@wandelbots/nova-js 1.17.1-pr.feat-added-v2-client.64.9ac2247

package/src/lib/v2/mock/MockNovaInstance.ts

@@ -0,0 +1,982 @@
+import type {
+  ControllersList,
+  MotionGroupSpecification,
+  MotionGroupState,
+  RobotController,
+  SafetySetup,
+} from "@wandelbots/nova-api/v2"
+import type { AxiosResponse, InternalAxiosRequestConfig } from "axios"
+import { AxiosError } from "axios"
+import * as pathToRegexp from "path-to-regexp"
+import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
+
+/**
+ * EXPERIMENTAL
+ * Ultra-simplified mock Nova server for testing stuff
+ */
+export class MockNovaInstance {
+  readonly connections: AutoReconnectingWebsocket[] = []
+
+  async handleAPIRequest(
+    config: InternalAxiosRequestConfig,
+  ): Promise<AxiosResponse> {
+    const apiHandlers = [
+      {
+        method: "GET",
+        path: "/cells/:cellId/controllers",
+        handle() {
+          return {
+            controllers: [
+              {
+                controller: "mock-ur5e",
+                model_name: "UniversalRobots::Controller",
+                host: "mock-ur5e",
+                allow_software_install_on_controller: true,
+                motion_groups: [
+                  {
+                    motion_group: "0@mock-ur5e",
+                    name_from_controller: "UR5e",
+                    active: false,
+                    model_from_controller: "UniversalRobots_UR5e",
+                  },
+                ],
+                has_error: false,
+                error_details: "",
+              },
+            ],
+          } satisfies ControllersList
+        },
+      },
+      {
+        method: "GET",
+        path: "/cells/:cellId/controllers/:controllerId",
+        handle() {
+          return {
+            configuration: {
+              kind: "VirtualController",
+              manufacturer: "universalrobots",
+              position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
+              type: "universalrobots-ur5e",
+            },
+            name: "mock-ur5",
+          } satisfies RobotController
+        },
+      },
+      {
+        method: "GET",
+        path: "/cells/:cellId/motion-groups/:motionGroupId/specification",
+        handle() {
+          return {
+            dh_parameters: [
+              {
+                alpha: 1.5707963267948966,
+                theta: 0,
+                a: 0,
+                d: 162.25,
+                reverse_rotation_direction: false,
+              },
+              {
+                alpha: 0,
+                theta: 0,
+                a: -425,
+                d: 0,
+                reverse_rotation_direction: false,
+              },
+              {
+                alpha: 0,
+                theta: 0,
+                a: -392.2,
+                d: 0,
+                reverse_rotation_direction: false,
+              },
+              {
+                alpha: 1.5707963267948966,
+                theta: 0,
+                a: 0,
+                d: 133.3,
+                reverse_rotation_direction: false,
+              },
+              {
+                alpha: -1.5707963267948966,
+                theta: 0,
+                a: 0,
+                d: 99.7,
+                reverse_rotation_direction: false,
+              },
+              {
+                alpha: 0,
+                theta: 0,
+                a: 0,
+                d: 99.6,
+                reverse_rotation_direction: false,
+              },
+            ],
+            mechanical_joint_limits: [
+              {
+                joint: "JOINTNAME_AXIS_1",
+                lower_limit: -6.335545063018799,
+                upper_limit: 6.335545063018799,
+                unlimited: false,
+              },
+              {
+                joint: "JOINTNAME_AXIS_2",
+                lower_limit: -6.335545063018799,
+                upper_limit: 6.335545063018799,
+                unlimited: false,
+              },
+              {
+                joint: "JOINTNAME_AXIS_3",
+                lower_limit: -6.335545063018799,
+                upper_limit: 6.335545063018799,
+                unlimited: false,
+              },
+              {
+                joint: "JOINTNAME_AXIS_4",
+                lower_limit: -6.335545063018799,
+                upper_limit: 6.335545063018799,
+                unlimited: false,
+              },
+              {
+                joint: "JOINTNAME_AXIS_5",
+                lower_limit: -6.335545063018799,
+                upper_limit: 6.335545063018799,
+                unlimited: false,
+              },
+              {
+                joint: "JOINTNAME_AXIS_6",
+                lower_limit: -6.335545063018799,
+                upper_limit: 6.335545063018799,
+                unlimited: false,
+              },
+            ],
+          } satisfies MotionGroupSpecification
+        },
+      },
+      {
+        method: "GET",
+        path: "/cells/:cellId/motion-groups/:motionGroupId/safety-setup",
+        handle() {
+          return {
+            safety_settings: [
+              {
+                safety_state: "SAFETY_NORMAL",
+                settings: {
+                  joint_position_limits: [
+                    {
+                      joint: "JOINTNAME_AXIS_1",
+                      lower_limit: -2.96705961227417,
+                      upper_limit: 2.96705961227417,
