@wandelbots/nova-js 3.0.0 → 3.0.1

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

@@ -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          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new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:48:26.096266444Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3492152690887451, -1.5659207105636597,\n                          1.6653711795806885, -1.0991662740707397,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"671259\",\n                    },\n                  ],\n                  sequence_number: \"671259\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-tcp\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:43:12.188335774Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3352527618408203, -1.5659207105636597,\n                          1.6653711795806885, -1.110615611076355,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"627897\",\n                    },\n                  ],\n                  sequence_number: \"627897\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: {\n      joints: [\n        1.1699999570846558, 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+{"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","/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport 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","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport 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: [0, -Math.SQRT1_2, 0, Math.SQRT1_2],\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: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2],\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: 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handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-joint\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:48:26.096266444Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3492152690887451, -1.5659207105636597,\n                          1.6653711795806885, -1.0991662740707397,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"671259\",\n                    },\n                  ],\n                  sequence_number: \"671259\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-tcp\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:43:12.188335774Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3352527618408203, -1.5659207105636597,\n                          1.6653711795806885, -1.110615611076355,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"627897\",\n                    },\n                  ],\n                  sequence_number: \"627897\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    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    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package/dist/lib/v2/mock/MockNovaInstance.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"MockNovaInstance.d.ts","sourceRoot":"","sources":["../../../../src/lib/v2/mock/MockNovaInstance.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,aAAa,EAAE,0BAA0B,EAAE,MAAM,OAAO,CAAA;AAGtE,OAAO,KAAK,EAAE,yBAAyB,EAAE,MAAM,iCAAiC,CAAA;AAEhF;;;GAGG;AACH,qBAAa,gBAAgB;IAC3B,QAAQ,CAAC,WAAW,EAAE,yBAAyB,EAAE,CAAK;IAEhD,gBAAgB,CACpB,MAAM,EAAE,0BAA0B,GACjC,OAAO,CAAC,aAAa,CAAC;IA+qBzB,yBAAyB,CAAC,MAAM,EAAE,yBAAyB;IA8N3D,sBAAsB,CAAC,MAAM,EAAE,yBAAyB,EAAE,OAAO,EAAE,MAAM;CAG1E"}
+{"version":3,"file":"MockNovaInstance.d.ts","sourceRoot":"","sources":["../../../../src/lib/v2/mock/MockNovaInstance.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EAAE,aAAa,EAAE,0BAA0B,EAAE,MAAM,OAAO,CAAA;AAGtE,OAAO,KAAK,EAAE,yBAAyB,EAAE,MAAM,iCAAiC,CAAA;AAEhF;;;GAGG;AACH,qBAAa,gBAAgB;IAC3B,QAAQ,CAAC,WAAW,EAAE,yBAAyB,EAAE,CAAK;IAEhD,gBAAgB,CACpB,MAAM,EAAE,0BAA0B,GACjC,OAAO,CAAC,aAAa,CAAC;IA2qBzB,yBAAyB,CAAC,MAAM,EAAE,yBAAyB;IA8N3D,sBAAsB,CAAC,MAAM,EAAE,yBAAyB,EAAE,OAAO,EAAE,MAAM;CAG1E"}

package/package.json

@@ -1,9 +1,10 @@
 {
   "name": "@wandelbots/nova-js",
   "type": "module",
-  "version": "3.0.0",
+  "version": "3.0.1",
   "description": "Official JS client for the Wandelbots API",
   "sideEffects": false,
+  "packageManager": "pnpm@10.15.0",
   "exports": {
     ".": {
       "import": "./dist/index.js",
@@ -25,11 +26,13 @@
     "src"
   ],
   "scripts": {
-    "dev:pack": "nodemon -w \".\" -e ts -i *.tgz -i dist -x \"npm run build && npm pack\"",
+    "dev:pack": "nodemon -w \".\" -e ts -i *.tgz -i dist -x \"nr build && npm pack\"",
     "tsc": "tsc --pretty --noEmit",
+    "lint": "biome check --error-on-warnings .",
+    "format": "biome format . --write",
+    "knip": "knip",
     "build": "tsup src/index.ts src/lib/v1/index.ts src/lib/v2/index.ts --format esm,cjs --clean --sourcemap --env.NOVA_AUTH0_DEV_CLIENT_ID=$NOVA_AUTH0_DEV_CLIENT_ID --env.NOVA_AUTH0_STG_CLIENT_ID=$NOVA_AUTH0_STG_CLIENT_ID --env.NOVA_AUTH0_PROD_CLIENT_ID=$NOVA_AUTH0_PROD_CLIENT_ID && tsc --declaration --emitDeclarationOnly",
-    "test": "npm run build && vitest run",
-    "prepare": "husky || true"
+    "test": "nr build && vitest run"
   },
   "repository": {
     "type": "git",
@@ -43,17 +46,17 @@
   "author": "Wandelbots",
   "license": "Apache-2.0",
   "devDependencies": {
-    "@types/lodash-es": "^4.17.12",
-    "husky": "^9.1.7",
+    "@biomejs/biome": "^2.2.2",
+    "knip": "^5.63.1",
     "nodemon": "^3.1.9",
-    "prettier-eslint": "^16.3.0",
     "semantic-release": "^24.2.3",
     "tsup": "^8.4.0",
     "typescript": "^5.8.2",
-    "vitest": "^2.0.2",
+    "vitest": "^3.2.4",
     "ws": "^8.18.1"
   },
   "dependencies": {
+    "@antfu/ni": "^25.0.0",
     "@auth0/auth0-spa-js": "^2.1.3",
     "@types/three": "^0.174.0",
     "@wandelbots/nova-api": "^25.7.0",

