@wandelbots/nova-js 2.1.4 → 3.0.0

package/dist/lib/v2/index.cjs

@@ -68,525 +68,15 @@ var __async = (__this, __arguments, generator) => {
 // src/lib/v2/index.ts
 var v2_exports = {};
 __export(v2_exports, {
-  ConnectedMotionGroup: () => ConnectedMotionGroup,
-  JoggerConnection: () => JoggerConnection,
-  MotionStreamConnection: () => MotionStreamConnection,
   NovaCellAPIClient: () => NovaCellAPIClient,
-  NovaClient: () => NovaClient,
-  ProgramState: () => ProgramState,
-  ProgramStateConnection: () => ProgramStateConnection
+  NovaClient: () => NovaClient
 });
 module.exports = __toCommonJS(v2_exports);
 __reExport(v2_exports, require("@wandelbots/nova-api/v2"), module.exports);
 
-// src/lib/v2/ConnectedMotionGroup.ts
-var import_axios = require("axios");
-var import_mobx = require("mobx");
-
-// src/lib/converters.ts
-function tryParseJson(json) {
-  try {
-    return JSON.parse(json);
-  } catch (e) {
-    return void 0;
-  }
-}
-
-// src/lib/v2/motionStateUpdate.ts
-function jointValuesEqual(oldJointValues, newJointValues, changeDeltaThreshold) {
-  if (newJointValues.length !== oldJointValues.length) {
-    return true;
-  }
-  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {
-    if (Math.abs(newJointValues[jointIndex] - oldJointValues[jointIndex]) > changeDeltaThreshold) {
-      return false;
-    }
-  }
-  return true;
-}
-function tcpPoseEqual(oldTcp, newTcp, changeDeltaThreshold) {
-  if (oldTcp === void 0 && newTcp || oldTcp && newTcp === void 0) {
-    return false;
-  }
-  if (oldTcp === void 0 || newTcp === void 0) {
-    return true;
-  }
-  let changedDelta = 0;
-  changedDelta += Math.abs(oldTcp.orientation[0] - newTcp.orientation[0]);
-  changedDelta += Math.abs(oldTcp.orientation[1] - newTcp.orientation[1]);
-  changedDelta += Math.abs(oldTcp.orientation[2] - newTcp.orientation[2]);
-  changedDelta += Math.abs(oldTcp.position[0] - newTcp.position[0]);
-  changedDelta += Math.abs(oldTcp.position[1] - newTcp.position[1]);
-  changedDelta += Math.abs(oldTcp.position[2] - newTcp.position[2]);
-  if (changedDelta > changeDeltaThreshold) {
-    return false;
-  }
-  return oldTcp.coordinate_system === newTcp.coordinate_system && oldTcp.tcp === newTcp.tcp;
-}
-
-// src/lib/v2/ConnectedMotionGroup.ts
-var MOTION_DELTA_THRESHOLD = 1e-4;
-var ConnectedMotionGroup = class _ConnectedMotionGroup {
-  constructor(nova, controller, motionGroup, initialMotionState, motionStateSocket, isVirtual, tcps, motionGroupSpecification, safetySetup) {
-    this.nova = nova;
-    this.controller = controller;
-    this.motionGroup = motionGroup;
-    this.initialMotionState = initialMotionState;
-    this.motionStateSocket = motionStateSocket;
-    this.isVirtual = isVirtual;
-    this.tcps = tcps;
-    this.motionGroupSpecification = motionGroupSpecification;
-    this.safetySetup = safetySetup;
-    this.connectedJoggingCartesianSocket = null;
-    this.connectedJoggingJointsSocket = null;
-    // tmp
-    this.joggingVelocity = 10;
-    this.rapidlyChangingMotionState = initialMotionState;
-    motionStateSocket.addEventListener("message", (event) => {
-      var _a;
-      const motionStateResponse = (_a = tryParseJson(event.data)) == null ? void 0 : _a.result;
-      if (!motionStateResponse) {
-        throw new Error(
-          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`
-        );
-      }
-      if (!jointValuesEqual(
-        this.rapidlyChangingMotionState.joint_position.joints,
-        motionStateResponse.joint_position.joints,
-        MOTION_DELTA_THRESHOLD
-      )) {
-        (0, import_mobx.runInAction)(() => {
-          this.rapidlyChangingMotionState = motionStateResponse;
-        });
-      }
-      if (!tcpPoseEqual(
-        this.rapidlyChangingMotionState.tcp_pose,
-        motionStateResponse.tcp_pose,
-        MOTION_DELTA_THRESHOLD
-      )) {
-        (0, import_mobx.runInAction)(() => {
-          this.rapidlyChangingMotionState.tcp_pose = motionStateResponse.tcp_pose;
-        });
-      }
-    });
-    (0, import_mobx.makeAutoObservable)(this);
-  }
-  static connect(nova, motionGroupId, controllers) {
