@wandelbots/wandelbots-js-react-components 5.8.0 → 5.9.0

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-zDM0Lgd-.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-BRec-k-p.js";
 export {
   o as CollisionSceneRenderer,
   r as LinearAxis,

package/dist/chunks/{MotionGroupVisualizer-Da-rqhb2.js → MotionGroupVisualizer-BRec-k-p.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-EDymnaGR.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";
@@ -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/{MotionGroupVisualizer-DKuoN4_j.cjs → MotionGroupVisualizer-zDM0Lgd-.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-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 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/theming-BQZdGyPT.cjs

@@ -0,0 +1,4 @@
+"use strict";const 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o.jsxs(_,{height:"64px",direction:"row",justifyContent:"center",...s,children:[o.jsx(G,{disabled:i,disableRipple:!0,onPointerDown:P=>f(P,"-"),onPointerUp:j,onPointerOut:j,size:"large",sx:{...g==="-"?y:S,borderRadius:"16px 0px 0px 16px",borderLeft:`2px solid ${u??"#fff"}`,borderBottom:`2px solid ${u??"#fff"}`,borderTop:`2px solid ${u??"#fff"}`},children:o.jsx(W.ForwardRef$3,{})}),o.jsxs(_,{spacing:"6px",sx:{width:"150px",backgroundColor:t.backgroundColor,alignItems:"center",justifyContent:"center",opacity:"0.9",borderBottom:`2px solid ${u??"#fff"}`,borderTop:`2px solid ${u??"#fff"}`},children:[o.jsx(_,{height:"22px",direction:"row",alignItems:"center",justifyItems:"center",spacing:1,sx:{userSelect:"none",color:t.color,".MuiTypography-root":{fontWeight:700,...i?{color:l.palette.action.disabled}:{}},...i?{"svg 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0:I[11]},u=O.useLocalObservable(()=>({activeJoggingDir:null,startJogging(A){this.activeJoggingDir=A,t(A)},stopJogging(){this.activeJoggingDir=null,e()}})),b=vt(()=>{const A=r?S(i()):i();(A===void 0||d===void 0||Math.abs(d-A)>1e-9)&&m(A)},50);ee.useAnimationFrame(b);function S(A){if(A!==void 0)return J.radiansToDegrees(A)}function y(A){A.button===0&&u.startJogging("-")}function f(A){A.button===0&&u.startJogging("+")}function j(A){u.stopJogging()}function x(A){u.stopJogging()}function v(A,X=1){if(A===void 0||Number.isNaN(A))return"";const Q=l("General.degree.variable",{amount:A.toFixed(X)});return A>0&&X===0?`+${Q}`:Q}function C(A,X=1){if(A===void 0||Number.isNaN(A))return"";const Q=l("General.mm.variable",{amount:A.toFixed(X)});return A>0&&X===0?`+${Q}`:Q}return o.jsxs(_,{height:"64px",width:"100%",maxWidth:"260px",direction:"row",...s,sx:{"& 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16px 16px 0px",...u.activeJoggingDir==="+"?p:{}},children:o.jsx(Ct,{sx:{pointerEvents:"none",color:(we=(Te=(ve=(Ce=g.componentsExt)==null?void 0:Ce.JoggingPanel)==null?void 0:ve.JoggingJoint)==null?void 0:Te.Joint)==null?void 0:we.arrowColor}})})]})}));function me(t,e,n){if(e.length!==t.length)return!0;for(let a=0;a<e.length;a++)if(Math.abs(e[a]-t[a])>n)return!1;return!0}function $e(t,e,n){if(t===void 0&&e||t&&e===void 0||(t==null?void 0:t.orientation)===void 0||(e==null?void 0:e.orientation)===void 0||(t==null?void 0:t.position)===void 0||(e==null?void 0:e.position)===void 0)return!1;if(t===void 0||e===void 0)return!0;let a=0;return a+=Math.abs(t.orientation[0]-e.orientation[0]),a+=Math.abs(t.orientation[1]-e.orientation[1]),a+=Math.abs(t.orientation[2]-e.orientation[2]),a+=Math.abs(t.position[0]-e.position[0]),a+=Math.abs(t.position[1]-e.position[1]),a+=Math.abs(t.position[2]-e.position[2]),a<=n}function fe(t,e,n){return t.coordinate_system===e.coordinate_system&&t.tcp===e.tcp&&$e(t.tcp_pose,e.tcp_pose,n)}function ze(t,e){const n=new ue.Vector3(e[0],e[1],e[2]),a=new ue.Vector3(t[0],t[1],t[2]),r=n.length(),i=n.normalize();let c=a.length(),s=a.normalize();s.dot(i)<0&&(c=-c,s=s.multiplyScalar(-1));let l=c-r;return l-=2*Math.PI*Math.floor((l+Math.PI)/(2*Math.PI)),c=r+l,[...s.multiplyScalar(c)]}function Qt(t){return"cellId"in t.api}function re(t){if(!Qt(t))return t;const e=t,n=e.api.cellId,a=new Proxy(e.api,{get(r,i){const c=Reflect.get(r,i);return!c||typeof c!