@wandelbots/nova-js 2.1.3 → 2.1.4

package/dist/lib/v2/index.js

@@ -1610,7 +1610,9 @@ var NovaClient = class {
     }
     const axiosInstance = axios2.create({
       baseURL: urlJoin(this.config.instanceUrl, "/api/v2"),
-      headers: {
+      // TODO - backend needs to set proper CORS headers for this
+      headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : {
+        // Identify the client to the backend for logging purposes
         "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK"
       }
     });

package/dist/lib/v2/index.js.map

@@ -1 +1 @@
-{"version":3,"sources":["../../../src/lib/v2/index.ts","../../../src/lib/v2/ConnectedMotionGroup.ts","../../../src/lib/v2/motionStateUpdate.ts","../../../src/lib/v2/vectorUtils.ts","../../../src/lib/v2/JoggerConnection.ts","../../../src/lib/v2/MotionStreamConnection.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/ProgramStateConnection.ts"],"sourcesContent":["export * from \"@wandelbots/nova-api/v2\"\nexport * from \"./ConnectedMotionGroup\"\nexport * from \"./JoggerConnection\"\nexport * from \"./MotionStreamConnection\"\nexport * from \"./NovaCellAPIClient\"\nexport * from \"./NovaClient\"\nexport * from \"./ProgramStateConnection\"\n","import type {\n  Controller,\n  MotionGroupPhysical,\n  MotionGroupSpecification,\n  MotionGroupState,\n  RobotTcp,\n  SafetySetup,\n} from \"@wandelbots/nova-api/v2\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpPoseEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nexport type MotionGroupOption = {\n  selectionId: string\n} & MotionGroupPhysical\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class ConnectedMotionGroup {\n  static async connect(\n    nova: NovaClient,\n    motionGroupId: string,\n    controllers: Controller[],\n  ) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n    const controller = controllers.find((c) => c.controller === controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // This is used to determine if the robot is virtual or physical\n    let isVirtual = false\n    try {\n      const opMode =\n        await nova.api.virtualRobotMode.getOperationMode(controllerId)\n\n      if (opMode) isVirtual = true\n    } catch (err) {\n      if (err instanceof AxiosError) {\n        console.log(\n          `Received ${err.status} from getOperationMode, concluding that ${controllerId} is physical`,\n        )\n      } else {\n        throw err\n      }\n    }\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const { tcps } = await nova.api.motionGroupInfos.listTcps(motionGroupId)\n\n    const motionGroupSpecification =\n      await nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId)\n\n    const safetySetup =\n      await nova.api.motionGroupInfos.getSafetySetup(motionGroupId)\n\n    return new ConnectedMotionGroup(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n      isVirtual,\n      tcps!,\n      motionGroupSpecification,\n      safetySetup,\n    )\n  }\n\n  connectedJoggingCartesianSocket: WebSocket | null = null\n  connectedJoggingJointsSocket: WebSocket | null = null\n  planData: any | null // tmp\n  joggingVelocity: number = 10\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: Controller,\n    readonly motionGroup: MotionGroupPhysical,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n    readonly isVirtual: boolean,\n    readonly tcps: RobotTcp[],\n    readonly motionGroupSpecification: MotionGroupSpecification,\n    readonly safetySetup: SafetySetup,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const motionStateResponse = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!motionStateResponse) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle motionState message\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position.joints,\n          motionStateResponse.joint_position.joints,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState = motionStateResponse\n        })\n      }\n\n      // handle tcpPose message\n      if (\n        !tcpPoseEqual(\n          this.rapidlyChangingMotionState.tcp_pose,\n          motionStateResponse.tcp_pose,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.tcp_pose =\n            motionStateResponse.tcp_pose\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.motionGroup.model_from_controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  /** Jogging velocity in radians for rotation and joint movement */\n  get joggingVelocityRads() {\n    return (this.joggingVelocity * Math.PI) / 180\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.joints.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  get dhParameters() {\n    return this.motionGroupSpecification.dh_parameters\n  }\n\n  get safetyZones() {\n    return this.safetySetup.safety_zones\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n    if (this.connectedJoggingCartesianSocket)\n      this.connectedJoggingCartesianSocket.close()\n    if (this.connectedJoggingJointsSocket)\n      this.connectedJoggingJointsSocket.close()\n  }\n\n  setJoggingVelocity(velocity: number) {\n    this.joggingVelocity = velocity\n  }\n}\n","import type { TcpPose } from \"@wandelbots/nova-api/v2\"\n\nexport function jointValuesEqual(\n  oldJointValues: number[],\n  newJointValues: number[],\n  changeDeltaThreshold: number,\n): boolean {\n  if (newJointValues.length !== oldJointValues.length) {\n    return true\n  }\n\n  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {\n    if (\n      Math.abs(newJointValues[jointIndex]! - oldJointValues[jointIndex]!) >\n      changeDeltaThreshold\n    ) {\n      return false\n    }\n  }\n\n  return true\n}\n\nexport function tcpPoseEqual(\n  oldTcp: TcpPose | undefined,\n  newTcp: TcpPose | undefined,\n  changeDeltaThreshold: number,\n): boolean {\n  // undefined -> defined (+reverse) transition\n  if ((oldTcp === undefined && newTcp) || (oldTcp && newTcp === undefined)) {\n    return false\n  }\n\n  // the typechecker cannot resolve states to \"!= undefined\" if \"&&\" is used\n  if (oldTcp === undefined || newTcp === undefined) {\n    return true\n  }\n\n  let changedDelta = 0\n  changedDelta += Math.abs(oldTcp.orientation[0] - newTcp.orientation[0])\n  changedDelta += Math.abs(oldTcp.orientation[1] - newTcp.orientation[1])\n  changedDelta += Math.abs(oldTcp.orientation[2] - newTcp.orientation[2])\n  changedDelta += Math.abs(oldTcp.position[0] - newTcp.position[0])\n  changedDelta += Math.abs(oldTcp.position[1] - newTcp.position[1])\n  changedDelta += Math.abs(oldTcp.position[2] - newTcp.position[2])\n\n  if (changedDelta > changeDeltaThreshold) {\n    return false\n  }\n\n  return (\n    oldTcp.coordinate_system === newTcp.coordinate_system &&\n    oldTcp.tcp === newTcp.tcp\n  )\n}\n","import * as THREE from \"three\"\n\n// Vector used by api endpoints\nexport type Vector3d = [number, number, number]\n\nexport function axisToIndex(axis: \"x\" | \"y\" | \"z\"): number {\n  switch (axis) {\n    case \"x\":\n      return 0\n    case \"y\":\n      return 1\n    case \"z\":\n      return 2\n  }\n}\n\nexport function indexToAxis(index: number): \"x\" | \"y\" | \"z\" | null {\n  switch (index) {\n    case 0:\n      return \"x\"\n    case 1:\n      return \"y\"\n    case 2:\n      return \"z\"\n    default:\n      return null\n  }\n}\n\nexport function vector3FromArray(vector: Vector3d): THREE.Vector3 {\n  return new THREE.Vector3(vector[0], vector[1], vector[2])\n}\n\nexport function vector3ToArray(vector: THREE.Vector3): Vector3d {\n  return [vector.x, vector.y, vector.z]\n}\n","import type {\n  InitializeJoggingRequest,\n  JoggingResponse,\n  JointVelocityRequest,\n  MotionGroupState,\n  TcpVelocityRequest,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { NovaClient } from \"./NovaClient\"\nimport { axisToIndex } from \"./vectorUtils\"\n\nexport type JoggerConnectionOpts = {\n  /**\n   * When an error message is received from the jogging websocket, it\n   * will be passed here. If this handler is not provided, the error will\n   * instead be thrown as an unhandled error.