package/src/LoginWithAuth0.ts

@@ -1,5 +1,10 @@
 const DOMAIN_SUFFIX = "wandelbots.io"
 
+/** process.env is injected by tsup --env, so these are inlined at build time */
+declare const process: {
+  env: Record<string, string | undefined>
+}
+
 /** Mapping of stages to Auth0 configurations */
 const auth0ConfigMap = {
   dev: {

package/src/lib/AutoReconnectingWebsocket.ts

@@ -1,6 +1,6 @@
 import ReconnectingWebSocket, { type ErrorEvent } from "reconnecting-websocket"
-import * as v2 from "./v2/mock/MockNovaInstance"
-import * as v1 from "./v1/mock/MockNovaInstance"
+import type * as v1 from "./v1/mock/MockNovaInstance"
+import type * as v2 from "./v2/mock/MockNovaInstance"
 
 export class AutoReconnectingWebsocket extends ReconnectingWebSocket {
   receivedFirstMessage?: MessageEvent

package/src/lib/availableStorage.ts

@@ -18,7 +18,7 @@ class AvailableStorage {
     }
   }
 
-  setJSON(key: string, obj: any) {
+  setJSON(key: string, obj: unknown) {
     if (!this.available) return null
 
     window.localStorage.setItem(key, JSON.stringify(obj))

package/src/lib/converters.ts

@@ -1,6 +1,7 @@
 import type { Pose } from "@wandelbots/nova-api/v1"
 
 /** Try to parse something as JSON; return undefined if we can't */
+// biome-ignore lint/suspicious/noExplicitAny: it's json
 export function tryParseJson(json: unknown): any {
   try {
     return JSON.parse(json as string)

package/src/lib/errorHandling.ts

@@ -1,5 +1,4 @@
 import { AxiosError } from "axios"
-import { isObject, isString } from "lodash-es"
 import { tryStringifyJson } from "./converters"
 
 export function delay(ms: number) {
@@ -34,9 +33,9 @@ export function makeErrorMessage(err: unknown): string {
     }
   } else if (err instanceof Error) {
     return err.message
-  } else if (isString(err)) {
+  } else if (typeof err === "string") {
     return err
-  } else if (isObject(err)) {
+  } else if (typeof err === "object") {
     return tryStringifyJson(err) || `Unserializable object ${err}`
   }
 

package/src/lib/v1/ConnectedMotionGroup.ts

@@ -126,6 +126,7 @@ export class ConnectedMotionGroup {
       initialMotionState,
       motionStateSocket,
       isVirtual,
+      // biome-ignore lint/style/noNonNullAssertion: legacy code
       tcps!,
       motionGroupSpecification,
       safetySetup,
@@ -137,6 +138,7 @@ export class ConnectedMotionGroup {
 
   connectedJoggingCartesianSocket: WebSocket | null = null
   connectedJoggingJointsSocket: WebSocket | null = null
+  // biome-ignore lint/suspicious/noExplicitAny: legacy code
   planData: any | null // tmp
   joggingVelocity: number = 10
 

package/src/lib/v1/JoggerConnection.ts

@@ -1,5 +1,4 @@
 import type { Command, Joints, TcpPose } from "@wandelbots/nova-api/v1"
-import isEqual from "lodash-es/isEqual"
 import { Vector3 } from "three/src/math/Vector3.js"
 import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket"
 import { isSameCoordinateSystem, tryParseJson } from "../converters"
@@ -107,7 +106,10 @@ export class JoggerConnection {
     console.log("Setting jogging mode to", mode)
     if (cartesianJoggingOpts) {
       // Websocket needs to be reopened to change options
-      if (!isEqual(this.cartesianJoggingOpts, cartesianJoggingOpts)) {
+      if (
+        JSON.stringify(this.cartesianJoggingOpts) !==
+        JSON.stringify(cartesianJoggingOpts)
+      ) {
         if (this.cartesianWebsocket) {
           this.cartesianWebsocket.dispose()
           this.cartesianWebsocket = null
@@ -326,9 +328,9 @@ export class JoggerConnection {
 