="object"?c:new Proxy(c,{get(s,l){const d=Reflect.get(s,l);return typeof d!="function"?d:(...m)=>m.length>0&&m[0]===n?d.apply(s,m.slice(1)):d.apply(s,m)}})}});return new Proxy(e,{get(r,i){return i==="api"?a:i==="openReconnectingWebsocket"?c=>r.openReconnectingWebsocket(c.replace(/^\/cells\/[^/]+/,"")):Reflect.get(r,i)}})}const Re=1e-4;class se{constructor(e,n,a,r,i,c,s="cell"){this.controller=n,this.motionGroup=a,this.description=r,this.initialMotionState=i,this.motionStateSocket=c,this.cellId=s,this.nova=re(e),this.rapidlyChangingMotionState=i,c.addEventListener("message",l=>{var p;const d=(p=J.tryParseJson(l.data))==null?void 0:p.result;if(!d)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${l.data}`);me(this.rapidlyChangingMotionState.joint_position,d.joint_position,Re)||k.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=d.joint_position}),fe(this.rapidlyChangingMotionState,d,Re)||k.runInAction(()=>{var u,b,S;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=d.tcp_pose:(u=d.tcp_pose)!=null&&u.orientation&&((b=d.tcp_pose)!=null&&b.position)&&((S=this.rapidlyChangingMotionState.tcp_pose)!=null&&S.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:d.tcp_pose.position,orientation:ze(d.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",d.tcp_pose)}),d.tcp!==void 0&&this.rapidlyChangingMotionState.tcp!==d.tcp&&k.runInAction(()=>{this.rapidlyChangingMotionState.tcp=d.tcp}),this.rapidlyChangingMotionState.standstill!==d.standstill&&k.runInAction(()=>{this.rapidlyChangingMotionState.standstill=d.standstill});const m=this.rapidlyChangingMotionState.joint_limit_reached.limit_reached,g=d.joint_limit_reached.limit_reached;m.some((u,b)=>u!==g[b])&&k.runInAction(()=>{this.rapidlyChangingMotionState.joint_limit_reached=d.joint_limit_reached}),this.rapidlyChangingMotionState.execute!==d.execute&&k.runInAction(()=>{this.rapidlyChangingMotionState.execute=d.execute})}),k.makeAutoObservable(this)}static async open(e,n,a={}){var b;const r=re(e),i=a.cellId??"cell",[c,s]=n.split("@"),l=await r.api.controller.getCurrentRobotControllerState(i,s),d=l==null?void 0:l.motion_groups.find(S=>S.motion_group===n);if(!l||!d)throw new Error(`Controller ${s} or motion group ${n} not found`);const m=r.openReconnectingWebsocket(`/cells/${i}/controllers/${s}/motion-groups/${n}/state-stream`),g=await m.firstMessage(),p=(b=J.tryParseJson(g.data))==null?void 0:b.result;if(!p)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${d.motion_group}. Initial state:
+  `,p);const u=await r.api.motionGroup.getMotionGroupDescription(i,s,d.motion_group);return new se(r,l,d,u,p,m,i)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((e,n)=>({index:n}))}dispose(){this.motionStateSocket.close()}}const Ee="Movement request rejected. Another client is currently executing a 'Jogging' motion!";class le{constructor(e,n={}){this.motionStream=e,this.options=n,this.DEFAULT_MODE="off",this.DEFAULT_TCP="Flange",this.NO_TCP=void 0,this.DEFAULT_INIT_TIMEOUT=5e3,this.DEFAULT_ORIENTATION="coordsys",this.mode="off",this.joggingSocket=null,this.trajectorySocket=null,this.timeout=this.DEFAULT_INIT_TIMEOUT,this.tcp=(n==null?void 0:n.tcp)||e.motionGroup.tcp||this.getDefaultTcp(e),this.orientation=(n==null?void 0:n.orientation)||this.DEFAULT_ORIENTATION,this.timeout=(n==null?void 0:n.timeout)||this.DEFAULT_INIT_TIMEOUT,this.mode=(n==null?void 