+                      unlimited: false,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_2",
+                      lower_limit: -1.7453292608261108,
+                      upper_limit: 2.7925267219543457,
+                      unlimited: false,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_3",
+                      lower_limit: -3.3161256313323975,
+                      upper_limit: 0.40142571926116943,
+                      unlimited: false,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_4",
+                      lower_limit: -3.4906585216522217,
+                      upper_limit: 3.4906585216522217,
+                      unlimited: false,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_5",
+                      lower_limit: -2.4434609413146973,
+                      upper_limit: 2.4434609413146973,
+                      unlimited: false,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_6",
+                      lower_limit: -4.71238899230957,
+                      upper_limit: 4.71238899230957,
+                      unlimited: false,
+                    },
+                  ],
+                  joint_velocity_limits: [
+                    {
+                      joint: "JOINTNAME_AXIS_1",
+                      limit: 3.1415927410125732,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_2",
+                      limit: 3.1415927410125732,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_3",
+                      limit: 3.4906585216522217,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_4",
+                      limit: 6.108652591705322,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_5",
+                      limit: 6.108652591705322,
+                    },
+                    {
+                      joint: "JOINTNAME_AXIS_6",
+                      limit: 6.981317043304443,
+                    },
+                  ],
+                  joint_acceleration_limits: [],
+                  joint_torque_limits: [],
+                  tcp_velocity_limit: 1800,
+                },
+              },
+            ],
+            safety_zones: [
+              {
+                id: 1,
+                priority: 0,
+                geometry: {
+                  compound: {
+                    child_geometries: [
+                      {
+                        convex_hull: {
+                          vertices: [
+                            { vertex: [-800, -1330, -1820] },
+                            { vertex: [1650, -1330, -1820] },
+                            { vertex: [1650, 1330, -1820] },
+                            { vertex: [-800, 1330, -1820] },
+                          ],
+                        },
+                        init_pose: {
+                          position: [0, 0, 0],
+                          orientation: [0, 0, 0, 1],
+                        },
+                        id: "box",
+                      },
+                      {
+                        convex_hull: {
+                          vertices: [
+                            {
+                              vertex: [-800, -1330, -1820],
+                            },
+                            {
+                              vertex: [1650, -1330, -1820],
+                            },
+                            {
+                              vertex: [1650, -1330, 1500],
+                            },
+                            {
+                              vertex: [-800, -1330, 1500],
+                            },
+                          ],
+                        },
+                        init_pose: {
+                          position: [0, 0, 0],
+                          orientation: [0, 0, 0, 1],
+                        },
+                        id: "box",
+                      },
+                      {
+                        convex_hull: {
+                          vertices: [
+                            {
+                              vertex: [-800, -1330, -1820],
+                            },
+                            {
+                              vertex: [-800, 1330, -1820],
+                            },
+                            {
+                              vertex: [-800, 1330, 1500],
+                            },
+                            {
+                              vertex: [-800, -1330, 1500],
+                            },
+                          ],
+                        },
+                        init_pose: {
+                          position: [0, 0, 0],
+                          orientation: [0, 0, 0, 1],
+                        },
+                        id: "box",
+                      },
+                      {
+                        convex_hull: {
+                          vertices: [
+                            {
+                              vertex: [1650, 1330, 1500],
+                            },
+                            {
+                              vertex: [-800, 1330, 1500],
+                            },
+                            {
+                              vertex: [-800, -1330, 1500],
+                            },
+                            {
+                              vertex: [1650, -1330, 1500],
+                            },
+                          ],
+                        },
+                        init_pose: {