-    return __async(this, null, function* () {
-      var _a;
-      const [_motionGroupIndex, controllerId] = motionGroupId.split("@");
-      const controller = controllers.find((c) => c.controller === controllerId);
-      const motionGroup = controller == null ? void 0 : controller.motion_groups.find(
-        (mg) => mg.motion_group === motionGroupId
-      );
-      if (!controller || !motionGroup) {
-        throw new Error(
-          `Controller ${controllerId} or motion group ${motionGroupId} not found`
-        );
-      }
-      const motionStateSocket = nova.openReconnectingWebsocket(
-        `/motion-groups/${motionGroupId}/state-stream`
-      );
-      const firstMessage = yield motionStateSocket.firstMessage();
-      const initialMotionState = (_a = tryParseJson(firstMessage.data)) == null ? void 0 : _a.result;
-      if (!initialMotionState) {
-        throw new Error(
-          `Unable to parse initial motion state message ${firstMessage.data}`
-        );
-      }
-      console.log(
-        `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:
-  `,
-        initialMotionState
-      );
-      let isVirtual = false;
-      try {
-        const opMode = yield nova.api.virtualRobotMode.getOperationMode(controllerId);
-        if (opMode) isVirtual = true;
-      } catch (err) {
-        if (err instanceof import_axios.AxiosError) {
-          console.log(
-            `Received ${err.status} from getOperationMode, concluding that ${controllerId} is physical`
-          );
-        } else {
-          throw err;
-        }
-      }
-      const { tcps } = yield nova.api.motionGroupInfos.listTcps(motionGroupId);
-      const motionGroupSpecification = yield nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId);
-      const safetySetup = yield nova.api.motionGroupInfos.getSafetySetup(motionGroupId);
-      return new _ConnectedMotionGroup(
-        nova,
-        controller,
-        motionGroup,
-        initialMotionState,
-        motionStateSocket,
-        isVirtual,
-        tcps,
-        motionGroupSpecification,
-        safetySetup
-      );
-    });
-  }
-  get motionGroupId() {
-    return this.motionGroup.motion_group;
-  }
-  get controllerId() {
-    return this.controller.controller;
-  }
-  get modelFromController() {
-    return this.motionGroup.model_from_controller;
-  }
-  get wandelscriptIdentifier() {
-    const num = this.motionGroupId.split("@")[0];
-    return `${this.controllerId.replaceAll("-", "_")}_${num}`;
-  }
-  /** Jogging velocity in radians for rotation and joint movement */
-  get joggingVelocityRads() {
-    return this.joggingVelocity * Math.PI / 180;
-  }
-  get joints() {
-    return this.initialMotionState.joint_position.joints.map((_, i) => {
-      return {
-        index: i
-      };
-    });
-  }
-  get dhParameters() {
-    return this.motionGroupSpecification.dh_parameters;
-  }
-  get safetyZones() {
-    return this.safetySetup.safety_zones;
-  }
-  dispose() {
-    this.motionStateSocket.close();
-    if (this.connectedJoggingCartesianSocket)
-      this.connectedJoggingCartesianSocket.close();
-    if (this.connectedJoggingJointsSocket)
-      this.connectedJoggingJointsSocket.close();
-  }
-  setJoggingVelocity(velocity) {
-    this.joggingVelocity = velocity;
-  }
-};
-
-// src/lib/v2/vectorUtils.ts
-var THREE = __toESM(require("three"), 1);
-function axisToIndex(axis) {
-  switch (axis) {
-    case "x":
-      return 0;
-    case "y":
-      return 1;
-    case "z":
-      return 2;
-  }
-}
-function vector3ToArray(vector) {
-  return [vector.x, vector.y, vector.z];
-}
-
-// src/lib/v2/JoggerConnection.ts
-var JoggerConnection = class _JoggerConnection {
-  constructor(nova, cell, motionGroupId, motionGroupState, opts) {
-    this.nova = nova;
-    this.cell = cell;
-    this.motionGroupId = motionGroupId;
-    this.motionGroupState = motionGroupState;
-    this.opts = opts;
-    // Currently a separate websocket is needed for each mode, pester API people
-    // to merge these for simplicity
-    this.joggingWebsocket = null;