\n   */\n  onError?: (err: unknown) => void\n} & Omit<InitializeJoggingRequest, \"message_type\">\n\nexport class JoggerConnection {\n  // Currently a separate websocket is needed for each mode, pester API people\n  // to merge these for simplicity\n  joggingWebsocket: AutoReconnectingWebsocket | null = null\n  lastVelocityRequest: JointVelocityRequest | TcpVelocityRequest | null = null\n  lastResponse: JoggingResponse | null = null\n\n  static async open(\n    nova: NovaClient,\n    cell: string,\n    motionGroupId: string,\n    opts: JoggerConnectionOpts,\n  ) {\n    const motionGroupState =\n      await nova.api.motionGroupInfos.getCurrentMotionGroupState(motionGroupId)\n\n    return new JoggerConnection(\n      nova,\n      cell,\n      motionGroupId,\n      motionGroupState,\n      opts,\n    )\n  }\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly cell: string,\n    readonly motionGroupId: string,\n    readonly motionGroupState: MotionGroupState,\n    readonly opts: JoggerConnectionOpts,\n  ) {\n    this.joggingWebsocket = nova.openReconnectingWebsocket(\n      `/cells/${cell}/execution/jogging`,\n    )\n    this.joggingWebsocket.addEventListener(\"message\", (ev: MessageEvent) => {\n      const data = tryParseJson(ev.data) as JoggingResponse\n      if (data && \"error\" in data) {\n        if (this.opts.onError) {\n          this.opts.onError(ev.data)\n        } else {\n          throw new Error(ev.data)\n        }\n      }\n    })\n\n    this.joggingWebsocket.addEventListener(\"message\", (ev: MessageEvent) => {\n      const data = tryParseJson(ev.data)\n      if (data && \"error\" in data) {\n        if (this.opts.onError) {\n          this.opts.onError(ev.data)\n        } else {\n          throw new Error(ev.data)\n        }\n      }\n    })\n  }\n\n  get jointCount() {\n    return this.motionGroupState.joint_current?.joints.length\n  }\n\n  get activeWebsocket() {\n    return this.joggingWebsocket\n  }\n\n  async stop() {\n    // Why not call the stopJogging API endpoint?\n    // Because this results in the websocket closing and we\n    // would like to keep it open for now.\n    if (!this.joggingWebsocket) {\n      return\n    }\n\n    if (this.lastVelocityRequest?.message_type === \"JointVelocityRequest\") {\n      this.joggingWebsocket.sendJson({\n        message_type: \"JointVelocityRequest\",\n        velocity: {\n          joints: Array.from(new Array(this.jointCount).keys()).map(() => 0),\n        },\n      } as JointVelocityRequest)\n    }\n\n    if (this.lastVelocityRequest?.message_type === \"TcpVelocityRequest\") {\n      this.joggingWebsocket.sendJson({\n        message_type: \"TcpVelocityRequest\",\n        rotation: [0, 0, 0],\n        translation: [0, 0, 0],\n      } as TcpVelocityRequest)\n    }\n  }\n\n  dispose() {\n    if (this.joggingWebsocket) {\n      this.joggingWebsocket.dispose()\n    }\n  }\n\n  /**\n   * Start rotation of a single robot joint at the specified velocity\n   */\n  async startJointRotation({\n    joint,\n    velocityRadsPerSec,\n  }: {\n    /** Index of the joint to rotate */\n    joint: number\n    /** Speed of the rotation in radians per second */\n    velocityRadsPerSec: number\n  }) {\n    if (!this.joggingWebsocket) {\n      throw new Error(\n        \"Joint jogging websocket not connected. Wait for reconnect or open new jogging connection\",\n      )\n    }\n\n    const jointVelocities = new Array(this.jointCount).fill(0)\n    jointVelocities[joint] = velocityRadsPerSec\n\n    this.joggingWebsocket.sendJson({\n      message_type: \"JointVelocityRequest\",\n      velocity: {\n        joints: jointVelocities,\n      },\n    } as JointVelocityRequest)\n  }\n\n  /**\n   * Start the TCP moving along a specified axis at a given velocity\n   */\n  async startTCPTranslation({\n    axis,\n    velocityMmPerSec,\n    useToolCoordinateSystem,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    velocityMmPerSec: number\n    useToolCoordinateSystem: boolean\n  }) {\n    if (!this.joggingWebsocket) {\n      throw new Error(\n        \"Cartesian jogging websocket not connected. Wait for reconnect or open new jogging connection\",\n      )\n    }\n\n    const joggingVector = [0, 0, 0]\n    joggingVector[axisToIndex(axis)] = velocityMmPerSec\n\n    this.joggingWebsocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n\n      translation: joggingVector,\n      rotation: [0, 0, 0],\n      use_tool_coordinate_system: useToolCoordinateSystem,\n    } as TcpVelocityRequest)\n  }\n\n  /**\n   * Start the TCP rotating around a specified axis at a given velocity\n   */\n  async startTCPRotation({\n    axis,\n    velocityRadsPerSec,\n    useToolCoordinateSystem,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    velocityRadsPerSec: number\n    useToolCoordinateSystem: boolean\n  }) {\n    if (!this.joggingWebsocket) {\n      throw new Error(\n        \"Cartesian jogging websocket not connected. Wait for reconnect or open new jogging connection\",\n      )\n    }\n\n    const joggingVector = [0, 0, 0]\n    joggingVector[axisToIndex(axis)] = velocityRadsPerSec\n\n    this.joggingWebsocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      rotation: joggingVector,\n      translation: [0, 0, 0],\n      use_tool_coordinate_system: useToolCoordinateSystem,\n    } as TcpVelocityRequest)\n  }\n}\n","import type {\n  Controller,\n  MotionGroupPhysical,\n  MotionGroupState,\n} from \"@wandelbots/nova-api/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport * as THREE from \"three\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpPoseEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\nimport { Vector3d, vector3ToArray } from \"./vectorUtils\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nfunction unwrapRotationVector(\n  newRotationVectorApi: Vector3d,\n  currentRotationVectorApi: Vector3d,\n): Vector3d {\n  const currentRotationVector = new THREE.Vector3(\n    currentRotationVectorApi[0],\n    currentRotationVectorApi[1],\n    currentRotationVectorApi[2],\n  )\n\n  const newRotationVector = new THREE.Vector3(\n    newRotationVectorApi[0],\n    newRotationVectorApi[1],\n    newRotationVectorApi[2],\n  )\n\n  const currentAngle = currentRotationVector.length()\n  const currentAxis = currentRotationVector.normalize()\n\n  let newAngle = newRotationVector.length()\n  let newAxis = newRotationVector.normalize()\n\n  // Align rotation axes\n  if (newAxis.dot(currentAxis) < 0) {\n    newAngle = -newAngle\n    newAxis = newAxis.multiplyScalar(-1.0)\n  }\n\n  // Shift rotation angle close to previous one to extend domain of rotation angles beyond [0, pi]\n  // - this simplifies interpolation and prevents abruptly changing signs of the rotation angles\n  let angleDifference = newAngle - currentAngle\n  angleDifference -=\n    2.0 * Math.PI * Math.floor((angleDifference + Math.PI) / (2.0 * Math.PI))\n\n  newAngle = currentAngle + angleDifference\n\n  return vector3ToArray(newAxis.multiplyScalar(newAngle))\n}\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(nova: NovaClient, motionGroupId: string) {\n    const { controllers: controllers } =\n      await nova.api.controller.listControllers()\n\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n    const controller = controllers.find((c) => c.controller === controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    console.log(\"got first message\", firstMessage)\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: Controller,\n    readonly motionGroup: MotionGroupPhysical,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const motionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!motionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle motionState message\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position.joints,\n          motionState.joint_position.joints,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState = motionState\n        })\n      }\n\n      // handle tcpPose message\n      if (\n        !tcpPoseEqual(\n          this.rapidlyChangingMotionState.tcp_pose,\n          motionState.tcp_pose,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          if (this.rapidlyChangingMotionState.tcp_pose == undefined) {\n            this.rapidlyChangingMotionState.tcp_pose = motionState.tcp_pose\n          } else {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: motionState.tcp_pose!.position,\n              orientation: unwrapRotationVector(\n                motionState.tcp_pose!.orientation as Vector3d,\n                this.rapidlyChangingMotionState.tcp_pose!\n                  .orientation as Vector3d,\n              ),\n              tcp: motionState.tcp_pose!.tcp,\n              coordinate_system: motionState.tcp_pose!.coordinate_system,\n            }\n          }\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.motionGroup.model_from_controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.joints.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n  }\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  CoordinateSystemsApi,\n  JoggingApi,\n  MotionGroupApi,\n  MotionGroupInfoApi,\n  MotionGroupKinematicsApi,\n  ProgramApi,\n  ProgramOperatorApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionScenesApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VirtualRobotApi,\n  VirtualRobotBehaviorApi,\n  VirtualRobotModeApi,\n  VirtualRobotSetupApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { BaseAPI } from \"@wandelbots/nova-api/v2/base\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupInfos = this.withCellId(MotionGroupInfoApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly program = this.withCellId(ProgramApi)\n  readonly programOperator = this.withCellId(ProgramOperatorApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly motionGroupKinematic = this.withCellId(MotionGroupKinematicsApi)\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n\n  readonly coordinateSystems = this.withCellId(CoordinateSystemsApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly virtualRobot = this.withCellId(VirtualRobotApi)\n  readonly virtualRobotSetup = this.withCellId(VirtualRobotSetupApi)\n  readonly virtualRobotMode = this.withCellId(VirtualRobotModeApi)\n  readonly virtualRobotBehavior = this.withCellId(VirtualRobotBehaviorApi)\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionScenes = this.withCellId(StoreCollisionScenesApi)\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { ConnectedMotionGroup } from \"./ConnectedMotionGroup\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * EXPERIMENTAL\n *\n * This client provides a starting point to migrate NOVA api v2.