@wandelbots/wandelbots-js-react-components 6.0.0 → 6.1.0

package/dist/components/robots/SupportedRobot.d.ts

@@ -15,5 +15,24 @@ export type SupportedRobotProps = {
     postModelRender?: () => void;
     transparentColor?: string;
 } & ThreeElements["group"];
-export declare const SupportedRobot: ({ rapidlyChangingMotionState, modelFromController, dhParameters, getModel, flangeRef, postModelRender, transparentColor, instanceUrl, ...props }: SupportedRobotProps) => import("react/jsx-runtime").JSX.Element;
+/**
+ * Renders the robot at exactly the pose it is given, frame by frame — no
+ * smoothing, so it tracks the streamed motion state with no lag or overshoot.
+ *
+ * Use this when the incoming stream is already the exact pose to display (e.g.
+ * scrubbing a planned trajectory). For spring-damped transitions, use
+ * {@link SupportedRobot}, or compose {@link useSmoothedMotionState} with this
+ * component yourself.
+ */
+export declare const SupportedRobotExact: ({ rapidlyChangingMotionState, modelFromController, dhParameters, getModel, flangeRef, postModelRender, transparentColor, instanceUrl, ...props }: SupportedRobotProps) => import("react/jsx-runtime").JSX.Element;
+/**
+ * Robot visualizer with built-in spring smoothing of the joint stream.
+ *
+ * This is a thin wrapper that runs the incoming motion state through
+ * {@link useSmoothedMotionState} and renders {@link SupportedRobotExact}. It is
+ * the batteries-included default; drop down to `SupportedRobotExact` (optionally
+ * with your own {@link useSmoothedMotionState} configuration) when you need to
+ * control or disable smoothing.
+ */
+export declare const SupportedRobot: ({ rapidlyChangingMotionState, ...props }: SupportedRobotProps) => import("react/jsx-runtime").JSX.Element;
 export default SupportedRobot;

package/dist/components/utils/useSmoothedMotionState.d.ts

@@ -0,0 +1,31 @@
+import type { MotionGroupState } from "@wandelbots/nova-js/v2";
+import { type InterpolationOptions } from "./interpolation";
+/**
+ * Smooths the joint stream of a `MotionGroupState` and returns a new, derived
+ * motion state to feed the robot visualizer.
+ *
+ * Smoothing is a transformation over the joint stream, not a concern of the
+ * visualizer: the visualizer renders whatever pose it is given, as-is. This
+ * hook sits in front of it — `raw stream → useSmoothedMotionState → visualizer`
+ * — so consumers who want spring-damped previews opt in, and consumers who
+ * stream already-exact poses (e.g. scrubbing a planned trajectory) simply skip
+ * it and get frame-accurate tracking.
+ *
+ * The returned object is a **stable, MobX-observable** motion state whose
+ * `joint_position` is mutated in place every animation frame while the spring
+ * settles. Because the object identity never changes, passing it to
+ * `<SupportedRobot rapidlyChangingMotionState={...} />` triggers no React
+ * re-renders — the visualizer's own MobX autorun reacts to the mutation and
+ * updates the scene directly. All non-joint fields mirror the latest input.
+ *
+ * @example
+ * ```tsx
+ * const smoothed = useSmoothedMotionState(
+ *   connectedMotionGroup.rapidlyChangingMotionState,
+ *   { tension: 120, friction: 20 },
+ * )
+ *
+ * <SupportedRobot rapidlyChangingMotionState={smoothed} {...props} />
+ * ```
+ */
+export declare function useSmoothedMotionState(motionState: MotionGroupState, options?: InterpolationOptions): MotionGroupState;