-    this.lastVelocityRequest = null;
-    this.lastResponse = null;
-    this.joggingWebsocket = nova.openReconnectingWebsocket(
-      `/cells/${cell}/execution/jogging`
-    );
-    this.joggingWebsocket.addEventListener("message", (ev) => {
-      const data = tryParseJson(ev.data);
-      if (data && "error" in data) {
-        if (this.opts.onError) {
-          this.opts.onError(ev.data);
-        } else {
-          throw new Error(ev.data);
-        }
-      }
-    });
-    this.joggingWebsocket.addEventListener("message", (ev) => {
-      const data = tryParseJson(ev.data);
-      if (data && "error" in data) {
-        if (this.opts.onError) {
-          this.opts.onError(ev.data);
-        } else {
-          throw new Error(ev.data);
-        }
-      }
-    });
-  }
-  static open(nova, cell, motionGroupId, opts) {
-    return __async(this, null, function* () {
-      const motionGroupState = yield nova.api.motionGroupInfos.getCurrentMotionGroupState(motionGroupId);
-      return new _JoggerConnection(
-        nova,
-        cell,
-        motionGroupId,
-        motionGroupState,
-        opts
-      );
-    });
-  }
-  get jointCount() {
-    var _a;
-    return (_a = this.motionGroupState.joint_current) == null ? void 0 : _a.joints.length;
-  }
-  get activeWebsocket() {
-    return this.joggingWebsocket;
-  }
-  stop() {
-    return __async(this, null, function* () {
-      var _a, _b;
-      if (!this.joggingWebsocket) {
-        return;
-      }
-      if (((_a = this.lastVelocityRequest) == null ? void 0 : _a.message_type) === "JointVelocityRequest") {
-        this.joggingWebsocket.sendJson({
-          message_type: "JointVelocityRequest",
-          velocity: {
-            joints: Array.from(new Array(this.jointCount).keys()).map(() => 0)
-          }
-        });
-      }
-      if (((_b = this.lastVelocityRequest) == null ? void 0 : _b.message_type) === "TcpVelocityRequest") {
-        this.joggingWebsocket.sendJson({
-          message_type: "TcpVelocityRequest",
-          rotation: [0, 0, 0],
-          translation: [0, 0, 0]
-        });
-      }
-    });
-  }
-  dispose() {
-    if (this.joggingWebsocket) {
-      this.joggingWebsocket.dispose();
-    }
-  }
-  /**
-   * Start rotation of a single robot joint at the specified velocity
-   */
-  startJointRotation(_0) {
-    return __async(this, arguments, function* ({
-      joint,
-      velocityRadsPerSec
-    }) {
-      if (!this.joggingWebsocket) {
-        throw new Error(
-          "Joint jogging websocket not connected. Wait for reconnect or open new jogging connection"
-        );
-      }
-      const jointVelocities = new Array(this.jointCount).fill(0);
-      jointVelocities[joint] = velocityRadsPerSec;
-      this.joggingWebsocket.sendJson({
-        message_type: "JointVelocityRequest",
-        velocity: {
-          joints: jointVelocities
-        }
-      });
-    });
-  }
-  /**
-   * Start the TCP moving along a specified axis at a given velocity
-   */
-  startTCPTranslation(_0) {
-    return __async(this, arguments, function* ({
-      axis,
-      velocityMmPerSec,
-      useToolCoordinateSystem
-    }) {
-      if (!this.joggingWebsocket) {
-        throw new Error(
-          "Cartesian jogging websocket not connected. Wait for reconnect or open new jogging connection"
-        );
-      }
-      const joggingVector = [0, 0, 0];
-      joggingVector[axisToIndex(axis)] = velocityMmPerSec;
-      this.joggingWebsocket.sendJson({
-        message_type: "TcpVelocityRequest",
-        translation: joggingVector,
-        rotation: [0, 0, 0],
-        use_tool_coordinate_system: useToolCoordinateSystem
-      });
-    });
-  }
-  /**
-   * Start the TCP rotating around a specified axis at a given velocity
-   */
-  startTCPRotation(_0) {
-    return __async(this, arguments, function* ({
-      axis,
-      velocityRadsPerSec,
-      useToolCoordinateSystem
-    }) {
-      if (!this.joggingWebsocket) {
-        throw new Error(
-          "Cartesian jogging websocket not connected. Wait for reconnect or open new jogging connection"