+                          position: [0, 0, 0],
+                          orientation: [0, 0, 0, 1],
+                        },
+                        id: "box",
+                      },
+                      {
+                        convex_hull: {
+                          vertices: [
+                            {
+                              vertex: [1650, 1330, 1500],
+                            },
+                            {
+                              vertex: [-800, 1330, 1500],
+                            },
+                            {
+                              vertex: [-800, 1330, -1820],
+                            },
+                            {
+                              vertex: [1650, 1330, -1820],
+                            },
+                          ],
+                        },
+                        init_pose: {
+                          position: [0, 0, 0],
+                          orientation: [0, 0, 0, 1],
+                        },
+                        id: "box",
+                      },
+                      {
+                        convex_hull: {
+                          vertices: [
+                            {
+                              vertex: [1650, 1330, 1500],
+                            },
+                            {
+                              vertex: [1650, -1330, 1500],
+                            },
+                            {
+                              vertex: [1650, -1330, -1820],
+                            },
+                            {
+                              vertex: [1650, 1330, -1820],
+                            },
+                          ],
+                        },
+                        init_pose: {
+                          position: [0, 0, 0],
+                          orientation: [0, 0, 0, 1],
+                        },
+                        id: "box",
+                      },
+                    ],
+                  },
+                  init_pose: {
+                    position: [0, 0, 0],
+                    orientation: [0, 0, 0, 1],
+                  },
+                  id: "Cell workzone",
+                },
+                motion_group_uid: 1,
+              },
+              {
+                id: 2,
+                priority: 0,
+                geometry: {
+                  convex_hull: {
+                    vertices: [
+                      {
+                        vertex: [1650, 1330, -1850],
+                      },
+                      {
+                        vertex: [865, 1330, -1850],
+                      },
+                      {
+                        vertex: [865, -720, -1850],
+                      },
+                      {
+                        vertex: [1650, -720, -1850],
+                      },
+                      {
+                        vertex: [1650, 1330, -920],
+                      },
+                      {
+                        vertex: [865, 1330, -920],
+                      },
+                      {
+                        vertex: [865, -720, -920],
+                      },
+                      {
+                        vertex: [1650, -720, -920],
+                      },
+                    ],
+                  },
+                  init_pose: {
+                    position: [0, 0, 0],
+                    orientation: [0, 0, 0, 1],
+                  },
+                  id: "Transport",
+                },
+                motion_group_uid: 1,
+              },
+              {
+                id: 3,
+                priority: 0,
+                geometry: {
+                  convex_hull: {
+                    vertices: [
+                      {
+                        vertex: [1650, 1330, -600],
+                      },
+                      {
+                        vertex: [865, 1330, -600],
+                      },
+                      {
+                        vertex: [865, 430, -600],
+                      },
+                      {
+                        vertex: [1650, 430, -600],
+                      },
+                      {
+                        vertex: [1650, 1330, -1250],
+                      },
+                      {
+                        vertex: [865, 1330, -1250],
+                      },
+                      {
+                        vertex: [865, 430, -1250],
+                      },
+                      {
+                        vertex: [1650, 430, -1250],
+                      },
+                    ],
+                  },
+                  init_pose: {
+                    position: [0, 0, 0],
+                    orientation: [0, 0, 0, 1],
+                  },
+                  id: "Tunel",
+                },
+                motion_group_uid: 1,
+              },
+              {
+                id: 4,
+                priority: 0,
+                geometry: {
+                  convex_hull: {
+                    vertices: [
+                      {
+                        vertex: [1650, -760, -440],
+                      },
+                      {
+                        vertex: [900, -760, -440],
+                      },
+                      {
+                        vertex: [900, -1330, -440],
+                      },
+                      {
+                        vertex: [1650, -1330, -440],