package/dist/core.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-BwZXb5-H.cjs"),o=require("./chunks/interpolation-C9sLsved.cjs"),t=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),a=require("./chunks/SafetyBar-DPrv_OQA.cjs");exports.AdornedTextField=e.AdornedTextField;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createNovaTheme=e.createNovaTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=o.ProgramControl;exports.ProgramState=o.ProgramState;exports.ProgramStateIndicator=o.ProgramStateIndicator;exports.ValueInterpolator=o.ValueInterpolator;exports.useAnimationFrame=o.useAnimationFrame;exports.useAutorun=o.useAutorun;exports.useInterpolation=o.useInterpolation;exports.useMounted=o.useMounted;exports.useReaction=o.useReaction;exports.i18n=t.i18n;exports.SafetyBar=a.SafetyBar;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const e=require("./chunks/theming-DfSy4-Ic.cjs"),o=require("./chunks/useSmoothedMotionState-VYxEIyfr.cjs"),t=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),a=require("./chunks/SafetyBar-DPrv_OQA.cjs");exports.AdornedTextField=e.AdornedTextField;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createNovaTheme=e.createNovaTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=o.ProgramControl;exports.ProgramState=o.ProgramState;exports.ProgramStateIndicator=o.ProgramStateIndicator;exports.ValueInterpolator=o.ValueInterpolator;exports.useAnimationFrame=o.useAnimationFrame;exports.useAutorun=o.useAutorun;exports.useInterpolation=o.useInterpolation;exports.useMounted=o.useMounted;exports.useReaction=o.useReaction;exports.useSmoothedMotionState=o.useSmoothedMotionState;exports.i18n=t.i18n;exports.SafetyBar=a.SafetyBar;

package/dist/core.d.ts

@@ -22,6 +22,7 @@ export * from "./components/TabBar";
 export * from "./components/Timer";
 export * from "./components/utils/hooks";
 export * from "./components/utils/interpolation";
+export * from "./components/utils/useSmoothedMotionState";
 export * from "./components/VelocitySlider";
 export * from "./i18n/config";
 export * from "./lib/ConnectedMotionGroup";

package/dist/core.js

@@ -1,7 +1,7 @@
-import { A as o, b as s, u as t, C as r, v as n, d as i, e as g, f as l, J as u, h as c, i as d, j as m, L as p, p as M, M as S, N as b, P as C, g as V, R as L, r as P, q as f, S as J, T as R, s as x, V as T, t as A, W as I, l as y, o as E, m as q, k as v, a as N, c as h, n as w, w as F, x as G, y as W, z as j } from "./chunks/theming-B2dYJ4Ca.js";
-import { a as D, P as k, b as z, V as H, e as K, c as O, f as Q, u as U, d as X } from "./chunks/interpolation-DG8VTxzS.js";
-import { i as Z } from "./chunks/externalizeComponent-EDymnaGR.js";
-import { S as $ } from "./chunks/SafetyBar-Cy9DiXp9.js";
+import { A as o, b as s, u as t, C as r, v as n, d as i, e as g, f as l, J as u, h as c, i as d, j as m, L as p, p as S, M, N as b, P as C, g as V, R as L, r as P, q as f, S as J, T as R, s as x, V as T, t as A, W as I, l as y, o as E, m as h, k as q, a as v, c as N, n as w, w as F, x as G, y as W, z as j } from "./chunks/theming-DAGR3D4x.js";
+import { a as D, P as k, b as z, V as H, f as K, d as O, g as Q, c as U, e as X, u as Y } from "./chunks/useSmoothedMotionState-CpGsrwj4.js";
+import { i as _ } from "./chunks/externalizeComponent-EDymnaGR.js";
+import { S as aa } from "./chunks/SafetyBar-Cy9DiXp9.js";
 export {
   o as AdornedTextField,
   s as AppHeader,
@@ -16,8 +16,8 @@ export {
   d as LoadingErrorMessage,
   m as LogPanel,
   p as LogStore,
-  M as LogViewer,
-  S as MotionStreamConnection,
+  S as LogViewer,
+  M as MotionStreamConnection,
   b as NoMotionGroupModal,
   C as PoseCartesianValues,
   V as PoseJointValues,
@@ -27,7 +27,7 @@ export {
   L as RobotListItem,
   P as RobotSetupReadinessIndicator,
   f as RobotSetupReadinessState,
-  $ as SafetyBar,
+  aa as SafetyBar,
   J as SelectableFab,
   R as TabBar,
   x as Timer,
@@ -37,12 +37,12 @@ export {
   I as WandelbotsDataGrid,
   y as createDebugMessage,
   E as createErrorMessage,
-  q as createInfoMessage,
-  v as createLogMessage,
-  N as createNovaMuiTheme,
-  h as createNovaTheme,
+  h as createInfoMessage,
+  q as createLogMessage,
+  v as createNovaMuiTheme,
+  N as createNovaTheme,
   w as createWarningMessage,
-  Z as i18n,
+  _ as i18n,
   F as jointValuesEqual,
   G as poseEqual,
   W as tcpMotionEqual,
@@ -51,5 +51,6 @@ export {
   O as useAutorun,
   Q as useInterpolation,
   U as useMounted,
-  X as useReaction
+  X as useReaction,
+  Y as useSmoothedMotionState
 };

