npm - @wandelbots/nova-js - Versions diffs - 2.1.4-pr.feature-remove-v2-functionallity.113.bfa317e → 2.1.4-pr.feature-add-program-client.114.9d31b54 - Mend

@wandelbots/nova-js 2.1.4-pr.feature-remove-v2-functionallity.113.bfa317e → 2.1.4-pr.feature-add-program-client.114.9d31b54

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Files changed (16) hide show

package/README.md +37 -0
package/dist/lib/v2/NovaCellAPIClient.d.ts +5 -1
package/dist/lib/v2/NovaCellAPIClient.d.ts.map +1 -1
package/dist/lib/v2/ProgramsClient.d.ts +79 -0
package/dist/lib/v2/ProgramsClient.d.ts.map +1 -0
package/dist/lib/v2/index.cjs +139 -11
package/dist/lib/v2/index.cjs.map +1 -1
package/dist/lib/v2/index.d.ts +1 -0
package/dist/lib/v2/index.d.ts.map +1 -1
package/dist/lib/v2/index.js +138 -11
package/dist/lib/v2/index.js.map +1 -1
package/package.json +2 -2
package/src/lib/v2/NovaCellAPIClient.ts +13 -0
package/src/lib/v2/ProgramsClient.ts +150 -0
package/src/lib/v2/index.ts +1 -0
package/src/lib/v2/mock/MockNovaInstance.ts +4 -6

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

	@@ -1 +1 @@
1	- {"version":3,"sources":["../../../src/lib/v2/index.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts"],"sourcesContent":["export * from \"@wandelbots/nova-api/v2\"\nexport * from \"./NovaCellAPIClient\"\nexport * from \"./NovaClient\"\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\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 motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n readonly controller = this.withCellId(ControllerApi)\n\n readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n readonly application = this.withCellId(ApplicationApi)\n readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n readonly jogging = this.withCellId(JoggingApi)\n\n readonly kinematics = this.withCellId(KinematicsApi)\n\n readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n readonly virtualController = this.withCellId(VirtualControllerApi)\n readonly virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n readonly virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n\n readonly storeObject = this.withCellId(StoreObjectApi)\n readonly storeCollisionComponents = this.withCellId(\n StoreCollisionComponentsApi,\n )\n readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\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 { MockNovaInstance } from \"./mock/MockNovaInstance\"\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","import type { MotionGroupState, RobotController } 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 }\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 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 } // Mock motion group specification\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 } // Mock safety setup\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: 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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 timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: {\n joints: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n },\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n } satisfies 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1	+ {"version":3,"sources":["../../../src/lib/v2/index.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/ProgramsClient.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts"],"sourcesContent":["export * from \"@wandelbots/nova-api/v2\"\nexport * from \"./NovaCellAPIClient\"\nexport * from \"./NovaClient\"\nexport * from \"./ProgramsClient\"\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport {\n ApplicationApi,\n BUSInputsOutputsApi,\n CellApi,\n ControllerApi,\n ControllerInputsOutputsApi,\n JoggingApi,\n KinematicsApi,\n MotionGroupApi,\n MotionGroupModelsApi,\n ProgramApi,\n StoreCollisionComponentsApi,\n StoreCollisionSetupsApi,\n StoreObjectApi,\n SystemApi,\n TrajectoryCachingApi,\n TrajectoryExecutionApi,\n TrajectoryPlanningApi,\n VirtualControllerApi,\n VirtualControllerBehaviorApi,\n VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { BaseAPI } from \"@wandelbots/nova-api/v2/base\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\nimport { ProgramsClient } from \"./ProgramsClient.js\"\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 motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n readonly controller = this.withCellId(ControllerApi)\n\n readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n readonly programs = this.withCellId(ProgramApi)\n\n readonly application = this.withCellId(ApplicationApi)\n readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n readonly jogging = this.withCellId(JoggingApi)\n\n readonly kinematics = this.withCellId(KinematicsApi)\n\n readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n readonly virtualController = this.withCellId(VirtualControllerApi)\n readonly virtualControllerBehavior = this.withCellId(\n VirtualControllerBehaviorApi,\n )\n readonly virtualControllerIOs = this.withCellId(\n VirtualControllerInputsOutputsApi,\n )\n\n readonly storeObject = this.withCellId(StoreObjectApi)\n readonly storeCollisionComponents = this.withCellId(\n StoreCollisionComponentsApi,\n )\n readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n\n // Enhanced programs client with convenient methods\n private _programsClient?: ProgramsClient\n get programsClient(): ProgramsClient {\n if (!this._programsClient) {\n this._programsClient = new ProgramsClient(this)\n }\n return this._programsClient\n }\n}\n","import type {\n Program,\n ProgramRun,\n ProgramRunState,\n ProgramStartRequest,\n ProgramApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { NovaCellAPIClient, WithCellId } from \"./NovaCellAPIClient.js\"\n\n/\n Enhanced client for the Programs API providing intuitive program management\n /\nexport class ProgramsClient {\n constructor(private client: NovaCellAPIClient) {}\n\n /\n Get the underlying programs API for direct access\n /\n get api(): WithCellId<ProgramApi> {\n return this.client.programs\n }\n\n /\n List all programs available in the cell\n /\n async list(): Promise<Program[]> {\n return await this.api.listPrograms()\n }\n\n /\n Get details of a specific program\n /\n async get(programId: string): Promise<Program> {\n return await this.api.getProgram(programId)\n }\n\n /\n Start a program with the given arguments\n /\n async start(\n programId: string,\n args: object = {},\n ): Promise<ProgramRun> {\n const startRequest: ProgramStartRequest = {\n arguments: args,\n }\n return await this.api.startProgram(programId, startRequest)\n }\n\n /\n Stop a running program\n /\n async stop(programId: string): Promise<void> {\n return await this.api.stopProgram(programId)\n }\n\n /\n Execute a program and wait for it to complete\n * \n * Note: This method has limitations due to current API constraints.\n * Real-time program state tracking will be available via NATS messaging\n * in future versions. For now, this provides basic start functionality.\n * \n * @param programId - The program identifier\n * @param args - Arguments to pass to the program\n * @param options - Basic execution options\n /\n async execute(\n programId: string,\n args: object = {},\n options: {\n onStart?: (run: ProgramRun) => void\n } = {},\n ): Promise<ProgramRun> {\n const { onStart } = options\n\n // Start the program\n const run = await this.start(programId, args)\n \n if (onStart) {\n onStart(run)\n }\n\n // Note: Cannot wait for completion due to API limitations\n // Real-time state tracking will be available via NATS messaging\n return run\n }\n\n /\n Create a program runner helper for a specific program\n /\n forProgram(programId: string): ProgramRunner {\n return new ProgramRunner(this, programId)\n }\n}\n\n/\n Helper class for managing a specific program\n /\nexport class ProgramRunner {\n constructor(\n private programs: ProgramsClient,\n private programId: string,\n ) {}\n\n /\n Get program details\n /\n async getDetails(): Promise<Program> {\n return await this.programs.get(this.programId)\n }\n\n /\n Start this program\n /\n async start(args: object = {}): Promise<ProgramRun> {\n return await this.programs.start(this.programId, args)\n }\n\n /\n Stop this program\n /\n async stop(): Promise<void> {\n return await this.programs.stop(this.programId)\n }\n\n /\n Execute this program (start and get initial run information)\n * \n * Note: This method has limitations due to current API constraints.\n * Real-time program state tracking will be available via NATS messaging\n * in future versions.\n /\n async execute(\n args: object = {},\n options: {\n onStart?: (run: ProgramRun) => void\n } = {},\n ): Promise<ProgramRun> {\n return await this.programs.execute(this.programId, args, options)\n }\n}\n\n// Re-export types for convenience\nexport type {\n Program,\n ProgramRun,\n ProgramRunState,\n ProgramStartRequest,\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 { MockNovaInstance } from \"./mock/MockNovaInstance\"\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","import type { MotionGroupState, RobotController } 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 }\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 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 } // Mock motion group specification\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 } // Mock safety setup\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 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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: 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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 timestamp: new Date().toISOString(),\n sequence_number: 1,\n joint_position: [\n 1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n 1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n ],\n joint_limit_reached: {\n limit_reached: [false, false, false, false, false, false],\n },\n standstill: false,\n flange_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n tcp_pose: {\n position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n orientation: [\n 1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n ],\n },\n } satisfies 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package/package.json CHANGED Viewed