-        );
-      }
-      const joggingVector = [0, 0, 0];
-      joggingVector[axisToIndex(axis)] = velocityRadsPerSec;
-      this.joggingWebsocket.sendJson({
-        message_type: "TcpVelocityRequest",
-        rotation: joggingVector,
-        translation: [0, 0, 0],
-        use_tool_coordinate_system: useToolCoordinateSystem
-      });
-    });
-  }
-};
-
-// src/lib/v2/MotionStreamConnection.ts
-var import_mobx2 = require("mobx");
-var THREE2 = __toESM(require("three"), 1);
-var MOTION_DELTA_THRESHOLD2 = 1e-4;
-function unwrapRotationVector(newRotationVectorApi, currentRotationVectorApi) {
-  const currentRotationVector = new THREE2.Vector3(
-    currentRotationVectorApi[0],
-    currentRotationVectorApi[1],
-    currentRotationVectorApi[2]
-  );
-  const newRotationVector = new THREE2.Vector3(
-    newRotationVectorApi[0],
-    newRotationVectorApi[1],
-    newRotationVectorApi[2]
-  );
-  const currentAngle = currentRotationVector.length();
-  const currentAxis = currentRotationVector.normalize();
-  let newAngle = newRotationVector.length();
-  let newAxis = newRotationVector.normalize();
-  if (newAxis.dot(currentAxis) < 0) {
-    newAngle = -newAngle;
-    newAxis = newAxis.multiplyScalar(-1);
-  }
-  let angleDifference = newAngle - currentAngle;
-  angleDifference -= 2 * Math.PI * Math.floor((angleDifference + Math.PI) / (2 * Math.PI));
-  newAngle = currentAngle + angleDifference;
-  return vector3ToArray(newAxis.multiplyScalar(newAngle));
-}
-var MotionStreamConnection = class _MotionStreamConnection {
-  constructor(nova, controller, motionGroup, initialMotionState, motionStateSocket) {
-    this.nova = nova;
-    this.controller = controller;
-    this.motionGroup = motionGroup;
-    this.initialMotionState = initialMotionState;
-    this.motionStateSocket = motionStateSocket;
-    this.rapidlyChangingMotionState = initialMotionState;
-    motionStateSocket.addEventListener("message", (event) => {
-      var _a;
-      const motionState = (_a = tryParseJson(event.data)) == null ? void 0 : _a.result;
-      if (!motionState) {
-        throw new Error(
-          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`
-        );
-      }
-      if (!jointValuesEqual(
-        this.rapidlyChangingMotionState.joint_position.joints,
-        motionState.joint_position.joints,
-        MOTION_DELTA_THRESHOLD2
-      )) {
-        (0, import_mobx2.runInAction)(() => {
-          this.rapidlyChangingMotionState = motionState;
-        });
-      }
-      if (!tcpPoseEqual(
-        this.rapidlyChangingMotionState.tcp_pose,
-        motionState.tcp_pose,
-        MOTION_DELTA_THRESHOLD2
-      )) {
-        (0, import_mobx2.runInAction)(() => {
-          if (this.rapidlyChangingMotionState.tcp_pose == void 0) {
-            this.rapidlyChangingMotionState.tcp_pose = motionState.tcp_pose;
-          } else {
-            this.rapidlyChangingMotionState.tcp_pose = {
-              position: motionState.tcp_pose.position,
-              orientation: unwrapRotationVector(
-                motionState.tcp_pose.orientation,
-                this.rapidlyChangingMotionState.tcp_pose.orientation
-              ),
-              tcp: motionState.tcp_pose.tcp,
-              coordinate_system: motionState.tcp_pose.coordinate_system
-            };
-          }
-        });
-      }
-    });
-    (0, import_mobx2.makeAutoObservable)(this);
-  }
-  static open(nova, motionGroupId) {
-    return __async(this, null, function* () {
-      var _a;
-      const { controllers } = yield nova.api.controller.listControllers();
-      const [_motionGroupIndex, controllerId] = motionGroupId.split("@");
-      const controller = controllers.find((c) => c.controller === controllerId);
-      const motionGroup = controller == null ? void 0 : controller.motion_groups.find(
-        (mg) => mg.motion_group === motionGroupId
-      );
-      if (!controller || !motionGroup) {
-        throw new Error(
-          `Controller ${controllerId} or motion group ${motionGroupId} not found`
-        );
-      }
-      const motionStateSocket = nova.openReconnectingWebsocket(