\n * As v2 is still in development, this client has to be considered unstable\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    console.warn(\"Using experimental NOVA v2 client\")\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      headers: {\n        \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n      },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(config.username + \":\" + config.password)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.config.instanceUrl, \"/api/v1\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    this.authPromise = loginWithAuth0(this.config.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.config.instanceUrl,\n        `/api/v1/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n\n  /**\n   * Connect to the motion state websocket(s) for a given motion group\n   */\n  async connectMotionStream(motionGroupId: string) {\n    return await MotionStreamConnection.open(this, motionGroupId)\n  }\n\n  async connectMotionGroups(\n    motionGroupIds: string[],\n  ): Promise<ConnectedMotionGroup[]> {\n    const { controllers } = await this.api.controller.listControllers()\n\n    return Promise.all(\n      motionGroupIds.map((motionGroupId) =>\n        ConnectedMotionGroup.connect(this, motionGroupId, controllers),\n      ),\n    )\n  }\n\n  async connectMotionGroup(\n    motionGroupId: string,\n  ): Promise<ConnectedMotionGroup> {\n    const motionGroups = await this.connectMotionGroups([motionGroupId])\n    return motionGroups[0]!\n  }\n}\n","import type {\n  ControllersList,\n  MotionGroupSpecification,\n  MotionGroupState,\n  RobotController,\n  SafetySetup,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * EXPERIMENTAL\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return {\n            controllers: [\n              {\n                controller: \"mock-ur5e\",\n                model_name: \"UniversalRobots::Controller\",\n                host: \"mock-ur5e\",\n                allow_software_install_on_controller: true,\n                motion_groups: [\n                  {\n                    motion_group: \"0@mock-ur5e\",\n                    name_from_controller: \"UR5e\",\n                    active: false,\n                    model_from_controller: \"UniversalRobots_UR5e\",\n                  },\n                ],\n                has_error: false,\n                error_details: \"\",\n              },\n            ],\n          } satisfies ControllersList\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n        handle() {\n          return {\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 162.25,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -425,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -392.2,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 133.3,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: -1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 99.7,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: 0,\n                d: 99.6,\n                reverse_rotation_direction: false,\n              },\n            ],\n            mechanical_joint_limits: [\n              {\n                joint: \"JOINTNAME_AXIS_1\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_2\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_3\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_4\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_5\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_6\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n            ],\n          } satisfies MotionGroupSpecification\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n        handle() {\n          return {\n            safety_settings: [\n              {\n                safety_state: \"SAFETY_NORMAL\",\n                settings: {\n                  joint_position_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      lower_limit: -2.96705961227417,\n                      upper_limit: 2.96705961227417,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      lower_limit: -1.7453292608261108,\n                      upper_limit: 2.7925267219543457,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      lower_limit: -3.3161256313323975,\n                      upper_limit: 0.40142571926116943,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      lower_limit: -3.4906585216522217,\n                      upper_limit: 3.4906585216522217,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      lower_limit: -2.4434609413146973,\n                      upper_limit: 2.4434609413146973,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      lower_limit: -4.71238899230957,\n                      upper_limit: 4.71238899230957,\n                      unlimited: false,\n                    },\n                  ],\n                  joint_velocity_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      limit: 3.4906585216522217,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      limit: 6.981317043304443,\n                    },\n                  ],\n                  joint_acceleration_limits: [],\n                  joint_torque_limits: [],\n                  tcp_velocity_limit: 1800,\n                },\n              },\n            ],\n            safety_zones: [\n              {\n                id: 1,\n                priority: 0,\n                geometry: {\n                  compound: {\n                    child_geometries: [\n                      {\n                        convex_hull: {\n                          vertices: [\n                            { vertex: [-800, -1330, -1820] },\n                            { vertex: [1650, -1330, -1820] },\n                            { vertex: [1650, 1330, -1820] },\n                            { vertex: [-800, 1330, -1820] },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Cell workzone\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 2,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, 1330, -920],\n                      },\n                      {\n                        vertex: [865, 1330, -920],\n                      },\n                      {\n                        vertex: [865, -720, -920],\n                      },\n                      {\n                        vertex: [1650, -720, -920],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Transport\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 3,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 430, -1250],\n                      },\n                      {\n                        vertex: [1650, 430, -1250],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Tunel\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 4,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, -760, -440],\n                      },\n                      {\n                        vertex: [900, -760, -440],\n                      },\n                      {\n                        vertex: [900, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -1330, -1800],\n                      },\n                      {\n                        vertex: [1650, -1330, -1800],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Fanuc controller\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 6,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [-200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, -200, -350],\n                      },\n                      {\n                        vertex: [200, -200, -350],\n                      },\n                      {\n                        vertex: [200, 200, -350],\n                      },\n                      {\n                        vertex: [-200, 200, -350],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Robot base\",\n                },\n                motion_group_uid: 1,\n              },\n            ],\n            robot_model_geometries: [\n              {\n                link_index: 1,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-70, -70, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link1_sphere\",\n                },\n              },\n              {\n                link_index: 2,\n                geometry: {\n                  capsule: {\n                    radius: 160,\n                    cylinder_height: 800,\n                  },\n                  init_pose: {\n                    position: [-450, 40, 170],\n                    orientation: [\n                      0, -0.7071067811865475, 0, 0.7071067811865476,\n                    ],\n                  },\n                  id: \"link2_capsule\",\n                },\n              },\n              {\n                link_index: 3,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-110, 10, -100],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link3_sphere\",\n                },\n              },\n              {\n                link_index: 4,\n                geometry: {\n                  capsule: {\n                    radius: 110,\n                    cylinder_height: 600,\n                  },\n                  init_pose: {\n                    position: [0, 300, 40],\n                    orientation: [\n                      -0.7071067811865475, 0, 0, 0.7071067811865476,\n                    ],\n                  },\n                  id: \"link4_capsule\",\n                },\n              },\n              {\n                link_index: 5,\n                geometry: {\n                  sphere: {\n                    radius: 75,\n                  },\n                  init_pose: {\n                    position: [0, 0, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link5_sphere\",\n                },\n              },\n            ],\n            tool_geometries: [],\n          } satisfies SafetySetup\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/coordinate-systems\",\n        handle() {\n          return {\n            coordinatesystems: [\n              {\n                coordinate_system: \"\",\n                name: \"world\",\n                reference_uid: \"\",\n                position: [0, 0, 0],\n                rotation: {\n                  angles: [0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          } //satisfies CoordinateSystems\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n        handle() {\n          return {\n            tcps: [\n              {\n                id: \"Flange\",\n                readable_name: \"Default-Flange\",\n                position: [0, 0, 0],\n                rotation: {\n                  angles: [0, 0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n              {\n                id: \"complex-tcp-position\",\n                readable_name: \"Complex TCP Position\",\n                position: [-200, 300, 150],\n                rotation: {\n                  angles: [\n                    -0.12139440409113832, -0.06356210998212003,\n                    -0.2023240068185639, 0,\n                  ],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          }\n        },\n      },\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    const path = \"/cells\" + config.url?.split(\"/cells\")[1]?.split(\"?\")[0]\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path || \"\")\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-joint\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:48:26.096266444Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3492152690887451, -1.5659207105636597,\n                          1.6653711795806885, -1.0991662740707397,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"671259\",\n                    },\n                  ],\n                  sequence_number: \"671259\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-tcp\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:43:12.188335774Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3352527618408203, -1.5659207105636597,\n                          1.6653711795806885, -1.110615611076355,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"627897\",\n                    },\n                  ],\n                  sequence_number: \"627897\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    joint_position: {\n      joints: [\n        1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n        1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n      ],\n    },\n    joint_velocity: {\n      joints: [0, 0, 0, 0, 0, 0],\n    },\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n      coordinate_system: \"\",\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n      coordinate_system: \"\",\n      tcp: \"Flange\",\n    },\n    velocity: {\n      linear: [0, 0, 0],\n      angular: [0, 0, 0],\n      coordinate_system: \"\",\n    },\n    force: {\n      force: [0, 0, 0],\n      moment: [0, 0, 0],\n      coordinate_system: \"\",\n    },\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    joint_current: {\n      joints: [0, 0, 0, 0, 0, 0],\n    },\n  } satisfies MotionGroupState,\n}\n","import { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRun(runner.id)\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = (runnerState as any).stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRun(runner.id)\n\n        const stdout = (runnerState as any).stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRun(runner.id)\n\n        const stdout = (runnerState as any).stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: Object,\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRun(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        } as any,\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRun(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n    })\n  }\n\n  logError(message: string) {\n    console.log(message)\n    this.logs.push({\n      timestamp: Date.now(),\n      message,\n      level: \"error\",\n    })\n  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+{"version":3,"sources":["../../../src/lib/v2/index.ts","../../../src/lib/v2/ConnectedMotionGroup.ts","../../../src/lib/v2/motionStateUpdate.ts","../../../src/lib/v2/vectorUtils.ts","../../../src/lib/v2/JoggerConnection.ts","../../../src/lib/v2/MotionStreamConnection.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/ProgramStateConnection.ts"],"sourcesContent":["export * from \"@wandelbots/nova-api/v2\"\nexport * from \"./ConnectedMotionGroup\"\nexport * from \"./JoggerConnection\"\nexport * from \"./MotionStreamConnection\"\nexport * from \"./NovaCellAPIClient\"\nexport * from \"./NovaClient\"\nexport * from \"./ProgramStateConnection\"\n","import type {\n  Controller,\n  MotionGroupPhysical,\n  MotionGroupSpecification,\n  MotionGroupState,\n  RobotTcp,\n  SafetySetup,\n} from \"@wandelbots/nova-api/v2\"\nimport { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpPoseEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nexport type MotionGroupOption = {\n  selectionId: string\n} & MotionGroupPhysical\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class ConnectedMotionGroup {\n  static async connect(\n    nova: NovaClient,\n    motionGroupId: string,\n    controllers: Controller[],\n  ) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n    const controller = controllers.find((c) => c.controller === controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // This is used to determine if the robot is virtual or physical\n    let isVirtual = false\n    try {\n      const opMode =\n        await nova.api.virtualRobotMode.getOperationMode(controllerId)\n\n      if (opMode) isVirtual = true\n    } catch (err) {\n      if (err instanceof AxiosError) {\n        console.log(\n          `Received ${err.status} from getOperationMode, concluding that ${controllerId} is physical`,\n        )\n      } else {\n        throw err\n      }\n    }\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const { tcps } = await nova.api.motionGroupInfos.listTcps(motionGroupId)\n\n    const motionGroupSpecification =\n      await nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId)\n\n    const safetySetup =\n      await nova.api.motionGroupInfos.getSafetySetup(motionGroupId)\n\n    return new ConnectedMotionGroup(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n      isVirtual,\n      tcps!,\n      motionGroupSpecification,\n      safetySetup,\n    )\n  }\n\n  connectedJoggingCartesianSocket: WebSocket | null = null\n  connectedJoggingJointsSocket: WebSocket | null = null\n  planData: any | null // tmp\n  joggingVelocity: number = 10\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: Controller,\n    readonly motionGroup: MotionGroupPhysical,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n    readonly isVirtual: boolean,\n    readonly tcps: RobotTcp[],\n    readonly motionGroupSpecification: MotionGroupSpecification,\n    readonly safetySetup: SafetySetup,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const motionStateResponse = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!motionStateResponse) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle motionState message\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position.joints,\n          motionStateResponse.joint_position.joints,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState = motionStateResponse\n        })\n      }\n\n      // handle tcpPose message\n      if (\n        !tcpPoseEqual(\n          this.rapidlyChangingMotionState.tcp_pose,\n          motionStateResponse.tcp_pose,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.tcp_pose =\n            motionStateResponse.tcp_pose\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.motionGroup.model_from_controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  /** Jogging velocity in radians for rotation and joint movement */\n  get joggingVelocityRads() {\n    return (this.joggingVelocity * Math.PI) / 180\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.joints.