@@ -1,7 +1,7 @@
 {
   "name": "@wandelbots/nova-js",
   "type": "module",
-  "version": "v2.1.4-pr.feature-remove-v2-functionallity.113.bfa317e",
+  "version": "v2.1.4-pr.feature-add-program-client.114.9d31b54",
   "description": "Official JS client for the Wandelbots API",
   "sideEffects": false,
   "exports": {
@@ -56,7 +56,7 @@
   "dependencies": {
     "@auth0/auth0-spa-js": "^2.1.3",
     "@types/three": "^0.174.0",
-    "@wandelbots/nova-api": "^25.7.0",
+    "@wandelbots/nova-api": "^25.8.0-dev.66",
     "axios": "^1.8.1",
     "mobx": "^6.13.6",
     "path-to-regexp": "^8.2.0",

package/src/lib/v2/NovaCellAPIClient.ts CHANGED Viewed

@@ -9,6 +9,7 @@ import {
   KinematicsApi,
   MotionGroupApi,
   MotionGroupModelsApi,
+  ProgramApi,
   StoreCollisionComponentsApi,
   StoreCollisionSetupsApi,
   StoreObjectApi,
@@ -23,6 +24,7 @@ import {
 import type { BaseAPI } from "@wandelbots/nova-api/v2/base"
 import type { AxiosInstance } from "axios"
 import axios from "axios"
+import { ProgramsClient } from "./ProgramsClient.js"
 type OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R
   ? (...args: P) => R
@@ -145,6 +147,8 @@ export class NovaCellAPIClient {
   readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)
   readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)
+  readonly programs = this.withCellId(ProgramApi)
   readonly application = this.withCellId(ApplicationApi)
   readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)
@@ -167,4 +171,13 @@ export class NovaCellAPIClient {
     StoreCollisionComponentsApi,
   )
   readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)
+  // Enhanced programs client with convenient methods
+  private _programsClient?: ProgramsClient
+  get programsClient(): ProgramsClient {
+    if (!this._programsClient) {
+      this._programsClient = new ProgramsClient(this)
+    }
+    return this._programsClient
+  }
 }

