feat: Add new robot Fanuc LR Mate 200iD/4S

src/components/robots/FANUC_LR_Mate_200iD4S.tsx

@@ -0,0 +1,112 @@
+/*
+Auto-generated by: https://github.com/pmndrs/gltfjsx
+*/
+
+import { animated } from "@react-spring/three"
+import { useGLTF } from "@react-three/drei"
+import type { RobotModelProps } from "./types"
+
+FANUC_LR_Mate_200iD4S.config = {
+  rotationOffsets: [0, Math.PI / 2, 0, 0, 0, 0],
+}
+
+export function FANUC_LR_Mate_200iD4S({
+  modelURL,
+  flangeRef,
+  ...props
+}: RobotModelProps) {
+  const { nodes, materials } = useGLTF(modelURL) as any
+  return (
+    <group {...props} dispose={null}>
+      <group name="Empty">
+        <mesh
+          name="link_0"
+          geometry={nodes.link_0.geometry}
+          material={materials.fanuc_metal_black}
+        />
+        <animated.group name="FANUC_LRMATE200ID4S_J00">
+          <animated.group
+            name="FANUC_LRMATE200ID4S_J01"
+            rotation={[Math.PI / 2, Math.PI / 2, 0]}
+          >
+            <animated.group
+              name="FANUC_LRMATE200ID4S_J02"
+              position={[0.26, 0, 0]}
+            >
+              <animated.group
+                name="FANUC_LRMATE200ID4S_J03"
+                position={[0.02, 0, 0]}
+                rotation={[-Math.PI / 2, 0, 0]}
+              >
+                <animated.group
+                  name="FANUC_LRMATE200ID4S_J04"
+                  position={[0, -0.29, 0]}
+                  rotation={[Math.PI / 2, 0, 0]}
+                >
+                  <animated.group
+                    name="FANUC_LRMATE200ID4S_J05"
+                    rotation={[-Math.PI / 2, 0, 0]}
+                  >
+                    <group
+                      name="FANUC_LRMATE200ID4S_FLG"
+                      position={[0, -0.07, 0]}
+                      rotation={[-Math.PI, 0, 0]}
+                    />
+                    <mesh
+                      name="link_6"
+                      geometry={nodes.link_6.geometry}
+                      material={materials.fanuc_metal_black}
+                      position={[-0.28, 0.29, 0]}
+                      rotation={[0, 0, -Math.PI / 2]}
+                    />
+                  </animated.group>
+                  <mesh
+                    name="link_5"
+                    geometry={nodes.link_5.geometry}
+                    material={materials.fanuc_yellow}
+                    position={[-0.28, 0, -0.29]}
+                    rotation={[-Math.PI / 2, 0, -Math.PI / 2]}
+                  />
+                </animated.group>
+                <group
+                  name="link_4"
+                  position={[-0.28, 0, 0]}
+                  rotation={[0, 0, -Math.PI / 2]}
+                >
+                  <mesh
+                    name="J3ARM_UNIT"
+                    geometry={nodes.J3ARM_UNIT.geometry}
+                    material={materials.fanuc_yellow}
+                  />
+                  <mesh
+                    name="J3ARM_UNIT_1"
+                    geometry={nodes.J3ARM_UNIT_1.geometry}
+                    material={materials.fanuc_aluminium_black}
+                  />
+                </group>
+              </animated.group>
+              <mesh
+                name="link_3"
+                geometry={nodes.link_3.geometry}
+                material={materials.fanuc_yellow}
+                position={[-0.26, 0, 0]}
+                rotation={[-Math.PI / 2, 0, -Math.PI / 2]}
+              />
+            </animated.group>
+            <mesh
+              name="link_2"
+              geometry={nodes.link_2.geometry}
+              material={materials.fanuc_yellow}
+              rotation={[-Math.PI / 2, 0, -Math.PI / 2]}
+            />
+          </animated.group>
+          <mesh
+            name="link_1"
+            geometry={nodes.link_1.geometry}
+            material={materials.fanuc_yellow}
+          />
+        </animated.group>
+      </group>
+    </group>
+  )
+}

src/components/robots/FANUC_LR_MATE_200iD7L.tsx → src/components/robots/FANUC_LR_Mate_200iD7L.tsx