package/dist/index.cjs

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-zDM0Lgd-.cjs"),e=require("./chunks/theming-BwZXb5-H.cjs"),t=require("./chunks/interpolation-C9sLsved.cjs"),r=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),a=require("./chunks/SafetyBar-DPrv_OQA.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.LinearAxis=o.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=o.MotionGroupVisualizer;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedLinearAxis=o.SupportedLinearAxis;exports.SupportedRobot=o.SupportedRobot;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.AdornedTextField=e.AdornedTextField;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createNovaTheme=e.createNovaTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.i18n=r.i18n;exports.SafetyBar=a.SafetyBar;
+"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const o=require("./chunks/MotionGroupVisualizer-DSm6iyOs.cjs"),t=require("./chunks/useSmoothedMotionState-VYxEIyfr.cjs"),e=require("./chunks/theming-DfSy4-Ic.cjs"),r=require("./chunks/externalizeComponent-OO4jcrz5.cjs"),a=require("./chunks/SafetyBar-DPrv_OQA.cjs");exports.CollisionSceneRenderer=o.CollisionSceneRenderer;exports.LinearAxis=o.LinearAxis;exports.MANUFACTURER_HOME_CONFIGS=o.MANUFACTURER_HOME_CONFIGS;exports.MotionGroupVisualizer=o.MotionGroupVisualizer;exports.MotionGroupVisualizerExact=o.MotionGroupVisualizerExact;exports.PresetEnvironment=o.PresetEnvironment;exports.Robot=o.Robot;exports.RobotCard=o.RobotCard;exports.SafetyZonesRenderer=o.SafetyZonesRenderer;exports.SupportedLinearAxis=o.SupportedLinearAxis;exports.SupportedLinearAxisExact=o.SupportedLinearAxisExact;exports.SupportedRobot=o.SupportedRobot;exports.SupportedRobotExact=o.SupportedRobotExact;exports.TrajectoryRenderer=o.TrajectoryRenderer;exports.defaultAxisConfig=o.defaultAxisConfig;exports.defaultGetModel=o.defaultGetModel;exports.extractManufacturer=o.extractManufacturer;exports.getDefaultHomeConfig=o.getDefaultHomeConfig;exports.ProgramControl=t.ProgramControl;exports.ProgramState=t.ProgramState;exports.ProgramStateIndicator=t.ProgramStateIndicator;exports.ValueInterpolator=t.ValueInterpolator;exports.useAnimationFrame=t.useAnimationFrame;exports.useAutorun=t.useAutorun;exports.useInterpolation=t.useInterpolation;exports.useMounted=t.useMounted;exports.useReaction=t.useReaction;exports.useSmoothedMotionState=t.useSmoothedMotionState;exports.AdornedTextField=e.AdornedTextField;exports.AppHeader=e.AppHeader;exports.ConnectedMotionGroup=e.ConnectedMotionGroup;exports.CycleTimer=e.CycleTimer;exports.JoggerConnection=e.JoggerConnection;exports.JoggingCartesianAxisControl=e.JoggingCartesianAxisControl;exports.JoggingJointValueControl=e.JoggingJointValueControl;exports.JoggingPanel=e.JoggingPanel;exports.JoggingStore=e.JoggingStore;exports.LoadingCover=e.LoadingCover;exports.LoadingErrorMessage=e.LoadingErrorMessage;exports.LogPanel=e.LogPanel;exports.LogStore=e.LogStore;exports.LogViewer=e.LogViewer;exports.MotionStreamConnection=e.MotionStreamConnection;exports.NoMotionGroupModal=e.NoMotionGroupModal;exports.PoseCartesianValues=e.PoseCartesianValues;exports.PoseJointValues=e.PoseJointValues;exports.RobotListItem=e.RobotListItem;exports.RobotSetupReadinessIndicator=e.RobotSetupReadinessIndicator;exports.RobotSetupReadinessState=e.RobotSetupReadinessState;exports.SelectableFab=e.SelectableFab;exports.TabBar=e.TabBar;exports.Timer=e.Timer;exports.VelocitySlider=e.VelocitySlider;exports.VelocitySliderLabel=e.VelocitySliderLabel;exports.WandelbotsDataGrid=e.WandelbotsDataGrid;exports.createDebugMessage=e.createDebugMessage;exports.createErrorMessage=e.createErrorMessage;exports.createInfoMessage=e.createInfoMessage;exports.createLogMessage=e.createLogMessage;exports.createNovaMuiTheme=e.createNovaMuiTheme;exports.createNovaTheme=e.createNovaTheme;exports.createWarningMessage=e.createWarningMessage;exports.jointValuesEqual=e.jointValuesEqual;exports.poseEqual=e.poseEqual;exports.tcpMotionEqual=e.tcpMotionEqual;exports.unwrapRotationVector=e.unwrapRotationVector;exports.i18n=r.i18n;exports.SafetyBar=a.SafetyBar;