-        `/motion-groups/${motionGroupId}/state-stream`
-      );
-      const firstMessage = yield motionStateSocket.firstMessage();
-      console.log("got first message", firstMessage);
-      const initialMotionState = (_a = tryParseJson(firstMessage.data)) == null ? void 0 : _a.result;
-      if (!initialMotionState) {
-        throw new Error(
-          `Unable to parse initial motion state message ${firstMessage.data}`
-        );
-      }
-      console.log(
-        `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:
-  `,
-        initialMotionState
-      );
-      return new _MotionStreamConnection(
-        nova,
-        controller,
-        motionGroup,
-        initialMotionState,
-        motionStateSocket
-      );
-    });
-  }
-  get motionGroupId() {
-    return this.motionGroup.motion_group;
-  }
-  get controllerId() {
-    return this.controller.controller;
-  }
-  get modelFromController() {
-    return this.motionGroup.model_from_controller;
-  }
-  get wandelscriptIdentifier() {
-    const num = this.motionGroupId.split("@")[0];
-    return `${this.controllerId.replaceAll("-", "_")}_${num}`;
-  }
-  get joints() {
-    return this.initialMotionState.joint_position.joints.map((_, i) => {
-      return {
-        index: i
-      };
-    });
-  }
-  dispose() {
-    this.motionStateSocket.close();
-  }
-};
-
 // src/lib/v2/NovaCellAPIClient.ts
 var import_v2 = require("@wandelbots/nova-api/v2");
-var import_axios2 = __toESM(require("axios"), 1);
+var import_axios = __toESM(require("axios"), 1);
 var NovaCellAPIClient = class {
   constructor(cellId, opts) {
     this.cellId = cellId;
@@ -594,27 +84,29 @@ var NovaCellAPIClient = class {
     this.system = this.withUnwrappedResponsesOnly(import_v2.SystemApi);
     this.cell = this.withUnwrappedResponsesOnly(import_v2.CellApi);
     this.motionGroup = this.withCellId(import_v2.MotionGroupApi);
-    this.motionGroupInfos = this.withCellId(import_v2.MotionGroupInfoApi);
+    this.motionGroupModels = this.withCellId(import_v2.MotionGroupModelsApi);
     this.controller = this.withCellId(import_v2.ControllerApi);
-    this.program = this.withCellId(import_v2.ProgramApi);
-    this.programOperator = this.withCellId(import_v2.ProgramOperatorApi);
     this.controllerIOs = this.withCellId(import_v2.ControllerInputsOutputsApi);
-    this.motionGroupKinematic = this.withCellId(import_v2.MotionGroupKinematicsApi);
     this.trajectoryPlanning = this.withCellId(import_v2.TrajectoryPlanningApi);
     this.trajectoryExecution = this.withCellId(import_v2.TrajectoryExecutionApi);
-    this.coordinateSystems = this.withCellId(import_v2.CoordinateSystemsApi);
+    this.trajectoryCaching = this.withCellId(import_v2.TrajectoryCachingApi);
     this.application = this.withCellId(import_v2.ApplicationApi);
     this.applicationGlobal = this.withUnwrappedResponsesOnly(import_v2.ApplicationApi);
     this.jogging = this.withCellId(import_v2.JoggingApi);
-    this.virtualRobot = this.withCellId(import_v2.VirtualRobotApi);
-    this.virtualRobotSetup = this.withCellId(import_v2.VirtualRobotSetupApi);
-    this.virtualRobotMode = this.withCellId(import_v2.VirtualRobotModeApi);
-    this.virtualRobotBehavior = this.withCellId(import_v2.VirtualRobotBehaviorApi);
+    this.kinematics = this.withCellId(import_v2.KinematicsApi);
+    this.busInputsOutputs = this.withCellId(import_v2.BUSInputsOutputsApi);
+    this.virtualController = this.withCellId(import_v2.VirtualControllerApi);
+    this.virtualControllerBehavior = this.withCellId(
+      import_v2.VirtualControllerBehaviorApi
+    );
+    this.virtualControllerIOs = this.withCellId(
+      import_v2.VirtualControllerInputsOutputsApi
+    );
     this.storeObject = this.withCellId(import_v2.StoreObjectApi);
     this.storeCollisionComponents = this.withCellId(
       import_v2.StoreCollisionComponentsApi
     );
-    this.storeCollisionScenes = this.withCellId(import_v2.StoreCollisionScenesApi);
+    this.storeCollisionSetups = this.withCellId(import_v2.StoreCollisionSetupsApi);
   }
   /**