0:n.mode)||this.DEFAULT_MODE,this.onError=n==null?void 0:n.onError}static async open(e,n,a={}){const r=await se.open(e,n,{cellId:a.cellId}),i=new le(r,a);return await i.setJoggingMode(i.mode),i}getDefaultTcp(e){var a,r;const n=(r=(a=e.description.dh_parameters)==null?void 0:a[0])==null?void 0:r.type;return e.joints.length<6&&(n===q.JointTypeEnum.RevoluteJoint||n===q.JointTypeEnum.PrismaticJoint)?this.NO_TCP:this.DEFAULT_TCP}async setOptions(e){e.tcp&&(this.tcp=e.tcp),e.orientation&&(this.orientation=e.orientation),e.timeout&&(this.timeout=e.timeout),e.mode&&(this.mode=e.mode),e.onError&&(this.onError=e.onError),this.setJoggingMode(this.mode,!1)}get motionGroupId(){return this.motionStream.motionGroupId}get nova(){return this.motionStream.nova}get cellId(){return this.motionStream.cellId}get numJoints(){return this.motionStream.joints.length}async stop(){if(this.joggingSocket){const e=new Array(this.numJoints).fill(0);this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:e})}this.trajectorySocket&&this.trajectorySocket.sendJson({message_type:"PauseMovementRequest"})}async dispose(){const e=[this.joggingSocket,this.trajectorySocket].filter(n=>n!==null);return e.forEach(n=>{n.dispose()}),this.joggingSocket=null,this.trajectorySocket=null,Promise.all(e.map(n=>n.closed()))}async setJoggingMode(e,n=!0){if(!(this.mode===e&&n)&&(this.dispose(),this.mode=e,this.mode==="jogging"))return this.initializeJoggingWebsocket()}async initializeJoggingWebsocket(){return new Promise((e,n)=>{const a=setTimeout(()=>{n(new Error(`Jogging initialization timeout after ${this.timeout} seconds`))},this.timeout);this.joggingSocket=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/jogging`),this.joggingSocket.addEventListener("message",r=>{var c,s,l,d;const i=J.tryParseJson(r.data);if(((c=i==null?void 0:i.result)==null?void 0:c.kind)==="INITIALIZE_RECEIVED"){clearTimeout(a),e();return}if(((s=i==null?void 0:i.result)==null?void 0:s.kind)==="MOTION_ERROR")if(clearTimeout(a),this.onBlocked&&((l=i==null?void 0:i.result)!=null&&l.message.includes(Ee))){(d=this.joggingSocket)==null||d.dispose(),this.onBlocked();return}else this.onError?this.onError(r.data):n(new Error(r.data))}),this.joggingSocket.sendJson({message_type:"InitializeJoggingRequest",motion_group:this.motionGroupId,...this.tcp?{tcp:this.tcp}:{}})})}async rotateJoints({joint:e,direction:n,velocityValue:a,velocityUnit:r}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'");const i=new Array(this.numJoints).fill(0);i[e]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"JointVelocityRequest",velocity:i})}async translateTCP({axis:e,direction:n,velocityMmPerSec:a}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const r=[0,0,0],i=[0,0,0];i[J.XYZ_TO_VECTOR[e]]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:r,use_tool_coordinate_system:this.orientation==="tool"})}async rotateTCP({axis:e,direction:n,velocityRadsPerSec:a}){if(!this.joggingSocket||this.mode!=="jogging")throw new Error("Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'");const r=[0,0,0],i=[0,0,0];r[J.XYZ_TO_VECTOR[e]]=n==="-"?-a:a,this.joggingSocket.sendJson({message_type:"TcpVelocityRequest",translation:i,rotation:r,use_tool_coordinate_system:this.orientation==="tool"})}async runIncrementalCartesianMotion({currentTcpPose:e,currentJoints:n,velocityInRelevantUnits:a,axis:r,direction:i,motion:c}){const s=[];if(this.mode!=="trajectory")throw new Error("Set jogging mode to 'trajectory' to run incremental cartesian motions");if(c.type==="translate"){if(!e.position)throw new Error("Current pose has no position, cannot perform translation");const y=[...e.position];y[J.XYZ_TO_VECTOR[r]]+=c.distanceMm*(i==="-"?