exports.SafetyZonesRenderer=Se;exports.SupportedLinearAxis=U;exports.SupportedRobot=J;exports.TrajectoryRenderer=_e;exports.defaultAxisConfig=Pe;exports.defaultGetModel=G;exports.extractManufacturer=de;exports.getDefaultHomeConfig=Ve;

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

@@ -2,9 +2,9 @@ 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 Le, { useMemo as F, forwardRef as Ie, useRef as R, useEffect as T, useImperativeHandle as Pe, useState as I, useCallback as G, Suspense as le } from "react";
+import { d as Ae, v as Fe, o as De, e as C } from "./externalizeComponent-JETX1Xbc.js";
+import { Environment as Oe, Lightformer as A, 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";
@@ -14,7 +14,7 @@ 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 { V as pe, c as de, b as oe } from "./interpolation-CYfFv8VA.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) {
@@ -112,7 +112,7 @@ const Ne = [2, 0, 2, 0, 2, 0, 2, 0];
 function He({ positions: e = Ne }) {
   return /* @__PURE__ */ x(J, { children: [
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         intensity: 5,
         "rotation-x": Math.PI / 2,
@@ -121,7 +121,7 @@ function He({ positions: e = Ne }) {
       }
     ),
     /* @__PURE__ */ r("group", { rotation: [0, 0.5, 0], children: /* @__PURE__ */ r("group", { children: e.map((n, t) => /* @__PURE__ */ r(
-      P,
+      A,
       {
         form: "circle",
         intensity: 5,
@@ -132,7 +132,7 @@ function He({ positions: e = Ne }) {
       t
     )) }) }),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         intensity: 40,
         "rotation-y": Math.PI / 2,
@@ -141,7 +141,7 @@ function He({ positions: e = Ne }) {
       }
     ),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         intensity: 20,
         "rotation-y": -Math.PI,
@@ -150,7 +150,7 @@ function He({ positions: e = Ne }) {
       }
     ),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         "rotation-y": Math.PI / 2,
         position: [-5, -1, -1],
@@ -159,7 +159,7 @@ function He({ positions: e = Ne }) {
       }
     ),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         "rotation-y": -Math.PI / 2,
         position: [10, 1, 0],
@@ -168,7 +168,7 @@ function He({ positions: e = Ne }) {
       }
     ),
     /* @__PURE__ */ r(
-      P,
+      A,
       {
         form: "ring",
         color: "white",
@@ -195,7 +195,7 @@ function Rt({
   ...t
 }) {
   const s = F(
-    () => Pe(n ?? []),
+    () => Ae(n ?? []),
     [n]
   ), a = (c, o) => {
     var p, y;
@@ -409,7 +409,7 @@ const be = Ie(
     function p() {
       c.current && (o.current = me(c.current), y(), i());
     }
-    Ae(f, () => ({ recollectJoints: p }));
+    Pe(f, () => ({ recollectJoints: p }));
     function y() {
       var d;
       const u = ((d = g.current) == null ? void 0 : d.getCurrentValues()) || [];
@@ -417,7 +417,7 @@ const be = Ie(
         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;
+          const P = t[b], B = P.theta || 0, H = P.reverse_rotation_direction ? -1 : 1;
           S.rotation.y = H * (u[b] || 0) + B;
         }
     }
@@ -745,7 +745,7 @@ const Mt = C(
       className: h
     }) => {
       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);
+      const l = Ee(), { t: p } = Ce(), [y, m] = I(!1), u = R(null), d = R(null), [b, S] = I(!1), [P, B] = I({ width: 400, height: 600 }), [H, ke] = I(0);
       T(() => {
         const E = () => {
           if (d.current) {
@@ -767,7 +767,7 @@ const Mt = C(
         !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;
+      }, [y, c]), k = b ? P.width < 350 : P.height < 200, V = b ? P.height < 310 : P.height < 450;
       return /* @__PURE__ */ r(
         Ue,
         {
@@ -786,7 +786,7 @@ const Mt = C(
             border: `1px solid ${l.palette.divider}`,
             borderRadius: "18px",
             boxShadow: "none",
-            backgroundColor: ((X = l.palette.backgroundPaperElevation) == null ? void 0 : X[8]) || "#2A2A3F",
+            backgroundColor: ((X = l.palette.backgroundPaperElevation) == null ? void 0 : X[8]) || "#292B3F",
             backgroundImage: "none"
             // Override any gradient from elevation
           },

package/dist/chunks/{SafetyBar-CxxIVVeR.js → SafetyBar-BwRxye23.js}

@@ -2,7 +2,7 @@ import { jsxs as f, Fragment as B, jsx as t } from "react/jsx-runtime";
 import h from "@mui/material/Divider";
 import y from "@mui/material/Stack";
 import { observer as d, useLocalObservable as M } from "mobx-react-lite";
-import { t as v, e as O } from "./externalizeComponent-EDymnaGR.js";
+import { t as v, e as O } from "./externalizeComponent-JETX1Xbc.js";
 import { useTheme as E } from "@mui/material/styles";
 import { useId as T } from "react";
 import { useTranslation as m, Trans as s } from "react-i18next";

package/dist/chunks/{SafetyBar-VvOZ9aRM.cjs → SafetyBar-C0nTqK_K.cjs}

@@ -1 +1 @@
-"use strict";const e=require("react/jsx-runtime"),x=require("@mui/material/Divider"),T=require("@mui/material/Stack"),d=require("mobx-react-lite"),h=require("./externalizeComponent-OO4jcrz5.cjs"),f=require("@mui/material/styles"),E=require("react"),i=require("react-i18next"),c=require("./safety-state-stop-CgPfwC18.cjs"),j=require("@mui/material/Popover"),B=require("@mui/material/SvgIcon"),y=require("@mui/material/Typography"),b=require("axios");function v(a,o){throw new Error(`${o} ${JSON.stringify(a)}`)}function M(a){var o,r,n,t;return a instanceof b.AxiosError&&a.code==="ERR_NETWORK"?"Failed to connect to the server. Please check your internet connection.":a instanceof b.AxiosError&&a.response?`${(o=a.response)==null?void 0:o.status} ${(r=a.response)==null?void 0:r.statusText} from ${(n=a.response)==null?void 0:n.config.url}: ${JSON.stringify((t=a.response)==null?void 0:t.data)}`:a instanceof Error?a.message:`Unexpected error: ${h.tryStringifyJson(a)||a}`}const S=d.observer(({id:a,icon:o,color:r,title:n,name:t,label:l,explanation:s,literalValue:p,anchorOrigin:m,transformOrigin:A})=>{const u=d.useLocalObservable(()=>({anchorEl:null,get isPopoverOpen(){return!!u.anchorEl},openPopover(_){u.anchorEl=_.currentTarget},closePopover(){u.anchorEl=null}}));return e.jsxs(e.Fragment,{children:[e.jsxs(T,{"aria-owns":u.isPopoverOpen?a:void 0,"aria-haspopup":"true",onMouseEnter:u.openPopover,onMouseLeave:u.closePopover,direction:"row",spacing:1,sx:{cursor:"pointer"},children:[e.jsx(B,{component:o,sx:{color:r}}),l&&e.jsx("div",{style:{color:r},children:l})]}),e.jsx(j,{id:a,sx:{pointerEvents:"none"},open:u.isPopoverOpen,anchorEl:u.anchorEl,anchorOrigin:m??{vertical:"bottom",horizontal:"left"},transformOrigin:A??