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  get dhParameters() {\n    return this.motionGroupSpecification.dh_parameters\n  }\n\n  get safetyZones() {\n    return this.safetySetup.safety_zones\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n    if (this.connectedJoggingCartesianSocket)\n      this.connectedJoggingCartesianSocket.close()\n    if (this.connectedJoggingJointsSocket)\n      this.connectedJoggingJointsSocket.close()\n  }\n\n  setJoggingVelocity(velocity: number) {\n    this.joggingVelocity = velocity\n  }\n}\n","import type { TcpPose } from \"@wandelbots/nova-api/v2\"\n\nexport function jointValuesEqual(\n  oldJointValues: number[],\n  newJointValues: number[],\n  changeDeltaThreshold: number,\n): boolean {\n  if (newJointValues.length !== oldJointValues.length) {\n    return true\n  }\n\n  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {\n    if (\n      Math.abs(newJointValues[jointIndex]! - oldJointValues[jointIndex]!) >\n      changeDeltaThreshold\n    ) {\n      return false\n    }\n  }\n\n  return true\n}\n\nexport function tcpPoseEqual(\n  oldTcp: TcpPose | undefined,\n  newTcp: TcpPose | undefined,\n  changeDeltaThreshold: number,\n): boolean {\n  // undefined -> defined (+reverse) transition\n  if ((oldTcp === undefined && newTcp) || (oldTcp && newTcp === undefined)) {\n    return false\n  }\n\n  // the typechecker cannot resolve states to \"!= undefined\" if \"&&\" is used\n  if (oldTcp === undefined || newTcp === undefined) {\n    return true\n  }\n\n  let changedDelta = 0\n  changedDelta += Math.abs(oldTcp.orientation[0] - newTcp.orientation[0])\n  changedDelta += Math.abs(oldTcp.orientation[1] - newTcp.orientation[1])\n  changedDelta += Math.abs(oldTcp.orientation[2] - newTcp.orientation[2])\n  changedDelta += Math.abs(oldTcp.position[0] - newTcp.position[0])\n  changedDelta += Math.abs(oldTcp.position[1] - newTcp.position[1])\n  changedDelta += Math.abs(oldTcp.position[2] - newTcp.position[2])\n\n  if (changedDelta > changeDeltaThreshold) {\n    return false\n  }\n\n  return (\n    oldTcp.coordinate_system === newTcp.coordinate_system &&\n    oldTcp.tcp === newTcp.tcp\n  )\n}\n","import * as THREE from \"three\"\n\n// Vector used by api endpoints\nexport type Vector3d = [number, number, number]\n\nexport function axisToIndex(axis: \"x\" | \"y\" | \"z\"): number {\n  switch (axis) {\n    case \"x\":\n      return 0\n    case \"y\":\n      return 1\n    case \"z\":\n      return 2\n  }\n}\n\nexport function indexToAxis(index: number): \"x\" | \"y\" | \"z\" | null {\n  switch (index) {\n    case 0:\n      return \"x\"\n    case 1:\n      return \"y\"\n    case 2:\n      return \"z\"\n    default:\n      return null\n  }\n}\n\nexport function vector3FromArray(vector: Vector3d): THREE.Vector3 {\n  return new THREE.Vector3(vector[0], vector[1], vector[2])\n}\n\nexport function vector3ToArray(vector: THREE.Vector3): Vector3d {\n  return [vector.x, vector.y, vector.z]\n}\n","import type {\n  InitializeJoggingRequest,\n  JoggingResponse,\n  JointVelocityRequest,\n  MotionGroupState,\n  TcpVelocityRequest,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { NovaClient } from \"./NovaClient\"\nimport { axisToIndex } from \"./vectorUtils\"\n\nexport type JoggerConnectionOpts = {\n  /**\n   * When an error message is received from the jogging websocket, it\n   * will be passed here. If this handler is not provided, the error will\n   * instead be thrown as an unhandled error.\n   */\n  onError?: (err: unknown) => void\n} & Omit<InitializeJoggingRequest, \"message_type\">\n\nexport class JoggerConnection {\n  // Currently a separate websocket is needed for each mode, pester API people\n  // to merge these for simplicity\n  joggingWebsocket: AutoReconnectingWebsocket | null = null\n  lastVelocityRequest: JointVelocityRequest | TcpVelocityRequest | null = null\n  lastResponse: JoggingResponse | null = null\n\n  static async open(\n    nova: NovaClient,\n    cell: string,\n    motionGroupId: string,\n    opts: JoggerConnectionOpts,\n  ) {\n    const motionGroupState =\n      await nova.api.motionGroupInfos.getCurrentMotionGroupState(motionGroupId)\n\n    return new JoggerConnection(\n      nova,\n      cell,\n      motionGroupId,\n      motionGroupState,\n      opts,\n    )\n  }\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly cell: string,\n    readonly motionGroupId: string,\n    readonly motionGroupState: MotionGroupState,\n    readonly opts: JoggerConnectionOpts,\n  ) {\n    this.joggingWebsocket = nova.openReconnectingWebsocket(\n      `/cells/${cell}/execution/jogging`,\n    )\n    this.joggingWebsocket.addEventListener(\"message\", (ev: MessageEvent) => {\n      const data = tryParseJson(ev.data) as JoggingResponse\n      if (data && \"error\" in data) {\n        if (this.opts.onError) {\n          this.opts.onError(ev.data)\n        } else {\n          throw new Error(ev.data)\n        }\n      }\n    })\n\n    this.joggingWebsocket.addEventListener(\"message\", (ev: MessageEvent) => {\n      const data = tryParseJson(ev.data)\n      if (data && \"error\" in data) {\n        if (this.opts.onError) {\n          this.opts.onError(ev.data)\n        } else {\n          throw new Error(ev.data)\n        }\n      }\n    })\n  }\n\n  get jointCount() {\n    return this.motionGroupState.joint_current?.joints.length\n  }\n\n  get activeWebsocket() {\n    return this.joggingWebsocket\n  }\n\n  async stop() {\n    // Why not call the stopJogging API endpoint?\n    // Because this results in the websocket closing and we\n    // would like to keep it open for now.\n    if (!this.joggingWebsocket) {\n      return\n    }\n\n    if (this.lastVelocityRequest?.message_type === \"JointVelocityRequest\") {\n      this.joggingWebsocket.sendJson({\n        message_type: \"JointVelocityRequest\",\n        velocity: {\n          joints: Array.from(new Array(this.jointCount).keys()).map(() => 0),\n        },\n      } as JointVelocityRequest)\n    }\n\n    if (this.lastVelocityRequest?.message_type === \"TcpVelocityRequest\") {\n      this.joggingWebsocket.sendJson({\n        message_type: \"TcpVelocityRequest\",\n        rotation: [0, 0, 0],\n        translation: [0, 0, 0],\n      } as TcpVelocityRequest)\n    }\n  }\n\n  dispose() {\n    if (this.joggingWebsocket) {\n      this.joggingWebsocket.dispose()\n    }\n  }\n\n  /**\n   * Start rotation of a single robot joint at the specified velocity\n   */\n  async startJointRotation({\n    joint,\n    velocityRadsPerSec,\n  }: {\n    /** Index of the joint to rotate */\n    joint: number\n    /** Speed of the rotation in radians per second */\n    velocityRadsPerSec: number\n  }) {\n    if (!this.joggingWebsocket) {\n      throw new Error(\n        \"Joint jogging websocket not connected. Wait for reconnect or open new jogging connection\",\n      )\n    }\n\n    const jointVelocities = new Array(this.jointCount).fill(0)\n    jointVelocities[joint] = velocityRadsPerSec\n\n    this.joggingWebsocket.sendJson({\n      message_type: \"JointVelocityRequest\",\n      velocity: {\n        joints: jointVelocities,\n      },\n    } as JointVelocityRequest)\n  }\n\n  /**\n   * Start the TCP moving along a specified axis at a given velocity\n   */\n  async startTCPTranslation({\n    axis,\n    velocityMmPerSec,\n    useToolCoordinateSystem,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    velocityMmPerSec: number\n    useToolCoordinateSystem: boolean\n  }) {\n    if (!this.joggingWebsocket) {\n      throw new Error(\n        \"Cartesian jogging websocket not connected. Wait for reconnect or open new jogging connection\",\n      )\n    }\n\n    const joggingVector = [0, 0, 0]\n    joggingVector[axisToIndex(axis)] = velocityMmPerSec\n\n    this.joggingWebsocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n\n      translation: joggingVector,\n      rotation: [0, 0, 0],\n      use_tool_coordinate_system: useToolCoordinateSystem,\n    } as TcpVelocityRequest)\n  }\n\n  /**\n   * Start the TCP rotating around a specified axis at a given velocity\n   */\n  async startTCPRotation({\n    axis,\n    velocityRadsPerSec,\n    useToolCoordinateSystem,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    