+                      },
+                      {
+                        vertex: [1650, -760, -1800],
+                      },
+                      {
+                        vertex: [900, -760, -1800],
+                      },
+                      {
+                        vertex: [900, -1330, -1800],
+                      },
+                      {
+                        vertex: [1650, -1330, -1800],
+                      },
+                    ],
+                  },
+                  init_pose: {
+                    position: [0, 0, 0],
+                    orientation: [0, 0, 0, 1],
+                  },
+                  id: "Fanuc controller",
+                },
+                motion_group_uid: 1,
+              },
+              {
+                id: 6,
+                priority: 0,
+                geometry: {
+                  convex_hull: {
+                    vertices: [
+                      {
+                        vertex: [-200, -200, -1900],
+                      },
+                      {
+                        vertex: [200, -200, -1900],
+                      },
+                      {
+                        vertex: [200, 200, -1900],
+                      },
+                      {
+                        vertex: [-200, 200, -1900],
+                      },
+                      {
+                        vertex: [-200, -200, -350],
+                      },
+                      {
+                        vertex: [200, -200, -350],
+                      },
+                      {
+                        vertex: [200, 200, -350],
+                      },
+                      {
+                        vertex: [-200, 200, -350],
+                      },
+                    ],
+                  },
+                  init_pose: {
+                    position: [0, 0, 0],
+                    orientation: [0, 0, 0, 1],
+                  },
+                  id: "Robot base",
+                },
+                motion_group_uid: 1,
+              },
+            ],
+            robot_model_geometries: [
+              {
+                link_index: 1,
+                geometry: {
+                  sphere: {
+                    radius: 270,
+                  },
+                  init_pose: {
+                    position: [-70, -70, -50],
+                    orientation: [0, 0, 0, 1],
+                  },
+                  id: "link1_sphere",
+                },
+              },
+              {
+                link_index: 2,
+                geometry: {
+                  capsule: {
+                    radius: 160,
+                    cylinder_height: 800,
+                  },
+                  init_pose: {
+                    position: [-450, 40, 170],
+                    orientation: [
+                      0, -0.7071067811865475, 0, 0.7071067811865476,
+                    ],
+                  },
+                  id: "link2_capsule",
+                },
+              },
+              {
+                link_index: 3,
+                geometry: {
+                  sphere: {
+                    radius: 270,
+                  },
+                  init_pose: {
+                    position: [-110, 10, -100],
+                    orientation: [0, 0, 0, 1],
+                  },
+                  id: "link3_sphere",
+                },
+              },
+              {
+                link_index: 4,
+                geometry: {
+                  capsule: {
+                    radius: 110,
+                    cylinder_height: 600,
+                  },
+                  init_pose: {
+                    position: [0, 300, 40],
+                    orientation: [
+                      -0.7071067811865475, 0, 0, 0.7071067811865476,
+                    ],
+                  },
+                  id: "link4_capsule",
+                },
+              },
+              {
+                link_index: 5,
+                geometry: {
+                  sphere: {
+                    radius: 75,
+                  },
+                  init_pose: {
+                    position: [0, 0, -50],
+                    orientation: [0, 0, 0, 1],
+                  },
+                  id: "link5_sphere",
+                },
+              },
+            ],
+            tool_geometries: [],
+          } satisfies SafetySetup
+        },
+      },
+      {
+        method: "GET",
+        path: "/cells/:cellId/coordinate-systems",
+        handle() {
+          return {
+            coordinatesystems: [
+              {
+                coordinate_system: "",
+                name: "world",
+                reference_uid: "",
+                position: [0, 0, 0],
+                rotation: {
+                  angles: [0, 0, 0],
+                  type: "ROTATION_VECTOR",
+                },
+              },
+            ],
+          } //satisfies CoordinateSystems
+        },
+      },
+      {
+        method: "GET",
+        path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",
+        handle() {
+          return {
+            tcps: [
+              {
+                id: "Flange",
+                readable_name: "Default-Flange",
+                position: [0, 0, 0],
+                rotation: {
+                  angles: [0, 0, 0, 0],
+                  type: "ROTATION_VECTOR",
+                },
+              },
+              {