{vertical:"top",horizontal:"left"},onClose:u.closePopover,disableRestoreFocus:!0,children:e.jsxs(T,{gap:"1rem",padding:2,maxWidth:"450px",sx:{wordWrap:"break-word"},children:[e.jsxs("div",{children:[n&&e.jsx(y,{component:"span",fontSize:"14px",children:`${n}: `}),e.jsx(y,{component:"span",color:r,fontWeight:"bold",fontSize:"14px",children:t})]}),e.jsx(y,{fontSize:"14px",children:s}),p&&e.jsx(y,{fontSize:"12px",children:p})]})})]})}),O=d.observer(({isVirtual:a,motionGroupId:o,anchorOrigin:r,transformOrigin:n,compact:t})=>{const l=f.useTheme(),s=E.useId(),{t:p}=i.useTranslation();return a?e.jsx(S,{id:`motion-group-virtual-${s}`,icon:c.ForwardRef$1,color:l.palette.tertiary.main,name:p("SafetyBar.ControllerType.Virtual.lb"),label:t?null:p("SafetyBar.ControllerType.Virtual.lb"),explanation:e.jsxs(i.Trans,{i18nKey:"SafetyBar.MotionGroup.Virtual.Explanation.lb",values:{motionGroupId:o},children:["Motion group ",e.jsx("code",{children:o})," refers to a virtual robot with no physical counterpart. It can be freely manipulated without special safety precautions."]}),anchorOrigin:r,transformOrigin:n}):e.jsx(S,{id:`motion-group-physical-${s}`,icon:c.ForwardRef,color:l.palette.primary.main,name:p("SafetyBar.ControllerType.Physical.lb"),label:t?null:p("SafetyBar.ControllerType.Physical.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.MotionGroup.Physical.Explanation.lb",values:{motionGroupId:o},components:{code:e.jsx("code",{}),strong:e.jsx("strong",{})}}),anchorOrigin:r,transformOrigin:n})}),R=d.observer(({operationMode:a,anchorOrigin:o,transformOrigin:r,compact:n})=>{const{t}=i.useTranslation(),l=f.useTheme(),s=E.useId();switch(a){case"OPERATION_MODE_AUTO":return e.jsx(S,{id:`operation-mode-auto-${s}`,icon:c.ForwardRef$2,title:t("SafetyBar.OperationMode.ti"),name:t("SafetyBar.OperationMode.Automatic.ti"),label:n?null:t("SafetyBar.OperationMode.Automatic.ti"),color:l.palette.text.secondary,explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.OperationMode.Auto.Explanation.lb",children:"The robot controller is in automatic operation mode. Automated movement without manual confirmation is possible in this mode."}),anchorOrigin:o,transformOrigin:r});case"OPERATION_MODE_MANUAL":case"OPERATION_MODE_MANUAL_T1":case"OPERATION_MODE_MANUAL_T2":return e.jsx(S,{id:`operation-mode-manual-${s}`,icon:c.ForwardRef$4,color:l.palette.warning.main,title:t("SafetyBar.OperationMode.ti"),name:t("SafetyBar.OperationMode.Manual.lb"),label:n?null:t("SafetyBar.OperationMode.Manual.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.OperationMode.Manual.Explanation.lb",children:"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully."}),literalValue:a,anchorOrigin:o,transformOrigin:r});default:return e.jsx(S,{id:`operation-mode-error-${s}`,icon:c.ForwardRef$3,color:l.palette.warning.main,title:t("SafetyBar.OperationMode.ti"),name:t("SafetyBar.OperationMode.Error.lb"),label:n?null:t("SafetyBar.OperationMode.Error.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.OperationMode.Error.Explanation.lb",children:"The robot controller has entered an unexpected operation mode. Motion group movement may not be possible."}),literalValue:a,anchorOrigin:o,transformOrigin:r})}}),F=d.observer(({safetyState:a,anchorOrigin:o,transformOrigin:r,compact:n})=>{const{t}=i.useTranslation(),l=f.useTheme(),s=E.useId();switch(a){case"SAFETY_STATE_NORMAL":return e.jsx(S,{id:`safety-state-normal-${s}`,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.Normal.lb"),label:n?null:t("SafetyBar.SafetyState.Normal.lb"),icon:c.ForwardRef$8,color:l.palette.text.secondary,explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.SafetyState.Normal.Explanation.lb",children:"The robot controller is in a normal safety state. Movement is not prevented by this state."}),anchorOrigin:o,transformOrigin:r});case"SAFETY_STATE_DEVICE_EMERGENCY_STOP":case"SAFETY_STATE_ROBOT_EMERGENCY_STOP":return e.jsx(S,{id:`safety-state-estop-${s}`,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.Estop.lb"),label:n?null:t("SafetyBar.SafetyState.Estop.lb"),icon:c.ForwardRef$6,color:l.palette.error.main,explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.StopState.Estop.Explanation.lb",children:"An emergency stop of the robot controller has been triggered. Movement of the robot is no longer possible until the estop is released."}),literalValue:a,anchorOrigin:o,transformOrigin:r});case"SAFETY_STATE_STOP_0":case"SAFETY_STATE_STOP_1":case"SAFETY_STATE_STOP_2":case"SAFETY_STATE_PROTECTIVE_STOP":case"SAFETY_STATE_STOP":return e.jsx(S,{id:`safety-state-stop-${s}`,icon:c.ForwardRef$9,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.Stop.lb"),label:n?null:t("SafetyBar.SafetyState.Stop.lb"),color:l.palette.warning.main,explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.SafetyState.Stop.Explanation.lb",children:"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved."}),literalValue:a,anchorOrigin:o,transformOrigin:r});case"SAFETY_STATE_REDUCED":case"SAFETY_STATE_MASTERING":case"SAFETY_STATE_CONFIRM_SAFETY":case"SAFETY_STATE_OPERATOR_SAFETY":case"SAFETY_STATE_RECOVERY":case"SAFETY_STATE_VIOLATION":return e.jsx(S,{id:`safety-state-manual-action-required-${s}`,icon:c.ForwardRef$7,color:l.palette.warning.main,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.ManualActionRequired.lb"),label:n?null:t("SafetyBar.SafetyState.ManualActionRequired.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.SafetyState.ManualActionRequired.Explanation.lb",children:"The robot controller has entered a safety state requiring manual action to resolve."}),literalValue:a,anchorOrigin:o,transformOrigin:r});case"SAFETY_STATE_UNKNOWN":case"SAFETY_STATE_FAULT":return e.jsx(S,{id:`safety-state-error-${s}`,icon:c.ForwardRef$5,color:l.palette.error.main,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.Error.lb"),label:n?null:t("SafetyBar.SafetyState.Error.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.SafetyState.Error.Explanation.lb",children:"The robot controller has entered an unexpected safety state."}),literalValue:a,anchorOrigin:o,transformOrigin:r});default:v(a,`Unknown safety state ${a}`)}}),w=h.externalizeComponent(d.observer(({isVirtual:a,motionGroupId:o,operationMode:r,safetyState:n,anchorOrigin:t,transformOrigin:l,compact:s=!0})=>{const p=s?1:2;return e.jsxs(T,{direction:"row",gap:p,alignItems:"center",sx:{height:"24px"},children:[e.jsx(F,{safetyState:n,anchorOrigin:t,transformOrigin:l,compact:s}),e.jsx(x,{orientation:"vertical",flexItem:!0}),e.jsx(R,{operationMode:r,anchorOrigin:t,transformOrigin:l,compact:s}),e.jsx(x,{orientation:"vertical",flexItem:!0}),e.jsx(O,{isVirtual:a,motionGroupId:o,anchorOrigin:t,transformOrigin:l,compact:s})]})}));exports.SafetyBar=w;exports.makeErrorMessage=M;