package/dist/index.js

@@ -1,71 +1,75 @@
-import { C as o, L as s, M as t, h as r, P as n, b as i, R as g, S as l, c as u, f as d, T as c, a as p, d as M, e as S, g as m } from "./chunks/MotionGroupVisualizer-BRec-k-p.js";
-import { A as f, b as R, u as b, C as x, v as L, d as V, e as A, f as P, J as T, h as E, i as J, j as y, L as I, p as G, M as N, N as v, P as F, g as h, R as q, r as j, q as w, S as D, T as H, s as W, V as z, t as B, W as O, l as U, o as _, m as k, k as Z, a as K, c as Q, n as X, w as Y, x as $, y as aa, z as ea } from "./chunks/theming-B2dYJ4Ca.js";
-import { a as sa, P as ta, b as ra, V as na, e as ia, c as ga, f as la, u as ua, d as da } from "./chunks/interpolation-DG8VTxzS.js";
-import { i as pa } from "./chunks/externalizeComponent-EDymnaGR.js";
-import { S as Sa } from "./chunks/SafetyBar-Cy9DiXp9.js";
+import { C as o, L as s, M as t, k as r, j as n, P as i, b as u, R as g, S as l, f as d, c, i as p, h as S, T as M, a as m, d as C, e as R, g as f } from "./chunks/MotionGroupVisualizer-cHohruur.js";
+import { a as x, P as L, b as V, V as A, f as E, d as P, g as T, c as J, e as y, u as G } from "./chunks/useSmoothedMotionState-CpGsrwj4.js";
+import { A as N, b as h, u as v, C as F, v as j, d as q, e as w, f as z, J as D, h as H, i as W, j as k, L as B, p as O, M as U, N as _, P as Z, g as K, R as Q, r as X, q as Y, S as $, T as aa, s as ea, V as oa, t as sa, W as ta, l as ra, o as na, m as ia, k as ua, a as ga, c as la, n as da, w as ca, x as pa, y as Sa, z as Ma } from "./chunks/theming-DAGR3D4x.js";
+import { i as Ca } from "./chunks/externalizeComponent-EDymnaGR.js";
+import { S as fa } from "./chunks/SafetyBar-Cy9DiXp9.js";
 export {
-  f as AdornedTextField,
-  R as AppHeader,
+  N as AdornedTextField,
+  h as AppHeader,
   o as CollisionSceneRenderer,
-  b as ConnectedMotionGroup,
-  x as CycleTimer,
-  L as JoggerConnection,
-  V as JoggingCartesianAxisControl,
-  A as JoggingJointValueControl,
-  P as JoggingPanel,
-  T as JoggingStore,
+  v as ConnectedMotionGroup,
+  F as CycleTimer,
+  j as JoggerConnection,
+  q as JoggingCartesianAxisControl,
+  w as JoggingJointValueControl,
+  z as JoggingPanel,
+  D as JoggingStore,
   s as LinearAxis,
-  E as LoadingCover,
-  J as LoadingErrorMessage,
-  y as LogPanel,
-  I as LogStore,
-  G as LogViewer,
+  H as LoadingCover,
+  W as LoadingErrorMessage,
+  k as LogPanel,
+  B as LogStore,
+  O as LogViewer,
   t as MANUFACTURER_HOME_CONFIGS,