@@ -6,11 +6,11 @@ import { animated } from "@react-spring/three"
 import { useGLTF } from "@react-three/drei"
 import type { RobotModelProps } from "./types"
 
-FANUC_LR_MATE_200iD7L.config = {
+FANUC_LR_Mate_200iD7L.config = {
   rotationOffsets: [0, Math.PI / 2, 0, 0, 0, 0],
 }
 
-export function FANUC_LR_MATE_200iD7L({
+export function FANUC_LR_Mate_200iD7L({
   modelURL,
   flangeRef,
   ...props

src/components/robots/SupportedRobot.tsx

@@ -9,7 +9,8 @@ import { FANUC_CRX20iAL } from "./FANUC_CRX20iAL"
 import { FANUC_CRX25iA } from "./FANUC_CRX25iA"
 import { FANUC_CRX25iAL } from "./FANUC_CRX25iAL"
 import { FANUC_LR_Mate_200iD } from "./FANUC_LR_Mate_200iD"
-import { FANUC_LR_MATE_200iD7L } from "./FANUC_LR_MATE_200iD7L"
+import { FANUC_LR_Mate_200iD4S } from "./FANUC_LR_Mate_200iD4S"
+import { FANUC_LR_Mate_200iD7L } from "./FANUC_LR_Mate_200iD7L"
 import { KUKA_KR16_R2010_2 } from "./KUKA_KR16_R2010_2"
 import { KUKA_KR210_R2700 } from "./KUKA_KR210_R2700"
 import { KUKA_KR270_R2700 } from "./KUKA_KR270_R2700"
@@ -221,8 +222,11 @@ export const SupportedRobot = externalizeComponent(
       case "FANUC_LR_Mate_200iD":
         Robot = FANUC_LR_Mate_200iD
         break
+      case "FANUC_LR_Mate_200iD4S":
+        Robot = FANUC_LR_Mate_200iD4S
+        break
       case "FANUC_LR_Mate_200iD7L":
-        Robot = FANUC_LR_MATE_200iD7L
+        Robot = FANUC_LR_Mate_200iD7L
         break
       case "FANUC_ARC_Mate_120iD":
         Robot = FANUC_ARC_Mate_120iD

stories/robots/FANUC_LR_Mate_200iD4S.stories.tsx

@@ -0,0 +1,73 @@
+import type { StoryObj } from "@storybook/react"
+import { SupportedRobot } from "../../src"
+import { rapidlyChangingMotionState } from "./motionState"
+import { sharedStoryConfig } from "./robotStoryConfig"
+
+export default {
+  ...sharedStoryConfig,
+  tags: ["!autodocs"],
+  title: "3D View/Robot/Supported Models/FANUC_LR_Mate_200iD4S",
+}
+
+function SupportedRobotScene(
+  props: React.ComponentProps<typeof SupportedRobot>,
+) {
+  return (
+    <SupportedRobot
+      {...props}
+      rapidlyChangingMotionState={rapidlyChangingMotionState}
+      dhParameters={[
+        {
+          a: 0,
+          d: 0,
+          alpha: 1.5707963267948966,
+          theta: 0,
+          reverse_rotation_direction: false,
+        },
+        {
+          a: 260,
+          d: 0,
+          alpha: 0,
+          theta: 1.5707963267948966,
+          reverse_rotation_direction: false,
+        },
+        {
+          a: 20,
+          d: 0,
+          alpha: -1.5707963267948966,
+          theta: 0,
+          reverse_rotation_direction: false,
+        },
+        {
+          a: 0,
+          d: -290,
+          alpha: 1.5707963267948966,
+          theta: 0,
+          reverse_rotation_direction: false,
+        },
+        {
+          a: 0,
+          d: 0,
+          alpha: -1.5707963267948966,
+          theta: 0,
+          reverse_rotation_direction: false,
+        },
+        {
+          a: 0,
+          d: -70,
+          alpha: 3.1415926535897931,
+          theta: 0,
+          reverse_rotation_direction: false,
+        },
+      ]}
+    />
+  )
+}
+
+export const RobotStory: StoryObj<typeof SupportedRobotScene> = {
+  args: {
+    modelFromController: "FANUC_LR_Mate_200iD4S",
+  },
+  render: (args) => <SupportedRobotScene {...args} />,
+  name: "FANUC_LR_Mate_200iD4S",
+}