velocityRadsPerSec: number\n    useToolCoordinateSystem: boolean\n  }) {\n    if (!this.joggingWebsocket) {\n      throw new Error(\n        \"Cartesian jogging websocket not connected. Wait for reconnect or open new jogging connection\",\n      )\n    }\n\n    const joggingVector = [0, 0, 0]\n    joggingVector[axisToIndex(axis)] = velocityRadsPerSec\n\n    this.joggingWebsocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      rotation: joggingVector,\n      translation: [0, 0, 0],\n      use_tool_coordinate_system: useToolCoordinateSystem,\n    } as TcpVelocityRequest)\n  }\n}\n","import type {\n  Controller,\n  MotionGroupPhysical,\n  MotionGroupState,\n} from \"@wandelbots/nova-api/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport * as THREE from \"three\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpPoseEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\nimport { Vector3d, vector3ToArray } from \"./vectorUtils\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nfunction unwrapRotationVector(\n  newRotationVectorApi: Vector3d,\n  currentRotationVectorApi: Vector3d,\n): Vector3d {\n  const currentRotationVector = new THREE.Vector3(\n    currentRotationVectorApi[0],\n    currentRotationVectorApi[1],\n    currentRotationVectorApi[2],\n  )\n\n  const newRotationVector = new THREE.Vector3(\n    newRotationVectorApi[0],\n    newRotationVectorApi[1],\n    newRotationVectorApi[2],\n  )\n\n  const currentAngle = currentRotationVector.length()\n  const currentAxis = currentRotationVector.normalize()\n\n  let newAngle = newRotationVector.length()\n  let newAxis = newRotationVector.normalize()\n\n  // Align rotation axes\n  if (newAxis.dot(currentAxis) < 0) {\n    newAngle = -newAngle\n    newAxis = newAxis.multiplyScalar(-1.0)\n  }\n\n  // Shift rotation angle close to previous one to extend domain of rotation angles beyond [0, pi]\n  // - this simplifies interpolation and prevents abruptly changing signs of the rotation angles\n  let angleDifference = newAngle - currentAngle\n  angleDifference -=\n    2.0 * Math.PI * Math.floor((angleDifference + Math.PI) / (2.0 * Math.PI))\n\n  newAngle = currentAngle + angleDifference\n\n  return vector3ToArray(newAxis.multiplyScalar(newAngle))\n}\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(nova: NovaClient, motionGroupId: string) {\n    const { controllers: controllers } =\n      await nova.api.controller.listControllers()\n\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n    const controller = controllers.find((c) => c.controller === controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    console.log(\"got first message\", firstMessage)\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: Controller,\n    readonly motionGroup: MotionGroupPhysical,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const motionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!motionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle motionState message\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position.joints,\n          motionState.joint_position.joints,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState = motionState\n        })\n      }\n\n      // handle tcpPose message\n      if (\n        !tcpPoseEqual(\n          this.rapidlyChangingMotionState.tcp_pose,\n          motionState.tcp_pose,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          if (this.rapidlyChangingMotionState.tcp_pose == undefined) {\n            this.rapidlyChangingMotionState.tcp_pose = motionState.tcp_pose\n          } else {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: motionState.tcp_pose!.position,\n              orientation: unwrapRotationVector(\n                motionState.tcp_pose!.orientation as Vector3d,\n                this.rapidlyChangingMotionState.tcp_pose!\n                  .orientation as Vector3d,\n              ),\n              tcp: motionState.tcp_pose!.tcp,\n              coordinate_system: motionState.tcp_pose!.coordinate_system,\n            }\n          }\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.motionGroup.model_from_controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.joints.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n  }\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  CoordinateSystemsApi,\n  JoggingApi,\n  MotionGroupApi,\n  MotionGroupInfoApi,\n  MotionGroupKinematicsApi,\n  ProgramApi,\n  ProgramOperatorApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionScenesApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VirtualRobotApi,\n  VirtualRobotBehaviorApi,\n  VirtualRobotModeApi,\n  VirtualRobotSetupApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { BaseAPI } from \"@wandelbots/nova-api/v2/base\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupInfos = this.withCellId(MotionGroupInfoApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly program = this.withCellId(ProgramApi)\n  readonly programOperator = this.withCellId(ProgramOperatorApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly motionGroupKinematic = this.withCellId(MotionGroupKinematicsApi)\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n\n  readonly coordinateSystems = this.withCellId(CoordinateSystemsApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly virtualRobot = this.withCellId(VirtualRobotApi)\n  readonly virtualRobotSetup = this.withCellId(VirtualRobotSetupApi)\n  readonly virtualRobotMode = this.withCellId(VirtualRobotModeApi)\n  readonly virtualRobotBehavior = this.withCellId(VirtualRobotBehaviorApi)\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionScenes = this.withCellId(StoreCollisionScenesApi)\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { ConnectedMotionGroup } from \"./ConnectedMotionGroup\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n * EXPERIMENTAL\n *\n * This client provides a starting point to migrate NOVA api v2.\n * As v2 is still in development, this client has to be considered unstable\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    console.warn(\"Using experimental NOVA v2 client\")\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(config.username + \":\" + config.password)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.config.instanceUrl, \"/api/v1\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    this.authPromise = loginWithAuth0(this.config.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.config.instanceUrl,\n        `/api/v1/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n\n  /**\n   * Connect to the motion state websocket(s) for a given motion group\n   */\n  async connectMotionStream(motionGroupId: string) {\n    return await MotionStreamConnection.open(this, motionGroupId)\n  }\n\n  async connectMotionGroups(\n    motionGroupIds: string[],\n  ): Promise<ConnectedMotionGroup[]> {\n    const { controllers } = await this.api.controller.listControllers()\n\n    return Promise.all(\n      motionGroupIds.map((motionGroupId) =>\n        ConnectedMotionGroup.connect(this, motionGroupId, controllers),\n      ),\n    )\n  }\n\n  async connectMotionGroup(\n    motionGroupId: string,\n  ): Promise<ConnectedMotionGroup> {\n    const motionGroups = await this.connectMotionGroups([motionGroupId])\n    return motionGroups[0]!\n  }\n}\n","import type {\n  ControllersList,\n  MotionGroupSpecification,\n  MotionGroupState,\n  RobotController,\n  SafetySetup,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * EXPERIMENTAL\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return {\n            controllers: [\n              {\n                controller: \"mock-ur5e\",\n                model_name: \"UniversalRobots::Controller\",\n                host: \"mock-ur5e\",\n                allow_software_install_on_controller: true,\n                motion_groups: [\n                  {\n                    motion_group: \"0@mock-ur5e\",\n                    name_from_controller: \"UR5e\",\n                    active: false,\n                    model_from_controller: \"UniversalRobots_UR5e\",\n                  },\n                ],\n                has_error: false,\n                error_details: \"\",\n              },\n            ],\n          } satisfies ControllersList\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n        handle() {\n          return {\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 162.25,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -425,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -392.2,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 133.3,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: -1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 99.7,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: 0,\n                d: 99.6,\n                reverse_rotation_direction: false,\n              },\n            ],\n            mechanical_joint_limits: [\n              {\n                joint: \"JOINTNAME_AXIS_1\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_2\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_3\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_4\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_5\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_6\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n            ],\n          } satisfies MotionGroupSpecification\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n        handle() {\n          return {\n            safety_settings: [\n              {\n                safety_state: \"SAFETY_NORMAL\",\n                settings: {\n                  joint_position_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      lower_limit: -2.96705961227417,\n                      upper_limit: 2.96705961227417,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      lower_limit: -1.7453292608261108,\n                      upper_limit: 2.7925267219543457,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      lower_limit: -3.3161256313323975,\n                      upper_limit: 0.40142571926116943,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      lower_limit: -3.4906585216522217,\n                      upper_limit: 3.4906585216522217,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      lower_limit: -2.4434609413146973,\n                      upper_limit: 2.4434609413146973,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      lower_limit: -4.71238899230957,\n                      upper_limit: 4.71238899230957,\n                      unlimited: false,\n                    },\n                  ],\n                  joint_velocity_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      limit: 3.4906585216522217,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      limit: 6.981317043304443,\n                    },\n                  ],\n                  joint_acceleration_limits: [],\n                  joint_torque_limits: [],\n                  tcp_velocity_limit: 1800,\n                },\n              },\n            ],\n            safety_zones: [\n              {\n                id: 1,\n                priority: 0,\n                geometry: {\n                  compound: {\n                    child_geometries: [\n                      {\n                        convex_hull: {\n                          vertices: [\n                            { vertex: [-800, -1330, -1820] },\n                            { vertex: [1650, -1330, -1820] },\n                            { vertex: [1650, 1330, -1820] },\n                            { vertex: [-800, 1330, -1820] },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Cell workzone\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 2,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, 1330, -920],\n                      },\n                      {\n                        vertex: [865, 1330, -920],\n                      },\n                      {\n                        vertex: [865, -720, -920],\n                      },\n                      {\n                        vertex: [1650, -720, -920],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Transport\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 3,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 430, -1250],\n                      },\n                      {\n                        vertex: [1650, 430, -1250],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Tunel\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 4,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, -760, -440],\n                      },\n                      {\n                        vertex: [900, -760, -440],\n                      },\n                      {\n                        vertex: [900, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -1330, -1800],\n                      },\n                      {\n                        vertex: [1650, -1330, -1800],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Fanuc controller\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 6,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [-200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, -200, -350],\n                      },\n                      {\n                        vertex: [200, -200, -350],\n                      },\n                      {\n                        vertex: [200, 200, -350],\n                      },\n                      {\n                        vertex: [-200, 200, -350],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Robot base\",\n                },\n                motion_group_uid: 1,\n              },\n            ],\n            robot_model_geometries: [\n              {\n                link_index: 1,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-70, -70, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link1_sphere\",\n                },\n              },\n              {\n                link_index: 2,\n                geometry: {\n                  capsule: {\n                    radius: 160,\n                    cylinder_height: 800,\n                  },\n                  init_pose: {\n                    position: [-450, 40, 170],\n                    orientation: [\n                      0, -0.7071067811865475, 0, 0.7071067811865476,\n                    ],\n                  },\n                  id: \"link2_capsule\",\n                },\n              },\n              {\n                link_index: 3,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-110, 10, -100],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link3_sphere\",\n                },\n              },\n              {\n                link_index: 4,\n                geometry: {\n                  capsule: {\n                    radius: 110,\n                    cylinder_height: 600,\n                  },\n                  init_pose: {\n                    position: [0, 300, 40],\n                    orientation: [\n                      -0.7071067811865475, 0, 0, 0.7071067811865476,\n                    ],\n                  },\n                  id: \"link4_capsule\",\n                },\n              },\n              {\n                link_index: 5,\n                geometry: {\n                  sphere: {\n                    radius: 75,\n                  },\n                  init_pose: {\n                    position: [0, 0, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link5_sphere\",\n                },\n              },\n            ],\n            tool_geometries: [],\n          } satisfies SafetySetup\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/coordinate-systems\",\n        handle() {\n          return {\n            coordinatesystems: [\n              {\n                coordinate_system: \"\",\n                name: \"world\",\n                reference_uid: \"\",\n                position: [0, 0, 0],\n                rotation: {\n                  angles: [0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          } //satisfies CoordinateSystems\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n        handle() {\n          return {\n            tcps: [\n              {\n                id: \"Flange\",\n                readable_name: \"Default-Flange\",\n                position: [0, 0, 0],\n                rotation: {\n                  angles: [0, 0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n              {\n                id: \"complex-tcp-position\",\n                readable_name: \"Complex TCP Position\",\n                position: [-200, 300, 150],\n                rotation: {\n                  angles: [\n                    -0.12139440409113832, -0.06356210998212003,\n                    -0.2023240068185639, 0,\n                  ],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          }\n        },\n      },\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    const path = \"/cells\" + config.url?.split(\"/cells\")[1]?.split(\"?