-1:1),s.push({limits_override:{tcp_velocity_limit:a},path:{path_definition_name:"PathLine",target_pose:{position:y,orientation:e.orientation}}})}else if(c.type==="rotate"){if(!e.orientation)throw new Error("Current pose has no orientation, cannot perform rotation");const y=new de.Vector3(e.orientation[0],e.orientation[1],e.orientation[2]),f=y.length(),j=y.clone().normalize(),x=c.distanceRads*(i==="-"?-1:1),v=new de.Vector3(0,0,0);v[r]=1;const C=Math.cos(.5*x)*Math.cos(.5*f),w=Math.sin(.5*x)*Math.sin(.5*f),I=Math.sin(.5*x)*Math.cos(.5*f),E=Math.cos(.5*x)*Math.sin(.5*f),M=v.dot(j),P=v.clone().cross(j),F=2*Math.acos(C-w*M),Z=F/Math.sin(.5*F),ne=new de.Vector3().addScaledVector(P,w).addScaledVector(v,I).addScaledVector(j,E).multiplyScalar(Z);s.push({limits_override:{tcp_orientation_velocity_limit:a},path:{path_definition_name:"PathLine",target_pose:{position:e.position,orientation:[...ne]}}})}const l=this.motionStream.description;if(l.cycle_time===void 0){console.warn("Current motion group has no cycle time, cannot plan jogging motion");return}const d={motion_group_model:l.motion_group_model,cycle_time:l.cycle_time,mounting:l.mounting,global:l.operation_limits.auto_limits},m=await this.nova.api.trajectoryPlanning.planTrajectory(this.cellId,{motion_group_setup:d,start_joint_position:n,motion_commands:s}),g=m.response;if(!g)throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(m)}`);this.trajectorySocket&&(console.warn("Trajectory jogging websocket already open; will close"),this.trajectorySocket.dispose()),this.trajectorySocket=this.nova.openReconnectingWebsocket(`/cells/${this.cellId}/controllers/${this.motionStream.controllerId}/execution/trajectory`);const p=y=>{var f;if(!y||y.add_trajectory_error||y.message)if(this.onError)this.onError(y);else throw new Error(((f=y==null?void 0:y.add_trajectory_error)==null?void 0:f.message)||(y==null?void 0:y.message)||"Failed to execute trajectory, unknown error");if(!this.trajectorySocket)throw new Error("Failed to execute trajectory, websocket not available anymore");this.trajectorySocket.sendJson({message_type:"StartMovementRequest",direction:"DIRECTION_FORWARD"})},u=async()=>{var y;await k.when(()=>!this.motionStream.rapidlyChangingMotionState.standstill),await k.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},b=async()=>{var y;await k.when(()=>this.motionStream.rapidlyChangingMotionState.standstill),(y=this.trajectorySocket)==null||y.dispose(),this.trajectorySocket=null},S=async y=>{if(y!=null&&y.message)if(this.onError){this.onError(y);return}else throw new Error(y.message||"Failed to execute trajectory, unknown error");this.motionStream.rapidlyChangingMotionState.standstill?await u():await b()};this.trajectorySocket.addEventListener("message",y=>{var j,x;const f=J.tryParseJson(y.data);if(!((j=f==null?void 0:f.result)!=null&&j.kind))throw new Error(`Failed to execute trajectory: Received invalid message ${y.data}`);if(this.onBlocked&&((x=f.result.message)!=null&&x.includes(Ee))){this.onBlocked();return}if(f.result.kind==="INITIALIZE_RECEIVED")p(f.result);else if(f.result.kind==="START_RECEIVED")S(f);else if(f.result.kind!=="PAUSE_RECEIVED")if(f.result.kind==="MOTION_ERROR"&&f.result.message)if(this.onError){this.onError(f);return}else throw new Error(f.result.message);else throw new Error(`Failed to execute trajectory, cannot handle message type "${f.result.kind}"`)}),this.trajectorySocket.sendJson({message_type:"InitializeMovementRequest",trajectory:{message_type:"TrajectoryData",motion_group:this.motionGroupId,data:g,tcp:this.tcp}})}}const qe=t=>{const e=t.softTimeout||3e3,[n,a]=h.useState(!1),r=D.useTheme();return h.useEffect(()=>{const 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ce{constructor(e,n,a,r,i){var