Add ABB120 demo suite and docs
This commit is contained in:
wangdequan
@@ -2,20 +2,32 @@
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box-sizing: border-box;
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}
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:root {
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color-scheme: light;
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--ink: #1f2933;
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--muted: #5d6972;
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--line: #c7d0d6;
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--panel: #f8fafb;
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--panel-strong: #ffffff;
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--accent: #1f7a8c;
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--accent-dark: #14566a;
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--rail: #dde5e9;
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}
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body {
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margin: 0;
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font-family: Arial, sans-serif;
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color: #1f2933;
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font-family: Arial, "Microsoft YaHei", sans-serif;
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color: var(--ink);
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background: #eef2f4;
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}
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.workbench {
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min-height: 100vh;
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display: grid;
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grid-template-columns: 240px minmax(320px, 1fr) 280px;
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grid-template-rows: 48px minmax(280px, 1fr) 180px;
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grid-template-columns: 240px minmax(360px, 1fr) 300px;
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grid-template-rows: auto minmax(280px, 1fr) minmax(230px, 34vh);
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gap: 1px;
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background: #c7d0d6;
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background: var(--line);
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}
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.command-bar,
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@@ -24,24 +36,74 @@ body {
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.pendant,
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.editor,
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.bottom-panel {
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background: #f8fafb;
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background: var(--panel);
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}
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.command-bar {
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grid-column: 1 / 4;
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display: flex;
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flex-wrap: wrap;
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display: grid;
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grid-template-columns: auto minmax(220px, 360px) repeat(7, auto) minmax(260px, 1fr);
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align-items: center;
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gap: 8px;
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padding: 8px 12px;
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min-width: 0;
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}
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.station-title {
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display: grid;
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gap: 2px;
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min-width: 150px;
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}
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.station-title span,
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.program-picker span,
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.frame-control span {
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color: var(--muted);
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font-size: 12px;
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}
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.program-picker,
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.frame-control {
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display: grid;
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gap: 3px;
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min-width: 0;
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}
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.program-picker select,
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.frame-control input {
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width: 100%;
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min-width: 0;
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}
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button,
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select {
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min-height: 32px;
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border: 1px solid #9aa8b2;
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background: var(--panel-strong);
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color: var(--ink);
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border-radius: 4px;
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font: inherit;
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}
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button {
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min-height: 32px;
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border: 1px solid #9aa8b2;
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background: #ffffff;
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color: #1f2933;
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border-radius: 4px;
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padding: 0 10px;
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white-space: nowrap;
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}
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button:hover,
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select:hover {
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border-color: var(--accent);
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}
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button[aria-pressed="true"] {
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background: var(--accent-dark);
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color: #ffffff;
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border-color: var(--accent-dark);
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}
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output {
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color: var(--muted);
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font-size: 12px;
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}
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.object-tree {
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@@ -58,7 +120,11 @@ button {
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.object-tree ul {
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margin: 0;
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padding-left: 18px;
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line-height: 1.8;
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line-height: 1.75;
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}
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.object-tree li {
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overflow-wrap: anywhere;
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}
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.viewport {
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@@ -75,10 +141,20 @@ button {
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width: calc(100% - 48px);
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}
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.viewport circle {
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fill: var(--accent-dark);
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}
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[data-path-current] {
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fill: #b8542f;
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stroke: #ffffff;
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stroke-width: 3;
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}
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.robot-arm {
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position: absolute;
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left: 12%;
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top: 20%;
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top: 18%;
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width: 62%;
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height: 48%;
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}
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@@ -114,7 +190,7 @@ button {
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.pendant dl {
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display: grid;
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grid-template-columns: 84px 1fr;
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grid-template-columns: 78px minmax(0, 1fr);
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gap: 8px;
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margin: 0;
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}
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@@ -123,6 +199,11 @@ button {
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font-weight: 700;
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}
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.pendant dd {
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margin: 0;
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overflow-wrap: anywhere;
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}
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.editor {
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grid-column: 1 / 3;
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padding: 12px;
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@@ -138,43 +219,126 @@ button {
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.editor pre {
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margin: 0;
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padding: 12px;