+"use strict";const e=require("react/jsx-runtime"),x=require("@mui/material/Divider"),T=require("@mui/material/Stack"),d=require("mobx-react-lite"),h=require("./externalizeComponent-qE94FGXZ.cjs"),f=require("@mui/material/styles"),E=require("react"),i=require("react-i18next"),c=require("./safety-state-stop-CgPfwC18.cjs"),j=require("@mui/material/Popover"),B=require("@mui/material/SvgIcon"),y=require("@mui/material/Typography"),b=require("axios");function v(a,o){throw new Error(`${o} ${JSON.stringify(a)}`)}function M(a){var o,r,n,t;return a instanceof b.AxiosError&&a.code==="ERR_NETWORK"?"Failed to connect to the server. Please check your internet connection.":a instanceof b.AxiosError&&a.response?`${(o=a.response)==null?void 0:o.status} ${(r=a.response)==null?void 0:r.statusText} from ${(n=a.response)==null?void 0:n.config.url}: ${JSON.stringify((t=a.response)==null?void 0:t.data)}`:a instanceof Error?a.message:`Unexpected error: ${h.tryStringifyJson(a)||a}`}const S=d.observer(({id:a,icon:o,color:r,title:n,name:t,label:l,explanation:s,literalValue:p,anchorOrigin:m,transformOrigin:A})=>{const u=d.useLocalObservable(()=>({anchorEl:null,get isPopoverOpen(){return!!u.anchorEl},openPopover(_){u.anchorEl=_.currentTarget},closePopover(){u.anchorEl=null}}));return e.jsxs(e.Fragment,{children:[e.jsxs(T,{"aria-owns":u.isPopoverOpen?a:void 0,"aria-haspopup":"true",onMouseEnter:u.openPopover,onMouseLeave:u.closePopover,direction:"row",spacing:1,sx:{cursor:"pointer"},children:[e.jsx(B,{component:o,sx:{color:r}}),l&&e.jsx("div",{style:{color:r},children:l})]}),e.jsx(j,{id:a,sx:{pointerEvents:"none"},open:u.isPopoverOpen,anchorEl:u.anchorEl,anchorOrigin:m??{vertical:"bottom",horizontal:"left"},transformOrigin:A??{vertical:"top",horizontal:"left"},onClose:u.closePopover,disableRestoreFocus:!0,children:e.jsxs(T,{gap:"1rem",padding:2,maxWidth:"450px",sx:{wordWrap:"break-word"},children:[e.jsxs("div",{children:[n&&e.jsx(y,{component:"span",fontSize:"14px",children:`${n}: `}),e.jsx(y,{component:"span",color:r,fontWeight:"bold",fontSize:"14px",children:t})]}),e.jsx(y,{fontSize:"14px",children:s}),p&&e.jsx(y,{fontSize:"12px",children:p})]})})]})}),O=d.observer(({isVirtual:a,motionGroupId:o,anchorOrigin:r,transformOrigin:n,compact:t})=>{const l=f.useTheme(),s=E.useId(),{t:p}=i.useTranslation();return a?e.jsx(S,{id:`motion-group-virtual-${s}`,icon:c.ForwardRef$1,color:l.palette.tertiary.main,name:p("SafetyBar.ControllerType.Virtual.lb"),label:t?null:p("SafetyBar.ControllerType.Virtual.lb"),explanation:e.jsxs(i.Trans,{i18nKey:"SafetyBar.MotionGroup.Virtual.Explanation.lb",values:{motionGroupId:o},children:["Motion group ",e.jsx("code",{children:o})," refers to a virtual robot with no physical counterpart. It can be freely manipulated without special safety precautions."]}),anchorOrigin:r,transformOrigin:n}):e.jsx(S,{id:`motion-group-physical-${s}`,icon:c.ForwardRef,color:l.palette.primary.main,name:p("SafetyBar.ControllerType.Physical.lb"),label:t?null:p("SafetyBar.ControllerType.Physical.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.MotionGroup.Physical.Explanation.lb",values:{motionGroupId:o},components:{code:e.jsx("code",{}),strong:e.jsx("strong",{})}}),anchorOrigin:r,transformOrigin:n})}),R=d.observer(({operationMode:a,anchorOrigin:o,transformOrigin:r,compact:n})=>{const{t}=i.useTranslation(),l=f.useTheme(),s=E.useId();switch(a){case"OPERATION_MODE_AUTO":return e.jsx(S,{id:`operation-mode-auto-${s}`,icon:c.ForwardRef$2,title:t("SafetyBar.OperationMode.ti"),name:t("SafetyBar.OperationMode.Automatic.ti"),label:n?null:t("SafetyBar.OperationMode.Automatic.ti"),color:l.palette.text.secondary,explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.OperationMode.Auto.Explanation.lb",children:"The robot controller is in automatic operation mode. Automated movement without manual confirmation is possible in this mode."}),anchorOrigin:o,transformOrigin:r});case"OPERATION_MODE_MANUAL":case"OPERATION_MODE_MANUAL_T1":case"OPERATION_MODE_MANUAL_T2":return e.jsx(S,{id:`operation-mode-manual-${s}`,icon:c.ForwardRef$4,color:l.palette.warning.main,title:t("SafetyBar.OperationMode.ti"),name:t("SafetyBar.OperationMode.Manual.lb"),label:n?null:t("SafetyBar.OperationMode.Manual.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.OperationMode.Manual.Explanation.lb",children:"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully."}),literalValue:a,anchorOrigin:o,transformOrigin:r});default:return e.jsx(S,{id:`operation-mode-error-${s}`,icon:c.ForwardRef$3,color:l.palette.warning.main,title:t("SafetyBar.OperationMode.ti"),name:t("SafetyBar.OperationMode.Error.lb"),label:n?null:t("SafetyBar.OperationMode.Error.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.OperationMode.Error.Explanation.lb",children:"The robot controller has entered an unexpected operation mode. Motion group movement may not be possible."}),literalValue:a,anchorOrigin:o,transformOrigin:r})}}),F=d.observer(({safetyState:a,anchorOrigin:o,transformOrigin:r,compact:n})=>{const{t}=i.useTranslation(),l=f.useTheme(),s=E.useId();switch(a){case"SAFETY_STATE_NORMAL":return e.jsx(S,{id:`safety-state-normal-${s}`,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.Normal.lb"),label:n?null:t("SafetyBar.SafetyState.Normal.lb"),icon:c.ForwardRef$8,color:l.palette.text.secondary,explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.SafetyState.Normal.Explanation.lb",children:"The robot controller is in a normal safety state. Movement is not prevented by this state."}),anchorOrigin:o,transformOrigin:r});case"SAFETY_STATE_DEVICE_EMERGENCY_STOP":case"SAFETY_STATE_ROBOT_EMERGENCY_STOP":return e.jsx(S,{id:`safety-state-estop-${s}`,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.Estop.lb"),label:n?null:t("SafetyBar.SafetyState.Estop.lb"),icon:c.ForwardRef$6,color:l.palette.error.main,explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.StopState.Estop.Explanation.lb",children:"An emergency stop of the robot controller has been triggered. Movement of the robot is no longer possible until the estop is released."}),literalValue:a,anchorOrigin:o,transformOrigin:r});case"SAFETY_STATE_STOP_0":case"SAFETY_STATE_STOP_1":case"SAFETY_STATE_STOP_2":case"SAFETY_STATE_PROTECTIVE_STOP":case"SAFETY_STATE_STOP":return e.jsx(S,{id:`safety-state-stop-${s}`,icon:c.ForwardRef$9,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.Stop.lb"),label:n?null:t("SafetyBar.SafetyState.Stop.lb"),color:l.palette.warning.main,explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.SafetyState.Stop.Explanation.lb",children:"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved."}),literalValue:a,anchorOrigin:o,transformOrigin:r});case"SAFETY_STATE_REDUCED":case"SAFETY_STATE_MASTERING":case"SAFETY_STATE_CONFIRM_SAFETY":case"SAFETY_STATE_OPERATOR_SAFETY":case"SAFETY_STATE_RECOVERY":case"SAFETY_STATE_VIOLATION":return e.jsx(S,{id:`safety-state-manual-action-required-${s}`,icon:c.ForwardRef$7,color:l.palette.warning.main,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.ManualActionRequired.lb"),label:n?null:t("SafetyBar.SafetyState.ManualActionRequired.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.SafetyState.ManualActionRequired.Explanation.lb",children:"The robot controller has entered a safety state requiring manual action to resolve."}),literalValue:a,anchorOrigin:o,transformOrigin:r});case"SAFETY_STATE_UNKNOWN":case"SAFETY_STATE_FAULT":return e.jsx(S,{id:`safety-state-error-${s}`,icon:c.ForwardRef$5,color:l.palette.error.main,title:t("SafetyBar.SafetyState.ti"),name:t("SafetyBar.SafetyState.Error.lb"),label:n?null:t("SafetyBar.SafetyState.Error.lb"),explanation:e.jsx(i.Trans,{i18nKey:"SafetyBar.SafetyState.Error.Explanation.lb",children:"The robot controller has entered an unexpected safety state."}),literalValue:a,anchorOrigin:o,transformOrigin:r});default:v(a,`Unknown safety state ${a}`)}}),w=h.externalizeComponent(d.observer(({isVirtual:a,motionGroupId:o,operationMode:r,safetyState:n,anchorOrigin:t,transformOrigin:l,compact:s=!0})=>{const p=s?1:2;return e.jsxs(T,{direction:"row",gap:p,alignItems:"center",sx:{height:"24px"},children:[e.jsx(F,{safetyState:n,anchorOrigin:t,transformOrigin:l,compact:s}),e.jsx(x,{orientation:"vertical",flexItem:!0}),e.jsx(R,{operationMode:r,anchorOrigin:t,transformOrigin:l,compact:s}),e.jsx(x,{orientation:"vertical",flexItem:!0}),e.jsx(O,{isVirtual:a,motionGroupId:o,anchorOrigin:t,transformOrigin:l,compact:s})]})}));exports.SafetyBar=w;exports.makeErrorMessage=M;

package/dist/chunks/{externalizeComponent-EDymnaGR.js → externalizeComponent-JETX1Xbc.js}

@@ -1,42 +1,60 @@
-import * as a from "three";
+import * as n from "three";
+import { Vector3 as y, Quaternion as c } from "three";
 import { jsx as g } from "react/jsx-runtime";
-import { memo as d } from "react";
-import { I18nextProvider as m } from "react-i18next";
-import p from "i18next";
-import y from "i18next-browser-languagedetector";
-function B(e) {
+import { memo as p } from "react";
+import { I18nextProvider as f } from "react-i18next";
+import h from "i18next";
+import R from "i18next-browser-languagedetector";
+const S = 1e-9;
+function P(e) {
+  const t = new y(
+    e[0] ?? 0,
+    e[1] ?? 0,
+    e[2] ?? 0
+  ), o = t.length();
+  return o < S ? new c() : new c().setFromAxisAngle(t.divideScalar(o), o);
+}
+function O(e) {
+  const t = e.clone().normalize();
+  t.w < 0 && t.set(-t.x, -t.y, -t.z, -t.w);
+  const o = Math.sqrt(t.x * t.x + t.y * t.y + t.z * t.z);
+  if (o < S)
+    return [0, 0, 0];
+  const r = 2 * Math.atan2(o, t.w) / o;
+  return [t.x * r, t.y * r, t.z * r];
+}
+function N(e) {
   try {
     return JSON.stringify(e);
   } catch {
     return;
   }
 }
-function E(e) {
-  const t = e.length(), n = new a.Quaternion();
-  if (t > 1e-6) {
-    const o = e.clone().normalize();
-    n.setFromAxisAngle(o, t);
-  }
-  return n;
+function x(e) {
+  return P([
+    e.x,
+    e.y,
+    e.z
+  ]);
 }
-function A(e) {
+function w(e) {
   if (!e || e.length === 0)
     return 5;
-  const o = e.reduce((l, i) => l + Math.abs(i.a ?? 0) / 1e3 + Math.abs(i.d ?? 0) / 1e3, 0) * 2;
-  return !Number.isFinite(o) || o <= 0 ? 5 : o;
+  const a = e.reduce((r, l) => r + Math.abs(l.a ?? 0) / 1e3 + Math.abs(l.d ?? 0) / 1e3, 0) * 2;
+  return !Number.isFinite(a) || a <= 0 ? 5 : a;
 }
-function M(e) {
+function z(e) {
   if (e.length < 3)
     return console.log("Not enough vertices to define a plane"), { isCoplanar: !1 };
-  const t = new a.Vector3(e[0].x, e[0].y, e[0].z), n = new a.Vector3(e[1].x, e[1].y, e[1].z), o = new a.Vector3(e[2].x, e[2].y, e[2].z), l = new a.Vector3().subVectors(n, t), i = new a.Vector3().subVectors(o, t), s = new a.Vector3().crossVectors(l, i).normalize();
-  for (let r = 3; r < e.length; r++) {
-    const c = new a.Vector3(e[r].x, e[r].y, e[r].z), b = new a.Vector3().subVectors(c, t), u = s.dot(b);
-    if (Math.abs(u) > 1e-6)
+  const t = new n.Vector3(e[0].x, e[0].y, e[0].z), o = new n.Vector3(e[1].x, e[1].y, e[1].z), a = new n.Vector3(e[2].x, e[2].y, e[2].z), r = new n.Vector3().subVectors(o, t), l = new n.Vector3().subVectors(a, t), s = new n.Vector3().crossVectors(r, l).normalize();
+  for (let i = 3; i < e.length; i++) {
+    const u = new n.Vector3(e[i].x, e[i].y, e[i].z), m = new n.Vector3().subVectors(u, t), d = s.dot(m);
+    if (Math.abs(d) > 1e-6)
       return console.log("Vertices are not on the same plane"), { isCoplanar: !1 };
   }
   return { isCoplanar: !0, normal: s };
 }
-const f = {
+const I = {
   "Jogging.Cartesian.Translation.velocityMmPerSec.lb": "{{amount}} mm/s",
   "Jogging.Cartesian.Rotation.velocityDegPerSec.lb": "{{amount}}°/s",
   "Jogging.Velocity.lb": "Geschwindigkeit",
@@ -135,7 +153,7 @@ Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabescha
   "RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb": "Voraussetzung nicht erfüllt",
   "RobotCard.Runtime.lb": "Laufzeit",
   "RobotCard.DriveToHome.bt": "Zur Home-Position fahren"
-}, h = {
+}, T = {
   "Jogging.Cartesian.Translation.velocityMmPerSec.lb": "{{amount}} mm/s",
   "Jogging.Cartesian.Rotation.velocityDegPerSec.lb": "{{amount}}°/s",
   "Jogging.Velocity.lb": "Velocity",
@@ -234,15 +252,15 @@ Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabescha
   "RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb": "Precondition not fulfilled",
   "RobotCard.Runtime.lb": "Runtime",
   "RobotCard.DriveToHome.bt": "Drive to Home"
-}, S = p.createInstance();
-S.use(y).init({
+}, b = h.createInstance();
+b.use(R).init({
   supportedLngs: ["en", "de"],
   resources: {
     en: {
-      translations: h
+      translations: T
     },
     de: {
-      translations: f
+      translations: I
     }
   },
   ns: ["translations"],
@@ -251,18 +269,20 @@ S.use(y).init({
     order: ["navigator", "htmlTag"]
   }
 });
-function v(e) {
-  const t = d(e);
-  return ((o) => /* @__PURE__ */ g(R, { children: /* @__PURE__ */ g(t, { ...o }) }));
+function k(e) {
+  const t = p(e);
+  return ((a) => /* @__PURE__ */ g(C, { children: /* @__PURE__ */ g(t, { ...a }) }));
 }
-const R = ({
+const C = ({
   children: e