c,s,l;this.jogger=e,this.coordSystems=n,this.motionGroupDescription=a,this.tcps=r,this.inverseSolverValue=i,this.selectedTabId="cartesian",this.locks=new Set,this.blocked=!1,this.selectedCoordSystemId="world",this.selectedTcpId="",this.tcpChangeInProgress=!1,this.selectedOrientation="coordsys",this.selectedIncrementId="continuous",this.selectedCartesianMotionType="translate",this.incrementJogInProgress=null,this.translationVelocityMmPerSec=10,this.rotationVelocityDegPerSec=1,this.minTranslationVelocityMmPerSec=5,this.maxTranslationVelocityMmPerSec=250,this.minRotationVelocityDegPerSec=1,this.maxRotationVelocityDegPerSec=60,this.showCoordSystemSelect=!1,this.showTcpSelect=!0,this.showOrientationSelect=!0,this.showIncrementSelect=!0,this.showTabIcons=!1,this.showVelocitySliderLabel=!0,this.showVelocityLegend=!1,this.showJointsLegend=!1,this.disposers=[],this.inverseSolver=void 0,this.jointType=q.JointTypeEnum.RevoluteJoint;for(const d of n)if(d.coordinate_system===""){d.coordinate_system="world";break}this.selectedCoordSystemId=((c=n[0])==null?void 0:c.coordinate_system)||"world",this.selectedTcpId=e.motionStream.rapidlyChangingMotionState.tcp??"",this.tcpChangeInProgress=this.tcps.length>0&&!this.selectedTcpId,this.inverseSolver=i,this.jointType=((l=(s=a==null?void 0:a.dh_parameters)==null?void 0:s[0])==null?void 0:l.type)??q.JointTypeEnum.RevoluteJoint,k.makeAutoObservable(this,{},{autoBind:!0}),this.jogger.onBlocked=()=>{this.block()},this.loadFromLocalStorage(),this.disposers.push(k.autorun(()=>this.saveToLocalStorage())),this.disposers.push(k.autorun(()=>{const d=this.jogger.motionStream.rapidlyChangingMotionState.tcp;d&&d!==this.selectedTcpId&&k.runInAction(()=>{this.selectedTcpId=d,this.tcpChangeInProgress=!1})})),window.joggingStore=this}static async loadFor(e){const{nova:n,cellId:a}=e,[r,i]=await Promise.all([n.api.controller.listCoordinateSystems(a,e.motionStream.controllerId,"ROTATION_VECTOR"),n.api.motionGroup.getMotionGroupDescription(a,e.motionStream.controllerId,e.motionGroupId)]),c=await n.api.motionGroupModels.getMotionGroupKinematicModel(i.motion_group_model),s=Object.entries(i.tcps||{}).map(([l,d])=>({id:l,readable_name:d.name,position:d.pose.position,orientation:d.pose.orientation}));return new ce(e,r||[],i,s,c.inverse_solver)}dispose(){for(const e of this.disposers)e();this.jogger.dispose()}get coordSystemCountByName(){return he.countBy(this.coordSystems,e=>e.name)}async deactivate(){this.jogger.mode==="jogging"&&await this.jogger.setJoggingMode("off")}async activate(){return this.currentTab.id==="cartesian"?((this.jogger.tcp!==this.selectedTcpId||this.jogger.orientation!==this.selectedOrientation)&&await this.jogger.setOptions({tcp:this.selectedTcpId||void 0,orientation:this.selectedOrientation}),this.activeDiscreteIncrement?this.jogger.setJoggingMode("trajectory"):this.jogger.setJoggingMode("jogging")):this.jogger.setJoggingMode("jogging"),this.jogger}loadFromLocalStorage(){const e=J.tryParseJson(localStorage.getItem("joggingToolStore"));e&&(this.tabsById[e.selectedTabId]&&(this.selectedTabId=e.selectedTabId),this.coordSystemsById[e.selectedCoordSystemId]&&(this.selectedCoordSystemId=e.selectedCoordSystemId),this.incrementOptionsById[e.selectedIncrementId]&&(this.selectedIncrementId=e.selectedIncrementId),["translate","rotate"].includes(e.selectedCartesianMotionType)&&(this.selectedCartesianMotionType=e.selectedCartesianMotionType),["coordsys","tool"].includes(e.selectedOrientation)&&(this.selectedOrientation=e.selectedOrientation))}saveToLocalStorage(){localStorage.setItem("joggingToolStore",JSON.stringify(this.localStorageSave))}get isLocked(){return this.locks.size>0}get localStorageSave(){return{selectedTabId:this.selectedTabId,selectedCoordSystemId:this.selectedCoordSystemId,selectedOrientation:this.selectedOrientation,selectedIncrementId:this.selectedIncrementId,selectedCartesianMotionType:this.selectedCartesianMotionType}}get tabs(){const e=[{id:"joint",label:"Joints"}];return this.inverseSolver!