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background: #1f2933;
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min-height: 150px;
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background: #202a33;
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color: #f8fafb;
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overflow: auto;
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line-height: 1.45;
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border-radius: 4px;
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}
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.bottom-panel {
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grid-column: 1 / 4;
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padding: 12px;
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display: grid;
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grid-template-columns: repeat(7, minmax(100px, 1fr));
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grid-template-columns: repeat(9, minmax(100px, 1fr));
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gap: 8px;
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overflow: auto;
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}
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.bottom-panel div {
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border: 1px solid #c7d0d6;
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.bottom-panel > div {
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border: 1px solid var(--line);
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padding: 8px;
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background: #ffffff;
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background: var(--panel-strong);
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display: grid;
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gap: 6px;
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min-width: 0;
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align-content: start;
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}
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.bottom-panel span {
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overflow-wrap: anywhere;
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}
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@media (max-width: 840px) {
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.bottom-panel progress {
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width: 100%;
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height: 8px;
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}
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.steps-panel,
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.trajectory-panel {
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grid-column: 1 / -1;
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min-height: 150px;
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}
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.steps-table-wrap,
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.trajectory-table-wrap {
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overflow: auto;
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border: 1px solid var(--line);
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max-height: 260px;
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}
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table {
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width: 100%;
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border-collapse: collapse;
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font-size: 12px;
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}
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th,
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td {
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border-bottom: 1px solid #e1e7eb;
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border-right: 1px solid #e1e7eb;
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padding: 6px 7px;
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text-align: left;
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white-space: nowrap;
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}
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th {
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position: sticky;
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top: 0;
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z-index: 1;
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background: var(--rail);
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}
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tr[aria-current="true"] td {
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background: #e6f2f4;
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color: #0f4d5d;
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font-weight: 700;
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}
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tr[data-step-state="active"] td {
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background: #fff2cc;
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color: #6f4b00;
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font-weight: 700;
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}
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tr[data-step-state="complete"] td {
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background: #f4f7f8;
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color: var(--muted);
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}
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@media (max-width: 1180px) {
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.command-bar {
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grid-template-columns: auto minmax(200px, 1fr) repeat(7, auto);
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}
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.frame-control {
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grid-column: 1 / -1;
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}
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}
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@media (max-width: 900px) {
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.workbench {
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grid-template-columns: 1fr;
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grid-template-rows: auto;
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}
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.command-bar,
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.editor {
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.editor,
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.bottom-panel {
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grid-column: auto;
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}
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.command-bar {
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grid-template-columns: 1fr 1fr;
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}
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.station-title,
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.program-picker,
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.frame-control {
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grid-column: 1 / -1;
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}
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.bottom-panel {
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grid-template-columns: 1fr 1fr;
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}
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@@ -183,3 +347,33 @@ button {
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min-height: 300px;
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}
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}
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@media (max-width: 560px) {
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.command-bar {
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grid-template-columns: repeat(3, minmax(0, 1fr));
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}
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.command-bar button {
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padding: 0 6px;
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min-width: 0;
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overflow: hidden;
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text-overflow: ellipsis;
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}
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.station-title,
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.program-picker,
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.frame-control {
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grid-column: 1 / -1;
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}
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.bottom-panel {
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grid-template-columns: 1fr;
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}
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.robot-arm {
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left: 4%;
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width: 80%;
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transform: scale(0.85);
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transform-origin: left top;
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}
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}
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@@ -7,9 +7,16 @@
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<link rel="stylesheet" href="./virtual-controller.css">
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</head>
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<body>
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<main class="workbench" data-robot="abb_irb120_3_58">
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<main class="workbench" data-robot="abb_irb120_3_58" data-suite="working2-abb120-spec" data-job="W2-JOB-latest">
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<header class="command-bar">
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<strong>ABB120 Station</strong>
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<div class="station-title">
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<strong>ABB120 Station</strong>
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<span data-field="job">W2-JOB-latest</span>
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</div>
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<label class="program-picker">
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<span>Program</span>
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<select data-program-select aria-label="Program"></select>