-}) => /* @__PURE__ */ g(m, { i18n: S, children: e });
+}) => /* @__PURE__ */ g(f, { i18n: b, children: e });
 export {
-  A as d,
-  v as e,
-  S as i,
-  E as o,
-  B as t,
-  M as v
+  w as d,
+  k as e,
+  b as i,
+  x as o,
+  P as q,
+  O as r,
+  N as t,
+  z as v
 };

package/dist/chunks/{externalizeComponent-OO4jcrz5.cjs → externalizeComponent-qE94FGXZ.cjs}

@@ -1,2 +1,2 @@
-"use strict";const d=require("three"),g=require("react/jsx-runtime"),m=require("react"),y=require("react-i18next"),p=require("i18next"),f=require("i18next-browser-languagedetector");function h(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const a in e)if(a!=="default"){const o=Object.getOwnPropertyDescriptor(e,a);Object.defineProperty(t,a,o.get?o:{enumerable:!0,get:()=>e[a]})}}return t.default=e,Object.freeze(t)}const n=h(d);function R(e){try{return JSON.stringify(e)}catch{return}}function P(e){const t=e.length(),a=new n.Quaternion;if(t>1e-6){const o=e.clone().normalize();a.setFromAxisAngle(o,t)}return a}function I(e){if(!e||e.length===0)return 5;const o=e.reduce((l,i)=>l+Math.abs(i.a??0)/1e3+Math.abs(i.d??0)/1e3,0)*2;return!Number.isFinite(o)||o<=0?5:o}function T(e){if(e.length<3)return console.log("Not enough vertices to define a plane"),{isCoplanar:!1};const t=new n.Vector3(e[0].x,e[0].y,e[0].z),a=new n.Vector3(e[1].x,e[1].y,e[1].z),o=new n.Vector3(e[2].x,e[2].y,e[2].z),l=new n.Vector3().subVectors(a,t),i=new n.Vector3().subVectors(o,t),c=new n.Vector3().crossVectors(l,i).normalize();for(let r=3;r<e.length;r++){const S=new n.Vector3(e[r].x,e[r].y,e[r].z),b=new n.Vector3().subVectors(S,t),u=c.dot(b);if(Math.abs(u)>1e-6)return console.log("Vertices are not on the same plane"),{isCoplanar:!1}}return{isCoplanar:!0,normal:c}}const C={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Geschwindigkeit","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Blocked.ti":"Verbindung blockiert","Jogging.Blocked.lb":"Ein anderer Client kontrolliert das Jogging.","Jogging.Blocked.Reenable.bt":"Neu verbinden","Jogging.Cartesian.MotionType.lb":"Bewegungstyp","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Gelenkwerte","Jogging.Increment.Continuous.dd":"Fortlaufend","Jogging.Cartesian.Orientation.lb":"Orientierung","Jogging.JointLimitsReached.lb":"Gelenkgrenzen für Gelenk {{jointNumbers}} erreicht","Jogging.Orientation.coordsys":"Roboterbasis","Jogging.Orientation.tool":"Werkzeug","Jogging.StreamStateSection.lb":"Status Stream:","Jogging.StreamStateSection.RUNNING.lb":"In Bewegung","Jogging.StreamStateSection.PAUSED_BY_USER.lb":"Pausiert (Nutzer)","Jogging.StreamStateSection.PAUSED_NEAR_COLLISION.lb":"Pausiert (Kollisionsnähe)","Jogging.StreamStateSection.PAUSED_NEAR_JOINT_LIMIT.lb":"Pausiert (nahe Gelenkgrenze)","Jogging.StreamStateSection.PAUSED_NEAR_SINGULARITY.lb":"Pausiert (nahe Singularität)","Jogging.StreamStateSection.PAUSED_ON_IO.lb":"Pausiert (I/O-Ereignis)","Jogging.StreamStateSection.END_OF_TRAJECTORY.lb":"Trajektorie beendet","Jogging.StreamStateSection.WAIT_FOR_IO.lb":"Warte auf I/O","Jogging.StreamStateSection.KIND_UNKNOWN.lb":"Bereit","SafetyBar.ActivationToggle.Activate.bt":"Aktivieren","SafetyBar.ActivationToggle.Activated.bt":"Aktiviert","SafetyBar.ActivationToggle.Activating.bt":"Wird aktiviert…","SafetyBar.ActivationToggle.Deactivating.bt":"Wird deaktiviert…","SafetyBar.ControllerType.Physical.lb":"Physisch","SafetyBar.ControllerType.Virtual.lb":"Virtuell","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> ist ein physische Robotersteuerung. Für die Bewegung dieses Roboters sind <strong>Sicherheitsmaßnahmen</strong> aktiv.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> ist eine virtuelle Robotersteuerung ohne physisches Gegenstück. Der Roboter kann ohne Sicherheitsmaßnahmen bewegt werden.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatischer Betriebsmodus der Robotersteuerung aktiv. Automatisierte Bewegung ohne manuelle Bestätigung freigegeben.","SafetyBar.OperationMode.Automatic.ti":"Automatisch","SafetyBar.OperationMode.Error.Explanation.lb":"Fehler beim Abrufen des Betriebsmodus. Originalhandbediengerät des Roboters verwenden, um Fehler zu lösen.","SafetyBar.OperationMode.Error.lb":"Fehler","SafetyBar.OperationMode.Manual.Explanation.lb":`Die Robotersteuerung befindet sich im manuellen Betriebsmodus. 
-Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. Bis der Stoppzustand aufgelöst ist, ist keine Bewegung mehr möglich.","SafetyBar.SafetyState.Stop.lb":"Stopp","SafetyBar.SafetyState.ti":"Sicherheitszustand","SafetyBar.StopState.Estop.Explanation.lb":"NOT-AUS aktiviert. NOT-AUS freischalten, um Roboter zu bewegen.","Jogging.Increment.hlb":"Schrittgröße","Jogging.CoordinateSystem.hlb":"Koordinatensystem","Jogging.Cartesian.bt":"Kartesisch","Jogging.Joints.bt":"Gelenke","Jogging.Velocity.bt":"Geschwindigkeit","CycleTimer.RemainingTime.lb":"Verbleibende Zeit","CycleTimer.OfTime.lb":"von {{time}}","CycleTimer.Time.lb":"{{time}}","CycleTimer.Error.lb":"Fehler","CycleTimer.WaitingForCycle.lb":"Warten auf Programmzyklus","CycleTimer.CycleTime.lb":"Zykluszeit","CycleTimer.Measuring.lb":"wird gemessen...","CycleTimer.Determined.lb":"bestimmt","Timer.error":"Fehler","ProgramControl.Start.bt":"Start","ProgramControl.Resume.bt":"Weiter","ProgramControl.Retry.bt":"Wiederholen","ProgramControl.Pause.bt":"Pause","ProgramControl.Stop.bt":"Stopp","ProgramStateIndicator.Preparing.lb":"Vorbereitung","ProgramStateIndicator.Starting.lb":"Startet","ProgramStateIndicator.Running.lb":"In Betrieb","ProgramStateIndicator.Pausing.lb":"Pausiert","ProgramStateIndicator.Stopping.lb":"Stoppt","ProgramStateIndicator.Completed.lb":"Abgeschlossen","ProgramStateIndicator.Failed.lb":"Fehlgeschlagen","ProgramStateIndicator.Error.lb":"Fehler","ProgramStateIndicator.EStop.lb":"Not-Aus","ProgramStateIndicator.Idle.lb":"Leerlauf","ProgramStateIndicator.Paused.lb":"Pausiert","ProgramStateIndicator.Ready.lb":"Bereit","ProgramStateIndicator.Stopped.lb":"Gestoppt","ProgramStateIndicator.Auto.lb":"Auto","ProgramStateIndicator.Manual.lb":"Manuell","ProgramStateIndicator.ManualT1.lb":"Manuell T1","ProgramStateIndicator.ManualT2.lb":"Manuell T2","RobotSetupReadinessIndicator.Ready.lb":"Bereit","RobotSetupReadinessIndicator.RobotDisconnected.lb":"Roboter getrennt","RobotSetupReadinessIndicator.CellOpen.lb":"Zelle offen","RobotSetupReadinessIndicator.EStop.lb":"Not-Stopp","RobotSetupReadinessIndicator.ManualMode.lb":"Manueller Modus","RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb":"Voraussetzung nicht erfüllt","RobotCard.Runtime.lb":"Laufzeit","RobotCard.DriveToHome.bt":"Zur Home-Position