   r as MotionGroupVisualizer,
-  N as MotionStreamConnection,
-  v as NoMotionGroupModal,
-  F as PoseCartesianValues,
-  h as PoseJointValues,
-  n as PresetEnvironment,
-  sa as ProgramControl,
-  ta as ProgramState,
-  ra as ProgramStateIndicator,
-  i as Robot,
+  n as MotionGroupVisualizerExact,
+  U as MotionStreamConnection,
+  _ as NoMotionGroupModal,
+  Z as PoseCartesianValues,
+  K as PoseJointValues,
+  i as PresetEnvironment,
+  x as ProgramControl,
+  L as ProgramState,
+  V as ProgramStateIndicator,
+  u as Robot,
   g as RobotCard,
-  q as RobotListItem,
-  j as RobotSetupReadinessIndicator,
-  w as RobotSetupReadinessState,
-  Sa as SafetyBar,
+  Q as RobotListItem,
+  X as RobotSetupReadinessIndicator,
+  Y as RobotSetupReadinessState,
+  fa as SafetyBar,
   l as SafetyZonesRenderer,
-  D as SelectableFab,
-  u as SupportedLinearAxis,
-  d as SupportedRobot,
-  H as TabBar,
-  W as Timer,
-  c as TrajectoryRenderer,
-  na as ValueInterpolator,
-  z as VelocitySlider,
-  B as VelocitySliderLabel,
-  O as WandelbotsDataGrid,
-  U as createDebugMessage,
-  _ as createErrorMessage,
-  k as createInfoMessage,
-  Z as createLogMessage,
-  K as createNovaMuiTheme,
-  Q as createNovaTheme,
-  X as createWarningMessage,
-  p as defaultAxisConfig,
-  M as defaultGetModel,
-  S as extractManufacturer,
-  m as getDefaultHomeConfig,
-  pa as i18n,
-  Y as jointValuesEqual,
-  $ as poseEqual,
-  aa as tcpMotionEqual,
-  ea as unwrapRotationVector,
-  ia as useAnimationFrame,
-  ga as useAutorun,
-  la as useInterpolation,
-  ua as useMounted,
-  da as useReaction
+  $ as SelectableFab,
+  d as SupportedLinearAxis,
+  c as SupportedLinearAxisExact,
+  p as SupportedRobot,
+  S as SupportedRobotExact,
+  aa as TabBar,
+  ea as Timer,
+  M as TrajectoryRenderer,
+  A as ValueInterpolator,
+  oa as VelocitySlider,
+  sa as VelocitySliderLabel,
+  ta as WandelbotsDataGrid,
+  ra as createDebugMessage,
+  na as createErrorMessage,
+  ia as createInfoMessage,
+  ua as createLogMessage,
+  ga as createNovaMuiTheme,
+  la as createNovaTheme,
+  da as createWarningMessage,
+  m as defaultAxisConfig,
+  C as defaultGetModel,
+  R as extractManufacturer,
+  f as getDefaultHomeConfig,
+  Ca as i18n,
+  ca as jointValuesEqual,
+  pa as poseEqual,
+  Sa as tcpMotionEqual,
+  Ma as unwrapRotationVector,
+  E as useAnimationFrame,
+  P as useAutorun,
+  T as useInterpolation,
+  J as useMounted,
+  y as useReaction,
+  G as useSmoothedMotionState
 };