       // Compute axis and angle of current rotation vector
       const currentRotationVector = new Vector3(
-        currentTcpPose.orientation["x"],
-        currentTcpPose.orientation["y"],
-        currentTcpPose.orientation["z"],
+        currentTcpPose.orientation.x,
+        currentTcpPose.orientation.y,
+        currentTcpPose.orientation.z,
       )
 
       const currentRotationRad = currentRotationVector.length()
@@ -434,6 +436,7 @@ export class JoggerConnection {
     distanceRads: number
   }) {
     const targetJoints = [...currentJoints.joints]
+    // biome-ignore lint/style/noNonNullAssertion: legacy code
     targetJoints[joint]! += distanceRads * (direction === "-" ? -1 : 1)
 
     const jointVelocityLimits: number[] = new Array(

package/src/lib/v1/MotionStreamConnection.ts

@@ -1,3 +1,4 @@
+/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
 import type {
   ControllerInstance,
   MotionGroupPhysical,
@@ -150,7 +151,7 @@ export class MotionStreamConnection {
         )
       ) {
         runInAction(() => {
-          if (this.rapidlyChangingMotionState.tcp_pose == undefined) {
+          if (this.rapidlyChangingMotionState.tcp_pose == null) {
             this.rapidlyChangingMotionState.tcp_pose =
               motionStateResponse.tcp_pose
           } else {

package/src/lib/v1/NovaCellAPIClient.ts

@@ -1,3 +1,5 @@
+/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
+/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */
 import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v1"
 import {
   ApplicationApi,

package/src/lib/v1/NovaClient.ts

@@ -88,7 +88,7 @@ export class NovaClient {
         if (this.accessToken) {
           request.headers.Authorization = `Bearer ${this.accessToken}`
         } else if (this.config.username && this.config.password) {
-          request.headers.Authorization = `Basic ${btoa(config.username + ":" + config.password)}`
+          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`
         }
       }
       return request
@@ -141,6 +141,7 @@ export class NovaClient {
         ...(this.mock
           ? ({
               adapter: (config) => {
+                // biome-ignore lint/style/noNonNullAssertion: legacy code
                 return this.mock!.handleAPIRequest(config)
               },
             } satisfies AxiosRequestConfig)
@@ -236,6 +237,7 @@ export class NovaClient {
     motionGroupId: string,
   ): Promise<ConnectedMotionGroup> {
     const motionGroups = await this.connectMotionGroups([motionGroupId])
+    // biome-ignore lint/style/noNonNullAssertion: legacy code
     return motionGroups[0]!
   }
 }

package/src/lib/v1/ProgramStateConnection.ts

@@ -1,6 +1,8 @@
+/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */
+import type { CollectionValue } from "@wandelbots/nova-api/v1"
 import { AxiosError } from "axios"
 import { makeAutoObservable, runInAction } from "mobx"
-import { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket"
+import type { AutoReconnectingWebsocket } from "../AutoReconnectingWebsocket"
 import { tryParseJson } from "../converters"
 import type { MotionStreamConnection } from "./MotionStreamConnection"
 import type { NovaClient } from "./NovaClient"
@@ -82,7 +84,7 @@ export class ProgramStateConnection {
 
         // TODO - wandelengine should send print statements in real time over
         // websocket as well, rather than at the end
-        const stdout = (runnerState as any).stdout
+        const stdout = runnerState.stdout
         if (stdout) {
           this.log(stdout)
         }
@@ -104,7 +106,7 @@ export class ProgramStateConnection {
           runner.id,
         )
 
-        const stdout = (runnerState as any).stdout
+        const stdout = runnerState.stdout
         if (stdout) {
           this.log(stdout)
         }
@@ -124,7 +126,7 @@ export class ProgramStateConnection {
           runner.id,
         )
 
-        const stdout = (runnerState as any).stdout
+        const stdout = runnerState.stdout
         if (stdout) {
           this.log(stdout)
         }
@@ -163,7 +165,7 @@ export class ProgramStateConnection {
 
   async executeProgram(
     wandelscript: string,
-    initial_state?: Object,
+    initial_state?: { [key: string]: CollectionValue },
     activeRobot?: MotionStreamConnection,
   ) {
     this.currentProgram = {
@@ -197,8 +199,9 @@ export class ProgramStateConnection {
         {
           code: trimmedCode,
           initial_state: initial_state,
+          // @ts-expect-error legacy code - check if param still used
           default_robot: activeRobot?.wandelscriptIdentifier,
-        } as any,
+        },
         {
           headers: {
             "Content-Type": "application/json",