+                id: "complex-tcp-position",
+                readable_name: "Complex TCP Position",
+                position: [-200, 300, 150],
+                rotation: {
+                  angles: [
+                    -0.12139440409113832, -0.06356210998212003,
+                    -0.2023240068185639, 0,
+                  ],
+                  type: "ROTATION_VECTOR",
+                },
+              },
+            ],
+          }
+        },
+      },
+    ]
+
+    const method = config.method?.toUpperCase() || "GET"
+    const path = "/cells" + config.url?.split("/cells")[1]?.split("?")[0]
+
+    for (const handler of apiHandlers) {
+      const match = pathToRegexp.match(handler.path)(path || "")
+      if (method === handler.method && match) {
+        const json = handler.handle()
+        return {
+          status: 200,
+          statusText: "Success",
+          data: JSON.stringify(json),
+          headers: {},
+          config,
+          request: {
+            responseURL: config.url,
+          },
+        }
+      }
+    }
+
+    throw new AxiosError(
+      `No mock handler matched this request: ${method} ${path}`,
+      "404",
+      config,
+    )
+
+    // return {
+    //   status: 404,
+    //   statusText: "Not Found",
+    //   data: "",
+    //   headers: {},
+    //   config,
+    //   request: {
+    //     responseURL: config.url,
+    //   },
+    // }
+  }
+
+  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {
+    this.connections.push(socket)
+
+    setTimeout(() => {
+      socket.dispatchEvent(new Event("open"))
+
+      console.log("Websocket connection opened from", socket.url)
+
+      if (socket.url.includes("/state-stream")) {
+        socket.dispatchEvent(
+          new MessageEvent("message", {
+            data: JSON.stringify(defaultMotionState),
+          }),
+        )
+      }
+
+      if (socket.url.includes("/move-joint")) {
+        socket.dispatchEvent(
+          new MessageEvent("message", {
+            data: JSON.stringify({
+              result: {
+                motion_group: "0@ur",
+                state: {
+                  controller: "ur",
+                  operation_mode: "OPERATION_MODE_AUTO",
+                  safety_state: "SAFETY_STATE_NORMAL",
+                  timestamp: "2024-09-18T12:48:26.096266444Z",
+                  velocity_override: 100,
+                  motion_groups: [
+                    {
+                      motion_group: "0@ur",
+                      controller: "ur",
+                      joint_position: {
+                        joints: [
+                          1.3492152690887451, -1.5659207105636597,
+                          1.6653711795806885, -1.0991662740707397,
+                          -1.829018235206604, 1.264623761177063,
+                        ],
+                      },
+                      joint_velocity: {
+                        joints: [0, 0, 0, 0, 0, 0],
+                      },
+                      flange_pose: {
+                        position: [
+                          6.437331889439328, -628.4123774830913,
+                          577.0569957147832,
+                        ],
+                        orientation: {
+                          x: -1.683333649797158,
+                          y: -1.9783363827298732,
+                          z: -0.4928031860165713,
+                        },
+                        coordinate_system: "",
+                      },
+                      tcp_pose: {
+                        position: [
+                          6.437331889439328, -628.4123774830913,
+                          577.0569957147832,
+                        ],
+                        orientation: {
+                          x: -1.683333649797158,
+                          y: -1.9783363827298732,
+                          z: -0.4928031860165713,
+                        },
+                        coordinate_system: "",
+                        tcp: "Flange",
+                      },
+                      velocity: {
+                        linear: {
+                          x: 0,
+                          y: 0,
+                          z: 0,
+                        },
+                        angular: {
+                          x: -0,
+                          y: 0,
+                          z: 0,
+                        },
+                        coordinate_system: "",
+                      },
+                      force: {
+                        force: {
+                          x: 0,
+                          y: 0,
+                          z: 0,
+                        },
+                        moment: {
+                          x: 0,
+                          y: 0,
+                          z: 0,
+                        },
+                        coordinate_system: "",
+                      },
+                      joint_limit_reached: {
+                        limit_reached: [
+                          false,
+                          false,
+                          false,
+                          false,
+                          false,
+                          false,
+                        ],
+                      },
+                      joint_current: {
+                        joints: [0, 0, 0, 0, 0, 0],
+                      },
+                      sequence_number: "671259",