==null&&e.unshift({id:"cartesian",label:"Cartesian"}),e}get incrementOptions(){return tn}get discreteIncrementOptions(){return pe}get incrementOptionsById(){return oe(this.incrementOptions,e=>e.id)}get tabsById(){return oe(this.tabs,e=>e.id)}get currentTab(){return this.tabsById[this.selectedTabId]||this.tabs[0]}get tabIndex(){return this.tabs.indexOf(this.currentTab)}get coordSystemsById(){return oe(this.coordSystems,e=>e.coordinate_system)}get activeCoordSystemId(){return this.selectedOrientation==="tool"?"tool":this.selectedCoordSystemId}get tcpsById(){return oe(this.tcps,e=>e.id)}get activeDiscreteIncrement(){return this.selectedOrientation==="tool"?void 0:pe.find(e=>e.id===this.selectedIncrementId)}get rotationVelocityRadsPerSec(){return this.rotationVelocityDegPerSec*Math.PI/180}velocityInDisplayUnits(e){return e?this.rotationVelocityDegPerSec:this.translationVelocityMmPerSec}minVelocityInDisplayUnits(e){return e?this.minRotationVelocityDegPerSec:this.minTranslationVelocityMmPerSec}maxVelocityInDisplayUnits(e){return e?this.maxRotationVelocityDegPerSec:this.maxTranslationVelocityMmPerSec}onTabChange(e,n){const a=this.tabs[n]||this.tabs[0];this.selectedTabId=a.id}setSelectedCoordSystemId(e){this.selectedCoordSystemId=e}setSelectedTcpId(e){this.requestTcpChange(e).catch(n=>{console.error("Failed to change TCP:",n)})}async requestTcpChange(e){if(e===this.selectedTcpId)return;this.tcpChangeInProgress=!0;const n=this.jogger.tcp,a=this.jogger.mode!=="jogging";try{this.jogger.tcp=e,a?await this.jogger.setJoggingMode("jogging"):await this.jogger.setJoggingMode("jogging",!1);let r=await this.waitForTcpConfirmation(e,1e3);a&&await this.jogger.setJoggingMode("off"),r||(r=await this.waitForTcpConfirmation(e,2e3)),k.runInAction(()=>{r?this.selectedTcpId=e:(this.jogger.tcp=n,this.selectedTcpId=this.jogger.motionStream.rapidlyChangingMotionState.tcp??"")})}catch(r){throw a&&await this.jogger.setJoggingMode("off").catch(()=>{}),k.runInAction(()=>{this.jogger.tcp=n,this.selectedTcpId=this.jogger.motionStream.rapidlyChangingMotionState.tcp??""}),r}finally{k.runInAction(()=>{this.tcpChangeInProgress=!1})}}waitForTcpConfirmation(e,n){return new Promise(a=>{const r=setTimeout(()=>{i(),a(!1)},n),i=k.when(()=>this.jogger.motionStream.rapidlyChangingMotionState.tcp===e,()=>{clearTimeout(r),a(!0)})})}setSelectedOrientation(e){this.selectedOrientation=e}setSelectedIncrementId(e){this.selectedIncrementId=e}setCurrentIncrementJog(e){this.incrementJogInProgress=e}setVelocityFromSlider(e,n){n?this.rotationVelocityDegPerSec=e:this.translationVelocityMmPerSec=e}setSelectedCartesianMotionType(e){this.selectedCartesianMotionType=e}lock(e){this.locks.add(e)}unlock(e){this.locks.delete(e)}block(){this.blocked=!0}unblock(){this.blocked=!1,this.jogger.mode==="jogging"&&this.jogger.initializeJoggingWebsocket()}async withMotionLock(e){const n=bt();this.lock(n);try{return await e()}finally{this.unlock(n)}}}const on=O.observer(({store:t,useDegree:e})=>{var c;const{t:n}=L.useTranslation(),a=h.useId(),r=[];function i(s){switch(s){case"coordsys":return n("Jogging.Orientation.coordsys");case"tool":return n("Jogging.Orientation.tool");default:return s}}return 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ae{constructor(e,n,a,r,i,c,s,l,d,m,g="cell"){this.controller=n,this.motionGroup=a,this.initialMotionState=r,this.motionStateSocket=i,this.isVirtual=c,this.tcps=s,this.description=l,this.initialControllerState=d,this.controllerStateSocket=m,this.cellId=g,this.connectedJoggingSocket=null,this.joggingVelocity=10,this.activationState="inactive",this.nova=re(e),this.rapidlyChangingMotionState=r,this.controllerState=d,m.addEventListener("message",p=>{var