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "6.0.0",
+  "version": "6.1.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/dist/chunks/MotionGroupVisualizer-zDM0Lgd-.cjs

@@ -1 +0,0 @@
-"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 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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 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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/interpolation-C9sLsved.cjs

@@ -1 +0,0 @@
-"use strict";const u=require("react/jsx-runtime"),P=require("@mui/material/styles"),V=require("@mui/material/Chip"),_=require("@mui/material/Typography"),C=require("mobx-react-lite"),x=require("react-i18next"),O=require("./externalizeComponent-OO4jcrz5.cjs"),N=require("@mui/icons-material/Pause"),I=require("@mui/icons-material/PlayArrow"),S=require("@mui/icons-material/Stop"),b=require("@mui/material/Box"),v=require("@mui/material/Button"),f=require("mobx"),m=require("react");var c=(e=>(e.IDLE="idle",e.PREPARING="preparing",e.STARTING="starting",e.RUNNING="running",e.PAUSING="pausing",e.PAUSED="paused",e.STOPPING="stopping",e.COMPLETED="completed",e.FAILED="failed",e.STOPPED="stopped",e.ERROR="error",e))(c||{});const M=O.externalizeComponent(C.observer(({state:e,onRun:t,onPause:n,onStop:s,onReset:a,requiresManualReset:r=!1,variant:o="with_pause",className:h})=>{const l=P.useTheme(),{t:g}=x.useTranslation(),d=()=>{const i={run:{enabled:e==="idle"||e==="stopped"||e==="paused"||e==="completed"||e==="failed"||e==="error",label:g(e==="paused"?"ProgramControl.Resume.bt":e==="error"||e==="failed"?"ProgramControl.Retry.bt":"ProgramControl.Start.bt"),color:l.palette.success.main,onClick:t},pause:{enabled:e==="running",label:g("ProgramControl.Pause.bt"),color:"#FFFFFF33",onClick:n||(()=>{})},stop:{enabled:e==="preparing"||e==="starting"||e==="running"||e==="pausing"||e==="paused",label:g("ProgramControl.Stop.bt"),color:l.palette.error.main,onClick:s}};return o==="without_pause"?[i.run,i.stop]:[i.run,i.pause,i.stop]},E=i=>{const p={sx:{fontSize:"55px"}};if(o==="without_pause")return i===0?u.jsx(I,{...p}):u.jsx(S,{...p});switch(i){case 0:return u.jsx(I,{...p});case 1:return u.jsx(N,{...p});case 2:return u.jsx(S,{...p});default:return null}},A=d();return u.jsx(b,{className:h,sx:{display:"flex",flexDirection:"column",alignItems:"center",gap:2},children:u.jsx(b,{sx:{display:"flex",gap:"40px",flexWrap:"wrap",justifyContent:"center",alignItems:"center"},children:A.map((i,p)=>u.jsxs(b,{sx:{display:"flex",flexDirection:"column",alignItems:"center",gap:1},children:[u.jsx(v,{variant:"contained",disabled:!i.enabled||e==="preparing"||e==="starting"||e==="pausing"||e==="stopping"&&!r,onClick:i.onClick,sx:{width:"88px",height:"88px",borderRadius:"88px",backgroundColor:i.color,opacity:i.enabled&&e!=="preparing"&&e!=="starting"&&e!=="pausing"&&!(e==="stopping"&&!r)?1:.3,"&:hover":{backgroundColor:i.color,opacity:i.enabled&&e!=="preparing"&&e!=="starting"&&e!=="pausing"&&!(e==="stopping"&&!r)?.8:.3},"&:disabled":{backgroundColor:i.color,opacity:.3},minWidth:"88px",flexShrink:0},children:E(p)}),u.jsx(_,{variant:"body1",sx:{color:i.enabled&&e!