    * Some TypeScript sorcery which alters the API class methods so you don't
@@ -630,7 +122,7 @@ var NovaCellAPIClient = class {
         }
       }),
       (_a = this.opts.basePath) != null ? _a : "",
-      (_b = this.opts.axiosInstance) != null ? _b : import_axios2.default.create()
+      (_b = this.opts.axiosInstance) != null ? _b : import_axios.default.create()
     );
     for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) {
       if (key !== "constructor" && typeof apiClient[key] === "function") {
@@ -654,7 +146,7 @@ var NovaCellAPIClient = class {
         }
       }),
       (_a = this.opts.basePath) != null ? _a : "",
-      (_b = this.opts.axiosInstance) != null ? _b : import_axios2.default.create()
+      (_b = this.opts.axiosInstance) != null ? _b : import_axios.default.create()
     );
     for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) {
       if (key !== "constructor" && typeof apiClient[key] === "function") {
@@ -669,7 +161,7 @@ var NovaCellAPIClient = class {
 };
 
 // src/lib/v2/NovaClient.ts
-var import_axios4 = __toESM(require("axios"), 1);
+var import_axios3 = __toESM(require("axios"), 1);
 var import_url_join = __toESM(require("url-join"), 1);
 
 // src/LoginWithAuth0.ts
@@ -910,7 +402,7 @@ var AvailableStorage = class {
 var availableStorage = new AvailableStorage();
 
 // src/lib/v2/mock/MockNovaInstance.ts
-var import_axios3 = require("axios");
+var import_axios2 = require("axios");
 var pathToRegexp = __toESM(require("path-to-regexp"), 1);
 var MockNovaInstance = class {
   constructor() {
@@ -954,7 +446,6 @@ var MockNovaInstance = class {
               configuration: {
                 kind: "VirtualController",
                 manufacturer: "universalrobots",
-                position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
                 type: "universalrobots-ur5e"
               },
               name: "mock-ur5"
@@ -1593,7 +1084,7 @@ var MockNovaInstance = class {
           };
         }
       }
-      throw new import_axios3.AxiosError(
+      throw new import_axios2.AxiosError(
         `No mock handler matched this request: ${method} ${path}`,
         "404",
         config
@@ -1834,6 +1325,8 @@ var defaultMotionState = {
   result: {
     motion_group: "0@universalrobots-ur5e",
     controller: "universalrobots-ur5e",
+    timestamp: (/* @__PURE__ */ new Date()).toISOString(),
+    sequence_number: 1,
     joint_position: {
       joints: [
         1.1699999570846558,
@@ -1844,17 +1337,17 @@ var defaultMotionState = {
         1.2799999713897705
       ]
     },
-    joint_velocity: {
-      joints: [0, 0, 0, 0, 0, 0]
+    joint_limit_reached: {
+      limit_reached: [false, false, false, false, false, false]
     },
+    standstill: false,
     flange_pose: {
       position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
       orientation: [
         1.7564919306270736,
         -1.7542521568325058,
         0.7326972590614671
-      ],
-      coordinate_system: ""
+      ]
     },
     tcp_pose: {
       position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
@@ -1862,25 +1355,7 @@ var defaultMotionState = {
         1.7564919306270736,
         -1.7542521568325058,
         0.7326972590614671
-      ],
-      coordinate_system: "",
-      tcp: "Flange"
-    },
-    velocity: {
-      linear: [0, 0, 0],
-      angular: [0, 0, 0],
-      coordinate_system: ""
-    },
-    force: {
-      force: [0, 0, 0],
-      moment: [0, 0, 0],
-      coordinate_system: ""
-    },
-    joint_limit_reached: {
-      limit_reached: [false, false, false, false, false, false]
-    },
-    joint_current: {
-      joints: [0, 0, 0, 0, 0, 0]
+      ]
     }
   }
 };
@@ -1900,7 +1375,7 @@ var NovaClient = class {
     if (this.config.instanceUrl === "https://mock.example.com") {
       this.mock = new MockNovaInstance();
     }
-    const axiosInstance = import_axios4.default.create({
+    const axiosInstance = import_axios3.default.create({
       baseURL: (0, import_url_join.default)(this.config.instanceUrl, "/api/v2"),
       // TODO - backend needs to set proper CORS headers for this
       headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : {
@@ -1923,7 +1398,7 @@ var NovaClient = class {
         (r) => r,
         (error) => __async(this, null, function* () {
           var _a2, _b;
-          if ((0, import_axios4.isAxiosError)(error)) {
+          if ((0, import_axios3.isAxiosError)(error)) {
             if (((_a2 = error.response) == null ? void 0 : _a2.status) === 401) {
               try {
                 yield this.renewAuthentication();
@@ -2008,229 +1483,11 @@ var NovaClient = class {
       mock: this.mock
     });
   }
-  /**
-   * Connect to the motion state websocket(s) for a given motion group
-   */
-  connectMotionStream(motionGroupId) {
-    return __async(this, null, function* () {
-      return yield MotionStreamConnection.open(this, motionGroupId);
-    });
-  }
-  connectMotionGroups(motionGroupIds) {
-    return __async(this, null, function* () {
-      const { controllers } = yield this.api.controller.listControllers();
-      return Promise.all(
-        motionGroupIds.map(
-          (motionGroupId) => ConnectedMotionGroup.connect(this, motionGroupId, controllers)
-        )
-      );
-    });
-  }
-  connectMotionGroup(motionGroupId) {
-    return __async(this, null, function* () {
-      const motionGroups = yield this.connectMotionGroups([motionGroupId]);
-      return motionGroups[0];
-    });
-  }
-};
-
-// src/lib/v2/ProgramStateConnection.ts
-var import_axios5 = require("axios");
-var import_mobx3 = require("mobx");
-var ProgramState = /* @__PURE__ */ ((ProgramState2) => {
-  ProgramState2["NotStarted"] = "not started";
-  ProgramState2["Running"] = "running";
-  ProgramState2["Stopped"] = "stopped";
-  ProgramState2["Failed"] = "failed";
-  ProgramState2["Completed"] = "completed";
-  return ProgramState2;
-})(ProgramState || {});
-var ProgramStateConnection = class {
-  constructor(nova) {
-    this.nova = nova;
-    this.currentProgram = {};
-    this.logs = [];
-    this.executionState = "idle";
-    this.currentlyExecutingProgramRunnerId = null;
-    (0, import_mobx3.makeAutoObservable)(this, {}, { autoBind: true });
-    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`);
-    this.programStateSocket.addEventListener("message", (ev) => {
-      const msg = tryParseJson(ev.data);
-      if (!msg) {
-        console.error("Failed to parse program state message", ev.data);
-        return;
-      }
-      if (msg.type === "update") {
-        this.handleProgramStateMessage(msg);
-      }
-    });
-  }
-  /** Handle a program state update from the backend */
-  handleProgramStateMessage(msg) {
-    return __async(this, null, function* () {
-      var _a;
-      const { runner } = msg;
-      if (runner.id !== this.currentlyExecutingProgramRunnerId) return;
-      if (runner.state === "failed" /* Failed */) {
-        try {
-          const runnerState = yield this.nova.api.program.getProgramRun(runner.id);
-          const stdout = runnerState.stdout;
-          if (stdout) {
-            this.log(stdout);
-          }
-          this.logError(
-            `Program runner ${runner.id} failed with error: ${runnerState.error}
-${runnerState.traceback}`
-          );
-        } catch (err) {
-          this.logError(
-            `Failed to retrieve results for program ${runner.id}: ${err}`
-          );
-        }
-        this.currentProgram.state = "failed" /* Failed */;
-        this.gotoIdleState();
-      } else if (runner.state === "stopped" /* Stopped */) {
-        try {
-          const runnerState = yield this.nova.api.program.getProgramRun(runner.id);
-          const stdout = runnerState.stdout;
-          if (stdout) {
-            this.log(stdout);
-          }
-          this.currentProgram.state = "stopped" /* Stopped */;
-          this.log(`Program runner ${runner.id} stopped`);
-        } catch (err) {
-          this.logError(
-            `Failed to retrieve results for program ${runner.id}: ${err}`
-          );
-        }
-        this.gotoIdleState();
-      } else if (runner.state === "completed" /* Completed */) {
-        try {