b;const u=(b=J.tryParseJson(p.data))==null?void 0:b.result;u&&k.runInAction(()=>{this.controllerState=u})}),i.addEventListener("message",p=>{var b;const u=(b=J.tryParseJson(p.data))==null?void 0:b.result;if(!u)throw new Error(`Failed to get motion state for ${this.motionGroupId}: 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m=r.openReconnectingWebsocket(`/cells/${i}/controllers/${s}/motion-groups/${n}/state-stream`),g=await m.firstMessage(),p=(v=J.tryParseJson(g.data))==null?void 0:v.result;if(!p)throw new Error(`Unable to parse initial motion state message ${g.data}`);console.log(`Connected motion state websocket to motion group ${d.motion_group}. Initial state:
+  `,p);const b=(await r.api.controller.getRobotController(i,l.controller)).configuration.kind==="VirtualController",S=await r.api.motionGroup.getMotionGroupDescription(i,s,d.motion_group),y=Object.entries(S.tcps||{}).map(([w,I])=>({id:w,readable_name:I.name,position:I.pose.position,orientation:I.pose.orientation})),f=r.openReconnectingWebsocket(`/cells/${i}/controllers/${l.controller}/state-stream?response_rate=1000`),j=await f.firstMessage(),x=(C=J.tryParseJson(j.data))==null?void 0:C.result;if(!x)throw new Error(`Unable to parse initial controller state message ${j.data}`);return console.log(`Connected controller state websocket to controller ${l.controller}. Initial state:
+  `,x),new ae(r,l,d,p,m,b,y,S,x,f,i)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get modelFromController(){return this.description.motion_group_model}get joggingVelocityRads(){return this.joggingVelocity*Math.PI/180}get joints(){return this.initialMotionState.joint_position.map((e,n)=>({index:n}))}get dhParameters(){if(this.description.dh_parameters!==void 0)return this.description.dh_parameters.map(e=>({...Pn,...e}))}get safetyZones(){return this.description.safety_zones}get mountingPosition(){var e,n,a;return this.description.mounting?[(((e=this.description.mounting.position)==null?void 0:e[0])||0)/1e3,(((n=this.description.mounting.position)==null?void 0:n[1])||0)/1e3,(((a=this.description.mounting.position)==null?void 0:a[2])||0)/1e3]:[0,0,0]}get mountingQuaternion(){var r,i,c,s,l,d;const e=new ke.Vector3(((i=(r=this.description.mounting)==null?void 0:r.orientation)==null?void 0:i[0])||0,((s=(c=this.description.mounting)==null?void 0:c.orientation)==null?void 0:s[1])||0,((d=(l=this.description.mounting)==null?void 0:l.orientation)==null?void 0:d[2])||0),n=e.length(),a=e.normalize();return new ke.Quaternion().setFromAxisAngle(a,n)}get isEstopActive(){return["SAFETY_STATE_ROBOT_EMERGENCY_STOP","SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state)}get isMoveableSafetyState(){return["SAFETY_STATE_NORMAL","SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state)}get isMoveableOperationMode(){return["OPERATION_MODE_AUTO","OPERATION_MODE_MANUAL","OPERATION_MODE_MANUAL_T1","OPERATION_MODE_MANUAL_T2"].includes(this.controllerState.operation_mode)}get canBeMoved(){return this.isMoveableSafetyState&&this.isMoveableOperationMode&&this.activationState==="active"}async deactivate(){if(this.activationState!=="active"){console.error("Tried to deactivate while already deactivating");return}k.runInAction(()=>{this.activationState="deactivating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_MONITOR"),k.runInAction(()=>{this.activationState="inactive"})}catch(e){throw k.runInAction(()=>{this.activationState="active"}),e}}async activate(){if(this.activationState!