fahren"},J={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Velocity","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Blocked.ti":"Connection blocked","Jogging.Blocked.lb":"Another client is currently controlling the jogging.","Jogging.Blocked.Reenable.bt":"Reconnect","Jogging.Cartesian.MotionType.lb":"Motion type","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Joint values","Jogging.Increment.Continuous.dd":"Continuous","Jogging.Cartesian.Orientation.lb":"Orientation","Jogging.Activating.lb":"Activating jogging","Jogging.JointLimitsReached.lb":"Joint limit reached for joint {{jointNumbers}}","Jogging.Orientation.coordsys":"Robot base","Jogging.Orientation.tool":"Tool","Jogging.StreamStateSection.lb":"State stream:","Jogging.StreamStateSection.RUNNING.lb":"Running","Jogging.StreamStateSection.PAUSED_BY_USER.lb":"Paused (by user)","Jogging.StreamStateSection.PAUSED_NEAR_COLLISION.lb":"Paused (collision proximity)","Jogging.StreamStateSection.PAUSED_NEAR_JOINT_LIMIT.lb":"Paused (near joint limit)","Jogging.StreamStateSection.PAUSED_NEAR_SINGULARITY.lb":"Paused (near singularity)","Jogging.StreamStateSection.PAUSED_ON_IO.lb":"Paused (I/O event)","Jogging.StreamStateSection.END_OF_TRAJECTORY.lb":"End of trajectory","Jogging.StreamStateSection.WAIT_FOR_IO.lb":"Waiting for I/O","Jogging.StreamStateSection.KIND_UNKNOWN.lb":"Ready","SafetyBar.ActivationToggle.Activate.bt":"Activate","SafetyBar.ActivationToggle.Activated.bt":"Activated","SafetyBar.ActivationToggle.Activating.bt":"Activating","SafetyBar.ActivationToggle.Deactivating.bt":"Deactivating","SafetyBar.ControllerType.Physical.lb":"Physical","SafetyBar.ControllerType.Virtual.lb":"Virtual","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> is a physical robot controller. <strong>Safety precautions</strong> are active for the movement of this robot.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> is a virtual robot controller with no physical counterpart. It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully.","SafetyBar.OperationMode.Manual.lb":"Manual","SafetyBar.OperationMode.ti":"Operation mode","SafetyBar.SafetyState.Error.Explanation.lb":"The robot controller has entered an unexpected safety state.","SafetyBar.SafetyState.Error.lb":"Error","SafetyBar.SafetyState.Estop.lb":"E-Stop","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"The robot controller has entered a safety state requiring manual action to resolve.","SafetyBar.SafetyState.ManualActionRequired.lb":"Action required","SafetyBar.SafetyState.Normal.Explanation.lb":"The robot controller is in a safe state. Robot movement is enabled.","SafetyBar.SafetyState.Normal.lb":"Safe","SafetyBar.SafetyState.Stop.Explanation.lb":"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved.","SafetyBar.SafetyState.Stop.lb":"Stop","SafetyBar.SafetyState.ti":"Safety state","SafetyBar.StopState.Estop.Explanation.lb":"An emergency stop of the robot controller has been triggered. Movement of the robot is no longer possible until the estop is released.","Jogging.Increment.hlb":"Increment","Jogging.CoordinateSystem.hlb":"Coordinate system","Jogging.Cartesian.bt":"Cartesian","Jogging.Joints.bt":"Joints","Jogging.Velocity.bt":"Velocity","CycleTimer.RemainingTime.lb":"Time remaining","CycleTimer.OfTime.lb":"of {{time}}","CycleTimer.Time.lb":"{{time}}","CycleTimer.Error.lb":"Error","CycleTimer.WaitingForCycle.lb":"Waiting for program cycle","CycleTimer.CycleTime.lb":"Cycle Time","CycleTimer.Measuring.lb":"measuring...","CycleTimer.Determined.lb":"determined","Timer.error":"Error","ProgramControl.Start.bt":"Start","ProgramControl.Resume.bt":"Resume","ProgramControl.Retry.bt":"Retry","ProgramControl.Pause.bt":"Pause","ProgramControl.Stop.bt":"Stop","ProgramStateIndicator.Preparing.lb":"Preparing","ProgramStateIndicator.Starting.lb":"Starting","ProgramStateIndicator.Running.lb":"Running","ProgramStateIndicator.Pausing.lb":"Pausing","ProgramStateIndicator.Stopping.lb":"Stopping","ProgramStateIndicator.Completed.lb":"Completed","ProgramStateIndicator.Failed.lb":"Failed","ProgramStateIndicator.Error.lb":"Error","ProgramStateIndicator.EStop.lb":"E-Stop","ProgramStateIndicator.Idle.lb":"Idle","ProgramStateIndicator.Paused.lb":"Paused","ProgramStateIndicator.Ready.lb":"Ready","ProgramStateIndicator.Stopped.lb":"Stopped","ProgramStateIndicator.Auto.lb":"Auto","ProgramStateIndicator.Manual.lb":"Manual","ProgramStateIndicator.ManualT1.lb":"Manual T1","ProgramStateIndicator.ManualT2.lb":"Manual T2","RobotSetupReadinessIndicator.Ready.lb":"Ready","RobotSetupReadinessIndicator.RobotDisconnected.lb":"Robot disconnected","RobotSetupReadinessIndicator.CellOpen.lb":"Cell open","RobotSetupReadinessIndicator.EStop.lb":"E-Stop","RobotSetupReadinessIndicator.ManualMode.lb":"Manual mode","RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb":"Precondition not fulfilled","RobotCard.Runtime.lb":"Runtime","RobotCard.DriveToHome.bt":"Drive to Home"},s=p.createInstance();s.use(f).init({supportedLngs:["en","de"],resources:{en:{translations:J},de:{translations:C}},ns:["translations"],defaultNS:"translations",detection:{order:["navigator","htmlTag"]}});function B(e){const t=m.memo(e);return(o=>g.jsx(E,{children:g.jsx(t,{...o})}))}const E=({children:e})=>g.jsx(y.I18nextProvider,{i18n:s,children:e});exports.dhParametersToPlaneSize=I;exports.externalizeComponent=B;exports.i18n=s;exports.orientationToQuaternion=P;exports.tryStringifyJson=R;exports.verticesToCoplanarity=T;
+"use strict";const g=require("three"),s=require("react/jsx-runtime"),p=require("react"),f=require("react-i18next"),h=require("i18next"),R=require("i18next-browser-languagedetector");function P(e){const t=Object.create(null,{[Symbol.toStringTag]:{value:"Module"}});if(e){for(const o in e)if(o!