-          const runnerState = yield this.nova.api.program.getProgramRun(runner.id);
-          const stdout = runnerState.stdout;
-          if (stdout) {
-            this.log(stdout);
-          }
-          this.log(
-            `Program runner ${runner.id} finished successfully in ${(_a = runner.execution_time) == null ? void 0 : _a.toFixed(2)} seconds`
-          );
-          this.currentProgram.state = "completed" /* Completed */;
-        } catch (err) {
-          this.logError(
-            `Failed to retrieve results for program ${runner.id}: ${err}`
-          );
-        }
-        this.gotoIdleState();
-      } else if (runner.state === "running" /* Running */) {
-        this.currentProgram.state = "running" /* Running */;
-        this.log(`Program runner ${runner.id} now running`);
-      } else if (runner.state !== "not started" /* NotStarted */) {
-        console.error(runner);
-        this.logError(
-          `Program runner ${runner.id} entered unexpected state: ${runner.state}`
-        );
-        this.currentProgram.state = "not started" /* NotStarted */;
-        this.gotoIdleState();
-      }
-    });
-  }
-  /** Call when a program is no longer executing */
-  gotoIdleState() {
-    (0, import_mobx3.runInAction)(() => {
-      this.executionState = "idle";
-    });
-    this.currentlyExecutingProgramRunnerId = null;
-  }
-  executeProgram(wandelscript, initial_state, activeRobot) {
-    return __async(this, null, function* () {
-      this.currentProgram = {
-        wandelscript,
-        state: "not started" /* NotStarted */
-      };
-      const { currentProgram: openProgram } = this;
-      if (!openProgram) return;
-      (0, import_mobx3.runInAction)(() => {
-        this.executionState = "starting";
-      });
-      const trimmedCode = openProgram.wandelscript.replaceAll(/^\s*$/gm, "");
-      try {
-        const programRunnerRef = yield this.nova.api.program.createProgramRun(
-          {
-            code: trimmedCode,
-            initial_state,
-            default_robot: activeRobot == null ? void 0 : activeRobot.wandelscriptIdentifier
-          },
-          {
-            headers: {
-              "Content-Type": "application/json"
-            }
-          }
-        );
-        this.log(`Created program runner ${programRunnerRef.id}"`);
-        (0, import_mobx3.runInAction)(() => {
-          this.executionState = "executing";
-        });
-        this.currentlyExecutingProgramRunnerId = programRunnerRef.id;
-      } catch (error) {
-        if (error instanceof import_axios5.AxiosError && error.response && error.request) {
-          this.logError(
-            `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`
-          );
-        } else {
-          this.logError(JSON.stringify(error));
-        }
-        (0, import_mobx3.runInAction)(() => {
-          this.executionState = "idle";
-        });
-      }
-    });
-  }
-  stopProgram() {
-    return __async(this, null, function* () {
-      if (!this.currentlyExecutingProgramRunnerId) return;
-      (0, import_mobx3.runInAction)(() => {
-        this.executionState = "stopping";
-      });
-      try {
-        yield this.nova.api.program.stopProgramRun(
-          this.currentlyExecutingProgramRunnerId
-        );
-      } catch (err) {
-        (0, import_mobx3.runInAction)(() => {
-          this.executionState = "executing";
-        });
-        throw err;
-      }
-    });
-  }
-  reset() {
-    this.currentProgram = {};
-  }
-  log(message) {
-    console.log(message);
-    this.logs.push({
-      timestamp: Date.now(),
-      message
-    });
-  }
-  logError(message) {
-    console.log(message);
-    this.logs.push({
-      timestamp: Date.now(),
-      message,
-      level: "error"
-    });
-  }
 };
 // Annotate the CommonJS export names for ESM import in node:
 0 && (module.exports = {
-  ConnectedMotionGroup,
-  JoggerConnection,
-  MotionStreamConnection,
   NovaCellAPIClient,
   NovaClient,
-  ProgramState,
-  ProgramStateConnection,
   ...require("@wandelbots/nova-api/v2")
 });
 //# sourceMappingURL=index.cjs.map