package/src/lib/v2/ProgramsClient.ts ADDED Viewed

@@ -0,0 +1,150 @@
+import type {
+  Program,
+  ProgramRun,
+  ProgramRunState,
+  ProgramStartRequest,
+  ProgramApi,
+} from "@wandelbots/nova-api/v2"
+import type { NovaCellAPIClient, WithCellId } from "./NovaCellAPIClient.js"
+/**
+ * Enhanced client for the Programs API providing intuitive program management
+ */
+export class ProgramsClient {
+  constructor(private client: NovaCellAPIClient) {}
+  /**
+   * Get the underlying programs API for direct access
+   */
+  get api(): WithCellId<ProgramApi> {
+    return this.client.programs
+  }
+  /**
+   * List all programs available in the cell
+   */
+  async list(): Promise<Program[]> {
+    return await this.api.listPrograms()
+  }
+  /**
+   * Get details of a specific program
+   */
+  async get(programId: string): Promise<Program> {
+    return await this.api.getProgram(programId)
+  }
+  /**
+   * Start a program with the given arguments
+   */
+  async start(
+    programId: string,
+    args: object = {},
+  ): Promise<ProgramRun> {
+    const startRequest: ProgramStartRequest = {
+      arguments: args,
+    }
+    return await this.api.startProgram(programId, startRequest)
+  }
+  /**
+   * Stop a running program
+   */
+  async stop(programId: string): Promise<void> {
+    return await this.api.stopProgram(programId)
+  }
+  /**
+   * Execute a program and wait for it to complete
+   *
+   * Note: This method has limitations due to current API constraints.
+   * Real-time program state tracking will be available via NATS messaging
+   * in future versions. For now, this provides basic start functionality.
+   *
+   * @param programId - The program identifier
+   * @param args - Arguments to pass to the program
+   * @param options - Basic execution options
+   */
+  async execute(
+    programId: string,
+    args: object = {},
+    options: {
+      onStart?: (run: ProgramRun) => void
+    } = {},
+  ): Promise<ProgramRun> {
+    const { onStart } = options
+    // Start the program
+    const run = await this.start(programId, args)
+    if (onStart) {
+      onStart(run)
+    }
+    // Note: Cannot wait for completion due to API limitations
+    // Real-time state tracking will be available via NATS messaging
+    return run
+  }
+  /**
+   * Create a program runner helper for a specific program
+   */
+  forProgram(programId: string): ProgramRunner {
+    return new ProgramRunner(this, programId)
+  }
+}
+/**
+ * Helper class for managing a specific program
+ */
+export class ProgramRunner {
+  constructor(
+    private programs: ProgramsClient,
+    private programId: string,
+  ) {}
+  /**
+   * Get program details
+   */
+  async getDetails(): Promise<Program> {
+    return await this.programs.get(this.programId)
+  }
+  /**
+   * Start this program
+   */
+  async start(args: object = {}): Promise<ProgramRun> {
+    return await this.programs.start(this.programId, args)
+  }
+  /**
+   * Stop this program
+   */
+  async stop(): Promise<void> {
+    return await this.programs.stop(this.programId)
+  }
+  /**
+   * Execute this program (start and get initial run information)
+   *
+   * Note: This method has limitations due to current API constraints.
+   * Real-time program state tracking will be available via NATS messaging
+   * in future versions.
+   */
+  async execute(
+    args: object = {},
+    options: {
+      onStart?: (run: ProgramRun) => void
+    } = {},
+  ): Promise<ProgramRun> {
+    return await this.programs.execute(this.programId, args, options)
+  }
+}
+// Re-export types for convenience
+export type {
+  Program,
+  ProgramRun,
+  ProgramRunState,
+  ProgramStartRequest,
+}

package/src/lib/v2/index.ts CHANGED Viewed

@@ -1,3 +1,4 @@
 export * from "@wandelbots/nova-api/v2"
 export * from "./NovaCellAPIClient"
 export * from "./NovaClient"
+export * from "./ProgramsClient"

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

@@ -933,12 +933,10 @@ const defaultMotionState = {
     controller: "universalrobots-ur5e",
     timestamp: new Date().toISOString(),
     sequence_number: 1,
-    joint_position: {
-      joints: [
-        1.1699999570846558, -1.5700000524520874, 1.3600000143051147,
-        1.0299999713897705, 1.2899999618530273, 1.2799999713897705,
-      ],
-    },
+    joint_position: [
+      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,
+      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,
+    ],
     joint_limit_reached: {
       limit_reached: [false, false, false, false, false, false],
     },