=="default"){const a=Object.getOwnPropertyDescriptor(e,o);Object.defineProperty(t,o,a.get?a:{enumerable:!0,get:()=>e[o]})}}return t.default=e,Object.freeze(t)}const n=P(g),b=1e-9;function u(e){const t=new g.Vector3(e[0]??0,e[1]??0,e[2]??0),o=t.length();return o<b?new g.Quaternion:new g.Quaternion().setFromAxisAngle(t.divideScalar(o),o)}function I(e){const t=e.clone().normalize();t.w<0&&t.set(-t.x,-t.y,-t.z,-t.w);const o=Math.sqrt(t.x*t.x+t.y*t.y+t.z*t.z);if(o<b)return[0,0,0];const r=2*Math.atan2(o,t.w)/o;return[t.x*r,t.y*r,t.z*r]}function T(e){try{return JSON.stringify(e)}catch{return}}function C(e){return u([e.x,e.y,e.z])}function J(e){if(!e||e.length===0)return 5;const a=e.reduce((r,l)=>r+Math.abs(l.a??0)/1e3+Math.abs(l.d??0)/1e3,0)*2;return!Number.isFinite(a)||a<=0?5:a}function E(e){if(e.length<3)return console.log("Not enough vertices to define a plane"),{isCoplanar:!1};const t=new n.Vector3(e[0].x,e[0].y,e[0].z),o=new n.Vector3(e[1].x,e[1].y,e[1].z),a=new n.Vector3(e[2].x,e[2].y,e[2].z),r=new n.Vector3().subVectors(o,t),l=new n.Vector3().subVectors(a,t),S=new n.Vector3().crossVectors(r,l).normalize();for(let i=3;i<e.length;i++){const d=new n.Vector3(e[i].x,e[i].y,e[i].z),m=new n.Vector3().subVectors(d,t),y=S.dot(m);if(Math.abs(y)>1e-6)return console.log("Vertices are not on the same plane"),{isCoplanar:!1}}return{isCoplanar:!0,normal:S}}const B={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Geschwindigkeit","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Blocked.ti":"Verbindung blockiert","Jogging.Blocked.lb":"Ein anderer Client kontrolliert das Jogging.","Jogging.Blocked.Reenable.bt":"Neu verbinden","Jogging.Cartesian.MotionType.lb":"Bewegungstyp","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Gelenkwerte","Jogging.Increment.Continuous.dd":"Fortlaufend","Jogging.Cartesian.Orientation.lb":"Orientierung","Jogging.JointLimitsReached.lb":"Gelenkgrenzen für Gelenk {{jointNumbers}} erreicht","Jogging.Orientation.coordsys":"Roboterbasis","Jogging.Orientation.tool":"Werkzeug","Jogging.StreamStateSection.lb":"Status Stream:","Jogging.StreamStateSection.RUNNING.lb":"In Bewegung","Jogging.StreamStateSection.PAUSED_BY_USER.lb":"Pausiert (Nutzer)","Jogging.StreamStateSection.PAUSED_NEAR_COLLISION.lb":"Pausiert (Kollisionsnähe)","Jogging.StreamStateSection.PAUSED_NEAR_JOINT_LIMIT.lb":"Pausiert (nahe Gelenkgrenze)","Jogging.StreamStateSection.PAUSED_NEAR_SINGULARITY.lb":"Pausiert (nahe Singularität)","Jogging.StreamStateSection.PAUSED_ON_IO.lb":"Pausiert (I/O-Ereignis)","Jogging.StreamStateSection.END_OF_TRAJECTORY.lb":"Trajektorie beendet","Jogging.StreamStateSection.WAIT_FOR_IO.lb":"Warte auf I/O","Jogging.StreamStateSection.KIND_UNKNOWN.lb":"Bereit","SafetyBar.ActivationToggle.Activate.bt":"Aktivieren","SafetyBar.ActivationToggle.Activated.bt":"Aktiviert","SafetyBar.ActivationToggle.Activating.bt":"Wird aktiviert…","SafetyBar.ActivationToggle.Deactivating.bt":"Wird deaktiviert…","SafetyBar.ControllerType.Physical.lb":"Physisch","SafetyBar.ControllerType.Virtual.lb":"Virtuell","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> ist ein physische Robotersteuerung. Für die Bewegung dieses Roboters sind <strong>Sicherheitsmaßnahmen</strong> aktiv.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> ist eine virtuelle Robotersteuerung ohne physisches Gegenstück. Der Roboter kann ohne Sicherheitsmaßnahmen bewegt werden.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatischer Betriebsmodus der Robotersteuerung aktiv. Automatisierte Bewegung ohne manuelle Bestätigung freigegeben.","SafetyBar.OperationMode.Automatic.ti":"Automatisch","SafetyBar.OperationMode.Error.Explanation.lb":"Fehler beim Abrufen des Betriebsmodus. Originalhandbediengerät des Roboters verwenden, um Fehler zu lösen.","SafetyBar.OperationMode.Error.lb":"Fehler","SafetyBar.OperationMode.Manual.Explanation.lb":`Die Robotersteuerung befindet sich im manuellen Betriebsmodus. 
+Bei einem physischen Roboter bedeutet dies im Allgemeinen, dass ein Freigabeschalter gedrückt werden muss, damit sich der Roboter erfolgreich bewegen kann.`,"SafetyBar.OperationMode.Manual.lb":"Manuell","SafetyBar.OperationMode.ti":"Betriebsmodus","SafetyBar.SafetyState.Error.Explanation.lb":"Die Robotersteuerung ist in einen unerwarteten Sicherheitszustand eingetreten.","SafetyBar.SafetyState.Error.lb":"Fehler","SafetyBar.SafetyState.Estop.lb":"NOT-AUS","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"Die Robotersteuerung ist in einen Sicherheitszustand eingetreten, der manuelle Maßnahmen zur Behebung erfordert.","SafetyBar.SafetyState.ManualActionRequired.lb":"Aktion erforderlich","SafetyBar.SafetyState.Normal.Explanation.lb":"Die Robotersteuerung befindet sich in einem sicheren Zustand. Roboterbewegungen sind möglich.","SafetyBar.SafetyState.Normal.lb":"Sicher","SafetyBar.SafetyState.Stop.Explanation.lb":"Die Robotersteuerung ist in einen Stoppzustand übergegangen. Bis der Stoppzustand aufgelöst ist, ist keine Bewegung mehr möglich.","SafetyBar.SafetyState.Stop.lb":"Stopp","SafetyBar.SafetyState.ti":"Sicherheitszustand","SafetyBar.StopState.Estop.Explanation.lb":"NOT-AUS aktiviert. NOT-AUS freischalten, um Roboter zu bewegen.","Jogging.Increment.hlb":"Schrittgröße","Jogging.CoordinateSystem.hlb":"Koordinatensystem","Jogging.Cartesian.bt":"Kartesisch","Jogging.Joints.bt":"Gelenke","Jogging.Velocity.bt":"Geschwindigkeit","CycleTimer.RemainingTime.lb":"Verbleibende Zeit","CycleTimer.OfTime.lb":"von {{time}}","CycleTimer.Time.lb":"{{time}}","CycleTimer.Error.lb":"Fehler","CycleTimer.WaitingForCycle.lb":"Warten auf Programmzyklus","CycleTimer.CycleTime.lb":"Zykluszeit","CycleTimer.Measuring.lb":"wird gemessen...","CycleTimer.Determined.lb":"bestimmt","Timer.error":"Fehler","ProgramControl.Start.bt":"Start","ProgramControl.Resume.bt":"Weiter","ProgramControl.Retry.bt":"Wiederholen","ProgramControl.Pause.bt":"Pause","ProgramControl.Stop.bt":"Stopp","ProgramStateIndicator.Preparing.lb":"Vorbereitung","ProgramStateIndicator.Starting.lb":"Startet","ProgramStateIndicator.Running.lb":"In Betrieb","ProgramStateIndicator.Pausing.lb":"Pausiert","ProgramStateIndicator.Stopping.lb":"Stoppt","ProgramStateIndicator.Completed.lb":"Abgeschlossen","ProgramStateIndicator.Failed.lb":"Fehlgeschlagen","ProgramStateIndicator.Error.lb":"Fehler","ProgramStateIndicator.EStop.lb":"Not-Aus","ProgramStateIndicator.Idle.lb":"Leerlauf","ProgramStateIndicator.Paused.lb":"Pausiert","ProgramStateIndicator.Ready.lb":"Bereit","ProgramStateIndicator.Stopped.lb":"Gestoppt","ProgramStateIndicator.Auto.lb":"Auto","ProgramStateIndicator.Manual.lb":"Manuell","ProgramStateIndicator.ManualT1.lb":"Manuell T1","ProgramStateIndicator.ManualT2.lb":"Manuell T2","RobotSetupReadinessIndicator.Ready.lb":"Bereit","RobotSetupReadinessIndicator.RobotDisconnected.lb":"Roboter getrennt","RobotSetupReadinessIndicator.CellOpen.lb":"Zelle offen","RobotSetupReadinessIndicator.EStop.lb":"Not-Stopp","RobotSetupReadinessIndicator.ManualMode.lb":"Manueller Modus","RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb":"Voraussetzung nicht erfüllt","RobotCard.Runtime.lb":"Laufzeit","RobotCard.DriveToHome.bt":"Zur Home-Position fahren"},A={"Jogging.Cartesian.Translation.velocityMmPerSec.lb":"{{amount}} mm/s","Jogging.Cartesian.Rotation.velocityDegPerSec.lb":"{{amount}}°/s","Jogging.Velocity.lb":"Velocity","General.degree.variable":"{{amount}}°","General.mm.variable":"{{amount}} mm","Jogging.Blocked.ti":"Connection blocked","Jogging.Blocked.lb":"Another client is currently