\")[0]\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path || \"\")\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-joint\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:48:26.096266444Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3492152690887451, -1.5659207105636597,\n                          1.6653711795806885, -1.0991662740707397,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"671259\",\n                    },\n                  ],\n                  sequence_number: \"671259\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-tcp\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:43:12.188335774Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3352527618408203, -1.5659207105636597,\n                          1.6653711795806885, -1.110615611076355,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"627897\",\n                    },\n                  ],\n                  sequence_number: \"627897\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    joint_position: {\n      joints: [\n        1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n        1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n      ],\n    },\n    joint_velocity: {\n      joints: [0, 0, 0, 0, 0, 0],\n    },\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n      coordinate_system: \"\",\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n      coordinate_system: \"\",\n      tcp: \"Flange\",\n    },\n    velocity: {\n      linear: [0, 0, 0],\n      angular: [0, 0, 0],\n      coordinate_system: \"\",\n    },\n    force: {\n      force: [0, 0, 0],\n      moment: [0, 0, 0],\n      coordinate_system: \"\",\n    },\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    joint_current: {\n      joints: [0, 0, 0, 0, 0, 0],\n    },\n  } satisfies MotionGroupState,\n}\n","import { AxiosError } from \"axios\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type ProgramRunnerLogEntry = {\n  timestamp: number\n  message: string\n  level?: \"warn\" | \"error\"\n}\n\nexport enum ProgramState {\n  NotStarted = \"not started\",\n  Running = \"running\",\n  Stopped = \"stopped\",\n  Failed = \"failed\",\n  Completed = \"completed\",\n}\n\nexport type CurrentProgram = {\n  id?: string\n  wandelscript?: string\n  state?: ProgramState\n}\n\ntype ProgramStateMessage = {\n  type: string\n  runner: {\n    id: string\n    state: ProgramState\n    start_time?: number | null\n    execution_time?: number | null\n  }\n}\n\n/**\n * Interface for running Wandelscript programs on the Nova instance and\n * tracking their progress and output\n */\nexport class ProgramStateConnection {\n  currentProgram: CurrentProgram = {}\n  logs: ProgramRunnerLogEntry[] = []\n\n  executionState = \"idle\" as \"idle\" | \"starting\" | \"executing\" | \"stopping\"\n  currentlyExecutingProgramRunnerId = null as string | null\n\n  programStateSocket: AutoReconnectingWebsocket\n\n  constructor(readonly nova: NovaClient) {\n    makeAutoObservable(this, {}, { autoBind: true })\n\n    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)\n\n    this.programStateSocket.addEventListener(\"message\", (ev) => {\n      const msg = tryParseJson(ev.data)\n\n      if (!msg) {\n        console.error(\"Failed to parse program state message\", ev.data)\n        return\n      }\n      if (msg.type === \"update\") {\n        this.handleProgramStateMessage(msg)\n      }\n    })\n  }\n\n  /** Handle a program state update from the backend */\n  async handleProgramStateMessage(msg: ProgramStateMessage) {\n    const { runner } = msg\n\n    // Ignoring other programs for now\n    // TODO - show if execution state is busy from another source\n    if (runner.id !== this.currentlyExecutingProgramRunnerId) return\n\n    if (runner.state === ProgramState.Failed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRun(runner.id)\n\n        // TODO - wandelengine should send print statements in real time over\n        // websocket as well, rather than at the end\n        const stdout = (runnerState as any).stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.logError(\n          `Program runner ${runner.id} failed with error: ${runnerState.error}\\n${runnerState.traceback}`,\n        )\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.currentProgram.state = ProgramState.Failed\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Stopped) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRun(runner.id)\n\n        const stdout = (runnerState as any).stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n\n        this.currentProgram.state = ProgramState.Stopped\n        this.log(`Program runner ${runner.id} stopped`)\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Completed) {\n      try {\n        const runnerState = await this.nova.api.program.getProgramRun(runner.id)\n\n        const stdout = (runnerState as any).stdout\n        if (stdout) {\n          this.log(stdout)\n        }\n        this.log(\n          `Program runner ${runner.id} finished successfully in ${runner.execution_time?.toFixed(2)} seconds`,\n        )\n\n        this.currentProgram.state = ProgramState.Completed\n      } catch (err) {\n        this.logError(\n          `Failed to retrieve results for program ${runner.id}: ${err}`,\n        )\n      }\n\n      this.gotoIdleState()\n    } else if (runner.state === ProgramState.Running) {\n      this.currentProgram.state = ProgramState.Running\n      this.log(`Program runner ${runner.id} now running`)\n    } else if (runner.state !== ProgramState.NotStarted) {\n      console.error(runner)\n      this.logError(\n        `Program runner ${runner.id} entered unexpected state: ${runner.state}`,\n      )\n      this.currentProgram.state = ProgramState.NotStarted\n      this.gotoIdleState()\n    }\n  }\n\n  /** Call when a program is no longer executing */\n  gotoIdleState() {\n    runInAction(() => {\n      this.executionState = \"idle\"\n    })\n    this.currentlyExecutingProgramRunnerId = null\n  }\n\n  async executeProgram(\n    wandelscript: string,\n    initial_state?: Object,\n    activeRobot?: MotionStreamConnection,\n  ) {\n    this.currentProgram = {\n      wandelscript: wandelscript,\n      state: ProgramState.NotStarted,\n    }\n\n    const { currentProgram: openProgram } = this\n    if (!openProgram) return\n    runInAction(() => {\n      this.executionState = \"starting\"\n    })\n\n    // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation\n    const trimmedCode = openProgram.wandelscript!.replaceAll(/^\\s*$/gm, \"\")\n\n    try {\n      const programRunnerRef = await this.nova.api.program.createProgramRun(\n        {\n          code: trimmedCode,\n          initial_state: initial_state,\n          default_robot: activeRobot?.wandelscriptIdentifier,\n        } as any,\n        {\n          headers: {\n            \"Content-Type\": \"application/json\",\n          },\n        },\n      )\n\n      this.log(`Created program runner ${programRunnerRef.id}\"`)\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      this.currentlyExecutingProgramRunnerId = programRunnerRef.id\n    } catch (error) {\n      if (error instanceof AxiosError && error.response && error.request) {\n        this.logError(\n          `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`,\n        )\n      } else {\n        this.logError(JSON.stringify(error))\n      }\n      runInAction(() => {\n        this.executionState = \"idle\"\n      })\n    }\n  }\n\n  async stopProgram() {\n    if (!this.currentlyExecutingProgramRunnerId) return\n    runInAction(() => {\n      this.executionState = \"stopping\"\n    })\n\n    try {\n      await this.nova.api.program.stopProgramRun(\n        this.currentlyExecutingProgramRunnerId,\n      )\n    } catch (err) {\n      // Reactivate the stop button so user can try again\n      runInAction(() => {\n        this.executionState = \"executing\"\n      })\n      throw err\n    }\n  }\n\n  reset() {\n    this.currentProgram = {}\n  }\n\n  log(message: string) {\n    console.log(message)\n    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package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@wandelbots/nova-js",
   "type": "module",
-  "version": "2.1.3",
+  "version": "2.1.4",
   "description": "Official JS client for the Wandelbots API",
   "sideEffects": false,
   "exports": {

package/src/lib/v1/NovaClient.ts

@@ -72,9 +72,15 @@ export class NovaClient {
     // Set up Axios instance with interceptor for token fetching
     const axiosInstance = axios.create({
       baseURL: urlJoin(this.config.instanceUrl, "/api/v1"),
-      headers: {
-        "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK",
-      },
+      // TODO - backend needs to set proper CORS headers for this
+      headers:
+        typeof window !== "undefined" &&
+        window.location.origin.includes("localhost")
+          ? {}
+          : {
+              // Identify the client to the backend for logging purposes
+              "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK",
+            },
     })
 
     axiosInstance.interceptors.request.use(async (request) => {

package/src/lib/v2/NovaClient.ts

@@ -77,9 +77,15 @@ export class NovaClient {
     // Set up Axios instance with interceptor for token fetching
     const axiosInstance = axios.create({
       baseURL: urlJoin(this.config.instanceUrl, "/api/v2"),
-      headers: {
-        "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK",
-      },
+      // TODO - backend needs to set proper CORS headers for this
+      headers:
+        typeof window !== "undefined" &&
+        window.location.origin.includes("localhost")
+          ? {}
+          : {
+              // Identify the client to the backend for logging purposes
+              "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK",
+            },
     })
 
     axiosInstance.interceptors.request.use(async (request) => {