=="preparing"&&e!=="starting"&&e!=="pausing"&&!(e==="stopping"&&!r)?i.color:l.palette.text.disabled,textAlign:"center",opacity:i.enabled&&e!=="preparing"&&e!=="starting"&&e!=="pausing"&&!(e==="stopping"&&!r)?1:.3},children:i.label})]},i.label))})})})),Y=O.externalizeComponent(C.observer(({programState:e,safetyState:t,operationMode:n,className:s})=>{const a=P.useTheme(),{t:r}=x.useTranslation(),o=()=>{if(t==="SAFETY_STATE_DEVICE_EMERGENCY_STOP"||t==="SAFETY_STATE_ROBOT_EMERGENCY_STOP"||t==="SAFETY_STATE_STOP_0"||t==="SAFETY_STATE_STOP_1"||t==="SAFETY_STATE_STOP_2"||t==="SAFETY_STATE_PROTECTIVE_STOP"||t==="SAFETY_STATE_STOP"||t==="SAFETY_STATE_REDUCED"||t==="SAFETY_STATE_MASTERING"||t==="SAFETY_STATE_CONFIRM_SAFETY"||t==="SAFETY_STATE_OPERATOR_SAFETY"||t==="SAFETY_STATE_RECOVERY"||t==="SAFETY_STATE_VIOLATION")return{label:r("ProgramStateIndicator.EStop.lb"),color:a.palette.error.main};if(t==="SAFETY_STATE_UNKNOWN"||t==="SAFETY_STATE_FAULT")return{label:r("ProgramStateIndicator.Error.lb"),color:a.palette.error.main};if(t==="SAFETY_STATE_NORMAL")switch(e){case c.PREPARING:return{label:r("ProgramStateIndicator.Preparing.lb"),color:a.palette.warning.main};case c.STARTING:return{label:r("ProgramStateIndicator.Starting.lb"),color:a.palette.warning.main};case c.RUNNING:return{label:r("ProgramStateIndicator.Running.lb"),color:a.palette.success.main};case c.PAUSING:return{label:r("ProgramStateIndicator.Pausing.lb"),color:a.palette.warning.main};case c.PAUSED:return{label:r("ProgramStateIndicator.Paused.lb"),color:a.palette.grey[600]};case c.STOPPING:return{label:r("ProgramStateIndicator.Stopping.lb"),color:a.palette.warning.main};case c.COMPLETED:return{label:r("ProgramStateIndicator.Completed.lb"),color:a.palette.success.main};case c.FAILED:return{label:r("ProgramStateIndicator.Failed.lb"),color:a.palette.error.main};case c.STOPPED:return{label:r("ProgramStateIndicator.Stopped.lb"),color:a.palette.warning.main};case c.ERROR:return{label:r("ProgramStateIndicator.Error.lb"),color:a.palette.error.main};default:return{label:r("ProgramStateIndicator.Ready.lb"),color:a.palette.success.main}}return{label:r("ProgramStateIndicator.Idle.lb"),color:a.palette.grey[600]}},{label:h,color:l}=o(),d=`${h} / ${(()=>{switch(n){case"OPERATION_MODE_AUTO":return r("ProgramStateIndicator.Auto.lb");case"OPERATION_MODE_MANUAL":return r("ProgramStateIndicator.Manual.lb");case"OPERATION_MODE_MANUAL_T1":return r("ProgramStateIndicator.ManualT1.lb");case"OPERATION_MODE_MANUAL_T2":return r("ProgramStateIndicator.ManualT2.lb");default:return r("ProgramStateIndicator.Auto.lb")}})()}`;return u.jsx(V,{className:s,label:u.jsx(_,{variant:"body2",sx:{fontSize:"0.75rem",lineHeight:1.2},children:d}),variant:"filled",sx:{backgroundColor:l,color:a.palette.getContrastText(l),fontWeight:500,height:"auto","& .MuiChip-label":{paddingX:1.5,paddingY:.5}}})}));function T(e){m.useEffect(e,[])}function D(e){T(()=>f.autorun(e))}function U(e,t,n){T(()=>f.reaction(e,t,n))}function w(e){return T(()=>{let t;function n(){e(),t=requestAnimationFrame(n)}return