controlling the jogging.","Jogging.Blocked.Reenable.bt":"Reconnect","Jogging.Cartesian.MotionType.lb":"Motion type","Jogging.Cartesian.Translation.bt":"Translation","Jogging.Cartesian.Rotation.bt":"Rotation","Jogging.Joints.JointValues.lb":"Joint values","Jogging.Increment.Continuous.dd":"Continuous","Jogging.Cartesian.Orientation.lb":"Orientation","Jogging.Activating.lb":"Activating jogging","Jogging.JointLimitsReached.lb":"Joint limit reached for joint {{jointNumbers}}","Jogging.Orientation.coordsys":"Robot base","Jogging.Orientation.tool":"Tool","Jogging.StreamStateSection.lb":"State stream:","Jogging.StreamStateSection.RUNNING.lb":"Running","Jogging.StreamStateSection.PAUSED_BY_USER.lb":"Paused (by user)","Jogging.StreamStateSection.PAUSED_NEAR_COLLISION.lb":"Paused (collision proximity)","Jogging.StreamStateSection.PAUSED_NEAR_JOINT_LIMIT.lb":"Paused (near joint limit)","Jogging.StreamStateSection.PAUSED_NEAR_SINGULARITY.lb":"Paused (near singularity)","Jogging.StreamStateSection.PAUSED_ON_IO.lb":"Paused (I/O event)","Jogging.StreamStateSection.END_OF_TRAJECTORY.lb":"End of trajectory","Jogging.StreamStateSection.WAIT_FOR_IO.lb":"Waiting for I/O","Jogging.StreamStateSection.KIND_UNKNOWN.lb":"Ready","SafetyBar.ActivationToggle.Activate.bt":"Activate","SafetyBar.ActivationToggle.Activated.bt":"Activated","SafetyBar.ActivationToggle.Activating.bt":"Activating","SafetyBar.ActivationToggle.Deactivating.bt":"Deactivating","SafetyBar.ControllerType.Physical.lb":"Physical","SafetyBar.ControllerType.Virtual.lb":"Virtual","SafetyBar.MotionGroup.Physical.Explanation.lb":"<code>{{motionGroupId}}</code> is a physical robot controller. <strong>Safety precautions</strong> are active for the movement of this robot.","SafetyBar.MotionGroup.Virtual.Explanation.lb":"<1>{{motionGroupId}}</1> is a virtual robot controller with no physical counterpart. It can be freely manipulated without safety precautions.","SafetyBar.OperationMode.Auto.Explanation.lb":"Automatic operation mode active. Automated movement without manual confirmation enabled.","SafetyBar.OperationMode.Automatic.ti":"Automatic","SafetyBar.OperationMode.Error.Explanation.lb":"Failed to get operation mode. Use the original control panel to resolve the error.","SafetyBar.OperationMode.Error.lb":"Error","SafetyBar.OperationMode.Manual.Explanation.lb":"The robot controller is in manual operation mode. On a physical robot, this generally indicates that an enabling switch must be held for the robot to move successfully.","SafetyBar.OperationMode.Manual.lb":"Manual","SafetyBar.OperationMode.ti":"Operation mode","SafetyBar.SafetyState.Error.Explanation.lb":"The robot controller has entered an unexpected safety state.","SafetyBar.SafetyState.Error.lb":"Error","SafetyBar.SafetyState.Estop.lb":"E-Stop","SafetyBar.SafetyState.ManualActionRequired.Explanation.lb":"The robot controller has entered a safety state requiring manual action to resolve.","SafetyBar.SafetyState.ManualActionRequired.lb":"Action required","SafetyBar.SafetyState.Normal.Explanation.lb":"The robot controller is in a safe state. Robot movement is enabled.","SafetyBar.SafetyState.Normal.lb":"Safe","SafetyBar.SafetyState.Stop.Explanation.lb":"The robot controller has entered a stop state. Movement is no longer possible until the stop state is resolved.","SafetyBar.SafetyState.Stop.lb":"Stop","SafetyBar.SafetyState.ti":"Safety state","SafetyBar.StopState.Estop.Explanation.lb":"An emergency stop of the robot controller has been triggered. Movement of the robot is no longer possible until the estop is released.","Jogging.Increment.hlb":"Increment","Jogging.CoordinateSystem.hlb":"Coordinate system","Jogging.Cartesian.bt":"Cartesian","Jogging.Joints.bt":"Joints","Jogging.Velocity.bt":"Velocity","CycleTimer.RemainingTime.lb":"Time remaining","CycleTimer.OfTime.lb":"of {{time}}","CycleTimer.Time.lb":"{{time}}","CycleTimer.Error.lb":"Error","CycleTimer.WaitingForCycle.lb":"Waiting for program cycle","CycleTimer.CycleTime.lb":"Cycle Time","CycleTimer.Measuring.lb":"measuring...","CycleTimer.Determined.lb":"determined","Timer.error":"Error","ProgramControl.Start.bt":"Start","ProgramControl.Resume.bt":"Resume","ProgramControl.Retry.bt":"Retry","ProgramControl.Pause.bt":"Pause","ProgramControl.Stop.bt":"Stop","ProgramStateIndicator.Preparing.lb":"Preparing","ProgramStateIndicator.Starting.lb":"Starting","ProgramStateIndicator.Running.lb":"Running","ProgramStateIndicator.Pausing.lb":"Pausing","ProgramStateIndicator.Stopping.lb":"Stopping","ProgramStateIndicator.Completed.lb":"Completed","ProgramStateIndicator.Failed.lb":"Failed","ProgramStateIndicator.Error.lb":"Error","ProgramStateIndicator.EStop.lb":"E-Stop","ProgramStateIndicator.Idle.lb":"Idle","ProgramStateIndicator.Paused.lb":"Paused","ProgramStateIndicator.Ready.lb":"Ready","ProgramStateIndicator.Stopped.lb":"Stopped","ProgramStateIndicator.Auto.lb":"Auto","ProgramStateIndicator.Manual.lb":"Manual","ProgramStateIndicator.ManualT1.lb":"Manual T1","ProgramStateIndicator.ManualT2.lb":"Manual T2","RobotSetupReadinessIndicator.Ready.lb":"Ready","RobotSetupReadinessIndicator.RobotDisconnected.lb":"Robot disconnected","RobotSetupReadinessIndicator.CellOpen.lb":"Cell open","RobotSetupReadinessIndicator.EStop.lb":"E-Stop","RobotSetupReadinessIndicator.ManualMode.lb":"Manual mode","RobotSetupReadinessIndicator.PreconditionNotFulfilled.lb":"Precondition not fulfilled","RobotCard.Runtime.lb":"Runtime","RobotCard.DriveToHome.bt":"Drive to Home"},c=h.createInstance();c.use(R).init({supportedLngs:["en","de"],resources:{en:{translations:A},de:{translations:B}},ns:["translations"],defaultNS:"translations",detection:{order:["navigator","htmlTag"]}});function M(e){const t=p.memo(e);return(a=>s.jsx(O,{children:s.jsx(t,{...a})}))}const O=({children:e})=>s.jsx(f.I18nextProvider,{i18n:c,children:e});exports.dhParametersToPlaneSize=J;exports.externalizeComponent=M;exports.i18n=c;exports.orientationToQuaternion=C;exports.quaternionFromRotationVector=u;exports.rotationVectorFromQuaternion=I;exports.tryStringifyJson=T;exports.verticesToCoplanarity=E;

package/dist/chunks/{interpolation-DG8VTxzS.js → interpolation-CYfFv8VA.js}

@@ -4,7 +4,7 @@ import R from "@mui/material/Chip";
 import _ from "@mui/material/Typography";
 import { observer as P } from "mobx-react-lite";
 import { useTranslation as C } from "react-i18next";
-import { e as O } from "./externalizeComponent-EDymnaGR.js";
+import { e as O } from "./externalizeComponent-JETX1Xbc.js";
 import x from "@mui/icons-material/Pause";
 import I from "@mui/icons-material/PlayArrow";
 import S from "@mui/icons-material/Stop";