=="inactive"){console.error("Tried to activate while already activating");return}k.runInAction(()=>{this.activationState="activating"});try{await this.nova.api.controller.setDefaultMode(this.cellId,this.controllerId,"ROBOT_SYSTEM_MODE_CONTROL"),k.runInAction(()=>{this.activationState="active"})}catch(e){throw k.runInAction(()=>{this.activationState="inactive"}),e}}toggleActivation(){this.activationState==="inactive"?this.activate():this.activationState==="active"&&this.deactivate()}dispose(){this.motionStateSocket.close(),this.connectedJoggingSocket&&this.connectedJoggingSocket.close()}setJoggingVelocity(e){this.joggingVelocity=e}}const K="rgba(255, 255, 255, 1)",_n={components:{MuiCssBaseline:{styleOverrides:{".MuiDataGrid-panelContent":{borderRadius:"16px !important","& .MuiPaper-root":{borderRadius:"16px !important"}},".MuiDataGrid-filterForm":{borderRadius:"16px !important","& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}},"& .MuiTextField-root":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}},".MuiDataGrid-filterFormValueInput":{"& .MuiInputBase-root":{borderRadius:"16px !important","& fieldset":{borderRadius:"16px !important"},"& .MuiOutlinedInput-notchedOutline":{borderRadius:"16px !important"}}}}},MuiDataGrid:{styleOverrides:{panelContent:{borderRadius:"16px !important"},filterForm:{"& .MuiInputBase-root":{borderRadius:`${U.RadiusSm}px !important`,"& fieldset":{borderRadius:`${U.RadiusSm}px !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${U.RadiusSm}px !important`}}},filterFormValueInput:{"& .MuiInputBase-root":{borderRadius:`${U.RadiusSm}px !important`,"& fieldset":{borderRadius:`${U.RadiusSm}px !important`},"& .MuiOutlinedInput-notchedOutline":{borderRadius:`${U.RadiusSm}px !important`}}}}}},componentsExt:{JoggingPanel:{JoggingCartesian:{Axis:{X:{backgroundColor:"rgba(215, 66, 56, 1)",borderColor:"rgba(215, 66, 56, 1)",buttonBackgroundColor:{default:"rgba(241, 77, 66, 1)",pressed:"rgba(138, 41, 35, 1)",hovered:"rgba(241, 77, 66, 1)",disabled:"rgba(241, 77, 66, 1)"},color:"rgba(255, 198, 198, 1)",labelColor:K},Y:{backgroundColor:"rgba(20, 151, 108, 1)",borderColor:"rgba(20, 151, 108, 1)",buttonBackgroundColor:{default:"rgba(28, 188, 135, 1)",pressed:"rgba(11, 89, 63, 1)",disabled:"rgba(28, 188, 135, 1)",hovered:"rgba(28, 188, 135, 1)"},color:"rgba(215, 255, 242, 1)",labelColor:K},Z:{backgroundColor:"rgba(1, 87, 155, 1)",borderColor:"rgba(1, 87, 155, 1)",buttonBackgroundColor:{default:"rgba(2, 136, 209, 1)",pressed:"rgba(2, 64, 114, 1)",disabled:"rgba(2, 136, 209, 1)",hovered:"rgba(2, 136, 209, 1)"},color:"rgba(210, 239, 255, 1)",labelColor:K}}},JoggingJoint:{Joint:{arrowColor:K}},VelocitySlider:{sliderLegendColor:K}}}};function Qe(...t){return Lt.createNovaMuiTheme(_n,...t)}function An(t={}){return Qe(t)}exports.AdornedTextField=qt;exports.AppHeader=Nt;exports.ConnectedMotionGroup=ae;exports.CycleTimer=Xt;exports.JoggerConnection=le;exports.JoggingCartesianAxisControl=ge;exports.JoggingJointValueControl=Le;exports.JoggingPanel=ln;exports.JoggingStore=ce;exports.LoadingCover=qe;exports.LoadingErrorMessage=Ve;exports.LogPanel=fn;exports.LogStore=Ye;exports.LogViewer=Ze;exports.MotionStreamConnection=se;exports.NoMotionGroupModal=bn;exports.PoseCartesianValues=dn;exports.PoseJointValues=un;exports.RobotListItem=yn;exports.RobotSetupReadinessIndicator=Xe;exports.RobotSetupReadinessState=be;exports.SelectableFab=jn;exports.TabBar=Tn;exports.Timer=En;exports.VelocitySlider=We;exports.VelocitySliderLabel=xe;exports.WandelbotsDataGrid=Be;exports.createDebugMessage=gn;exports.createErrorMessage=mn;exports.createInfoMessage=pn;exports.createLogMessage=te;exports.createNovaMuiTheme=An;exports.createNovaTheme=Qe;exports.createWarningMessage=hn;exports.jointValuesEqual=me;exports.poseEqual=$e;exports.tcpMotionEqual=fe;exports.unwrapRotationVector=ze;