t=requestAnimationFrame(n),()=>{cancelAnimationFrame(t)}})}class F{constructor(t=[],n={}){this.currentValues=[],this.targetValues=[],this.previousTargetValues=[],this.targetUpdateTime=0,this.animationId=null,this.updateCount=0,this.velocities=[],this.animate=()=>{this.update(.016666666666666666)?this.animationId=null:this.animationId=requestAnimationFrame(this.animate)},this.options={tension:120,friction:20,threshold:.001,onChange:()=>{},onComplete:()=>{},...n},this.currentValues=[...t],this.targetValues=[...t],this.previousTargetValues=[...t],this.velocities=new Array(t.length).fill(0),this.targetUpdateTime=performance.now(),this.updateCount=0}update(t=1/60){let n=!1,s=!0;this.updateCount++;const a=Math.min(t,1/15),r=this.updateCount===1?.7:1;for(let o=0;o<this.currentValues.length;o++){const h=this.currentValues[o],l=this.targetValues[o],g=this.velocities[o],d=l-h,E=d*this.options.tension*r,A=g*this.options.friction,i=E-A,p=g+i*a,R=h+p*a;Math.abs(d)<this.options.threshold&&Math.abs(p)<this.options.threshold*10?this.currentValues[o]!==l&&(this.currentValues[o]=l,this.velocities[o]=0,n=!0):(s=!1,this.currentValues[o]=R,this.velocities[o]=p,n=!0)}return n&&this.options.onChange(this.currentValues),s&&this.options.onComplete(this.currentValues),s}setTarget(t){const n=performance.now(),s=n-this.targetUpdateTime;this.previousTargetValues=[...this.targetValues],this.targetValues=[...t],this.targetUpdateTime=n,this.updateCount=0;const a=this.previousTargetValues.every((r,o)=>r===this.currentValues[o]);if(s<8&&s>0&&this.previousTargetValues.length>0&&!a){const r=Math.min(s/8,1);for(let o=0;o<this.targetValues.length;o++){const h=this.previousTargetValues[o]||0,l=t[o]||0;Math.abs(l-h)>.1&&(this.targetValues[o]=h+(l-h)*r)}}for(;this.currentValues.length<t.length;)this.currentValues.push(t[this.currentValues.length]),this.velocities.push(0);this.currentValues.length>t.length&&(this.currentValues=this.currentValues.slice(0,t.length),this.velocities=this.velocities.slice(0,t.length))}getCurrentValues(){return[...this.currentValues]}getValue(t){return this.currentValues[t]??0}isInterpolating(){return this.animationId!==null}stop(){this.animationId!==null&&(cancelAnimationFrame(this.animationId),this.animationId=null)}setImmediate(t){this.stop(),this.currentValues=[...t],this.targetValues=[...t],this.previousTargetValues=[...t],this.velocities=new Array(t.length).fill(0),this.targetUpdateTime=performance.now(),this.updateCount=0,this.options.onChange(this.currentValues)}updateOptions(t){this.options={...this.options,...t}}startAutoInterpolation(){this.startInterpolation()}destroy(){this.stop()}startInterpolation(){this.animationId===null&&this.animate()}}function j(e=[],t={}){const n=m.useRef(null);return n.current||(n.current=new F(e,t)),m.useEffect(()=>{var s;(s=n.current)==null||s.updateOptions(t)},[t]),m.useEffect(()=>()=>{var s;(s=n.current)==null||s.destroy()},[]),[n.current]}exports.ProgramControl=M;exports.ProgramState=c;exports.ProgramStateIndicator=Y;exports.ValueInterpolator=F;exports.useAnimationFrame=w;exports.useAutorun=D;exports.useInterpolation=j;exports.useMounted=T;exports.useReaction=U;