+                    },
+                  ],
+                  sequence_number: "671259",
+                },
+                movement_state: "MOVEMENT_STATE_MOVING",
+              },
+            }),
+          }),
+        )
+      }
+
+      if (socket.url.includes("/move-tcp")) {
+        socket.dispatchEvent(
+          new MessageEvent("message", {
+            data: JSON.stringify({
+              result: {
+                motion_group: "0@ur",
+                state: {
+                  controller: "ur",
+                  operation_mode: "OPERATION_MODE_AUTO",
+                  safety_state: "SAFETY_STATE_NORMAL",
+                  timestamp: "2024-09-18T12:43:12.188335774Z",
+                  velocity_override: 100,
+                  motion_groups: [
+                    {
+                      motion_group: "0@ur",
+                      controller: "ur",
+                      joint_position: {
+                        joints: [
+                          1.3352527618408203, -1.5659207105636597,
+                          1.6653711795806885, -1.110615611076355,
+                          -1.829018235206604, 1.264623761177063,
+                        ],
+                      },
+                      joint_velocity: {
+                        joints: [0, 0, 0, 0, 0, 0],
+                      },
+                      flange_pose: {
+                        position: [
+                          -2.763015284002938, -630.2151479701106,
+                          577.524509114342,
+                        ],
+                        orientation: {
+                          x: -1.704794877102097,
+                          y: -1.9722372952861567,
+                          z: -0.4852079204210754,
+                        },
+                        coordinate_system: "",
+                      },
+                      tcp_pose: {
+                        position: [
+                          -2.763015284002938, -630.2151479701106,
+                          577.524509114342,
+                        ],
+                        orientation: {
+                          x: -1.704794877102097,
+                          y: -1.9722372952861567,
+                          z: -0.4852079204210754,
+                        },
+                        coordinate_system: "",
+                        tcp: "Flange",
+                      },
+                      velocity: {
+                        linear: {
+                          x: 0,
+                          y: 0,
+                          z: 0,
+                        },
+                        angular: {
+                          x: -0,
+                          y: 0,
+                          z: 0,
+                        },
+                        coordinate_system: "",
+                      },
+                      force: {
+                        force: {
+                          x: 0,
+                          y: 0,
+                          z: 0,
+                        },
+                        moment: {
+                          x: 0,
+                          y: 0,
+                          z: 0,
+                        },
+                        coordinate_system: "",
+                      },
+                      joint_limit_reached: {
+                        limit_reached: [
+                          false,
+                          false,
+                          false,
+                          false,
+                          false,
+                          false,
+                        ],
+                      },
+                      joint_current: {
+                        joints: [0, 0, 0, 0, 0, 0],
+                      },
+                      sequence_number: "627897",
+                    },
+                  ],
+                  sequence_number: "627897",
+                },
+                movement_state: "MOVEMENT_STATE_MOVING",
+              },
+            }),
+          }),
+        )
+      }
+    }, 10)
+  }
+
+  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {
+    console.log(`Received message on ${socket.url}`, message)
+  }
+}
+
+const defaultMotionState = {
+  result: {
+    motion_group: "0@universalrobots-ur5e",
+    controller: "universalrobots-ur5e",
+    joint_position: {
+      joints: [
+        1.1699999570846558, -1.5700000524520874, 1.3600000143051147,
+        1.0299999713897705, 1.2899999618530273, 1.2799999713897705,
+      ],
+    },
+    joint_velocity: {
+      joints: [0, 0, 0, 0, 0, 0],
+    },
+    flange_pose: {
+      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
+      orientation: [
+        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,
+      ],
+      coordinate_system: "",
+    },
+    tcp_pose: {
+      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
+      orientation: [
+        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,
+      ],
+      coordinate_system: "",
+      tcp: "Flange",
+    },
+    velocity: {
+      linear: [0, 0, 0],
+      angular: [0, 0, 0],
+      coordinate_system: "",
+    },
+    force: {
+      force: [0, 0, 0],
+      moment: [0, 0, 0],
+      coordinate_system: "",
+    },
+    joint_limit_reached: {
+      limit_reached: [false, false, false, false, false, false],
+    },
+    joint_current: {
+      joints: [0, 0, 0, 0, 0, 0],
+    },
+  } satisfies MotionGroupState,
+}