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</label>
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<button type="button" data-command="load">Load</button>
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<button type="button" data-command="run">Run</button>
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<button type="button" data-command="pause">Pause</button>
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@@ -17,21 +24,28 @@
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<button type="button" data-command="stop">Stop</button>
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<button type="button" data-command="reset">Reset</button>
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<button type="button" data-command="export">Export</button>
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<label class="frame-control">
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<span>Sample</span>
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<input type="range" min="0" max="0" value="0" data-frame-slider aria-label="Execution sample">
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<output data-field="frame">0 / 0</output>
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</label>
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</header>
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<aside class="object-tree">
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<h2>Station</h2>
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<ul>
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<ul data-object-tree>
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<li>Robot: abb_irb120_3_58</li>
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<li>Tool: tool0</li>
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<li>Frame: world</li>
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<li>Path: pick_place</li>
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<li>Operation: pick_op</li>
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<li>Program: main</li>
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<li>Reports</li>
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<li>Program: W2_60_IOWaitPulse</li>
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<li>Suite: working2-abb120-spec</li>
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<li>Job: W2-JOB-latest</li>
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</ul>
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</aside>
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<section class="viewport" aria-label="station viewport">
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<div class="robot-arm">
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<div class="robot-arm" aria-hidden="true">
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<span class="joint j1"></span>
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<span class="link l1"></span>
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<span class="joint j2"></span>
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@@ -41,23 +55,27 @@
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<span class="joint j4"></span>
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</div>
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<svg viewBox="0 0 480 240" role="img" aria-label="path trace">
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<path d="M70 170 C150 80 260 80 410 150" fill="none" stroke="#1f7a8c" stroke-width="4"/>
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<circle cx="70" cy="170" r="6"/>
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<circle cx="250" cy="90" r="6"/>
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<circle cx="410" cy="150" r="6"/>
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<path data-path-trace d="M70 170 C150 80 260 80 410 150" fill="none" stroke="#1f7a8c" stroke-width="4"/>
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<circle data-path-start cx="70" cy="170" r="6"/>
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<circle data-path-current cx="70" cy="170" r="8"/>
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<circle data-path-end cx="410" cy="150" r="6"/>
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</svg>
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</section>
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<aside class="pendant">
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<h2>Controller</h2>
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<dl>
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<dt>State</dt><dd data-field="state">ready</dd>
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<dt>Program</dt><dd data-field="program">W2_60_IOWaitPulse</dd>
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<dt>Mode</dt><dd data-field="mode">auto</dd>
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<dt>Motors</dt><dd data-field="motors">on</dd>
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<dt>PC</dt><dd data-field="pc">main:0</dd>
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<dt>Time</dt><dd data-field="runtime">0 / 0 s @ 50 ms</dd>
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<dt>Joints</dt><dd data-field="joints">[0, 0, 0, 0, 0, 0]</dd>
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<dt>TCP</dt><dd data-field="tcp">[0, 0, 580, 0, 0, 0]</dd>
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<dt>TCP</dt><dd data-field="tcp">pos [0.374, 0, 0.63] q [0, 0.707107, 0, 0.707107]</dd>
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</dl>
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</aside>
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<section class="editor">
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<nav>
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<button type="button" data-tab="grl" aria-pressed="true">GRL</button>
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@@ -69,6 +87,7 @@
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run_path pick_place
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end</pre>
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</section>
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<section class="bottom-panel">
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<div><strong>Log</strong><span data-field="log">ready</span></div>
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<div><strong>Diagnostics</strong><span data-field="diagnostics">ready</span></div>
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@@ -76,7 +95,54 @@ end</pre>
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<div><strong>Wait</strong><span data-field="wait">none</span></div>
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<div><strong>Motion Queue</strong><span data-field="queue">empty</span></div>
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<div><strong>Trace</strong><span data-field="trace">0 events</span></div>
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<div><strong>Reports</strong><span data-field="reports">A120-REPORT</span></div>
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<div><strong>Reports</strong><span data-field="reports">W2-REPORT</span></div>
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<div><strong>Parser</strong><span data-field="parser">idle</span><progress data-parser-progress max="1" value="0" aria-label="Parser progress"></progress></div>
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<div><strong>Storage</strong><span data-field="storage">checking browser storage</span></div>
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<div class="steps-panel">
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<strong>Program Steps</strong>
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<span data-field="step-status">step 0</span>
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<div class="steps-table-wrap">
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<table>
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<thead>
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<tr>
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<th>#</th>
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<th>Time</th>
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<th>Line</th>
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<th>Step</th>
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<th>Source</th>
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<th>Motion/Target</th>
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<th>Samples</th>
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</tr>
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</thead>
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<tbody data-step-table></tbody>
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</table>
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</div>
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</div>
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<div class="trajectory-panel">
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<strong>Trajectory Frames</strong>
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<span data-field="frame-time">t=0 s</span>
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<div class="trajectory-table-wrap">
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<table>
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<thead>
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<tr>
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<th>#</th>
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<th>t</th>
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<th>Motion</th>
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<th>Target</th>
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<th>TCP XYZ</th>
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<th>TCP Q</th>
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<th>J1</th>
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<th>J2</th>
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<th>J3</th>
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<th>J4</th>
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<th>J5</th>
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<th>J6</th>
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</tr>
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</thead>
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<tbody data-frame-table></tbody>
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</table>
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</div>
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</div>
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</section>
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</main>
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<script src="./virtual-controller.js"></script>
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File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user