@wandelbots/nova-js 3.13.0 → 4.0.0-pr.309.02b99fd

package/src/lib/deprecated/v1/mock/MockNovaInstance.ts

@@ -1,1303 +0,0 @@
-import type {
-  ControllerInstanceList,
-  MotionGroupSpecification,
-  MotionGroupStateResponse,
-  RobotController,
-  SafetySetup,
-} from "@wandelbots/nova-api/v1"
-import type { AxiosResponse, InternalAxiosRequestConfig } from "axios"
-import { AxiosError } from "axios"
-import * as pathToRegexp from "path-to-regexp"
-import type { AutoReconnectingWebsocket } from "../../../AutoReconnectingWebsocket.ts"
-
-/**
- * Ultra-simplified mock Nova server for testing stuff
- * @deprecated
- */
-export class MockNovaInstance {
-  readonly connections: AutoReconnectingWebsocket[] = []
-
-  async handleAPIRequest(
-    config: InternalAxiosRequestConfig,
-  ): Promise<AxiosResponse> {
-    const apiHandlers = [
-      {
-        method: "GET",
-        path: "/cells/:cellId/controllers",
-        handle() {
-          return {
-            instances: [
-              {
-                controller: "mock-ur5e",
-                model_name: "UniversalRobots::Controller",
-                host: "mock-ur5e",
-                allow_software_install_on_controller: true,
-                physical_motion_groups: [
-                  {
-                    motion_group: "0@mock-ur5e",
-                    name_from_controller: "UR5e",
-                    active: false,
-                    model_from_controller: "UniversalRobots_UR5e",
-                  },
-                ],
-                has_error: false,
-                error_details: "",
-              },
-            ],
-          } satisfies ControllerInstanceList
-        },
-      },
-      {
-        method: "GET",
-        path: "/cells/:cellId/controllers/:controllerId",
-        handle() {
-          return {
-            configuration: {
-              kind: "VirtualController",
-              manufacturer: "universalrobots",
-              position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
-              type: "universalrobots-ur5e",
-            },
-            name: "mock-ur5",
-          } satisfies RobotController
-        },
-      },
-      {
-        method: "GET",
-        path: "/cells/:cellId/motion-groups/:motionGroupId/specification",
-        handle() {
-          return {
-            dh_parameters: [
-              {
-                alpha: 1.5707963267948966,
-                theta: 0,
-                a: 0,
-                d: 162.25,
-                reverse_rotation_direction: false,
-              },
-              {
-                alpha: 0,
-                theta: 0,
-                a: -425,
-                d: 0,
-                reverse_rotation_direction: false,
-              },
-              {
-                alpha: 0,
-                theta: 0,
-                a: -392.2,
-                d: 0,
-                reverse_rotation_direction: false,
-              },
-              {
-                alpha: 1.5707963267948966,
-                theta: 0,
-                a: 0,
-                d: 133.3,
-                reverse_rotation_direction: false,
-              },
-              {
-                alpha: -1.5707963267948966,
-                theta: 0,
-                a: 0,
-                d: 99.7,
-                reverse_rotation_direction: false,
-              },
-              {
-                alpha: 0,
-                theta: 0,
-                a: 0,
-                d: 99.6,
-                reverse_rotation_direction: false,
-              },
-            ],
-            mechanical_joint_limits: [
-              {
-                joint: "JOINTNAME_AXIS_1",
-                lower_limit: -6.335545063018799,
-                upper_limit: 6.335545063018799,
-                unlimited: false,
-              },
-              {
-                joint: "JOINTNAME_AXIS_2",
-                lower_limit: -6.335545063018799,
-                upper_limit: 6.335545063018799,
-                unlimited: false,
-              },
-              {
-                joint: "JOINTNAME_AXIS_3",
-                lower_limit: -6.335545063018799,
-                upper_limit: 6.335545063018799,
-                unlimited: false,
-              },
-              {
-                joint: "JOINTNAME_AXIS_4",
-                lower_limit: -6.335545063018799,
-                upper_limit: 6.335545063018799,
-                unlimited: false,
-              },
-              {
-                joint: "JOINTNAME_AXIS_5",
-                lower_limit: -6.335545063018799,
-                upper_limit: 6.335545063018799,
-                unlimited: false,
-              },
-              {
-                joint: "JOINTNAME_AXIS_6",
-                lower_limit: -6.335545063018799,
-                upper_limit: 6.335545063018799,
-                unlimited: false,
-              },
-            ],
-          } satisfies MotionGroupSpecification
-        },
-      },
-      {
-        method: "GET",
-        path: "/cells/:cellId/motion-groups/:motionGroupId/safety-setup",
-        handle() {
-          return {
-            safety_settings: [
-              {
-                safety_state: "SAFETY_NORMAL",
-                settings: {
-                  joint_position_limits: [
-                    {
-                      joint: "JOINTNAME_AXIS_1",
-                      lower_limit: -2.96705961227417,
-                      upper_limit: 2.96705961227417,
-                      unlimited: false,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_2",
-                      lower_limit: -1.7453292608261108,
-                      upper_limit: 2.7925267219543457,
-                      unlimited: false,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_3",
-                      lower_limit: -3.3161256313323975,
-                      upper_limit: 0.40142571926116943,
-                      unlimited: false,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_4",
-                      lower_limit: -3.4906585216522217,
-                      upper_limit: 3.4906585216522217,
-                      unlimited: false,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_5",
-                      lower_limit: -2.4434609413146973,
-                      upper_limit: 2.4434609413146973,
-                      unlimited: false,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_6",
-                      lower_limit: -4.71238899230957,
-                      upper_limit: 4.71238899230957,
-                      unlimited: false,
-                    },
-                  ],
-                  joint_velocity_limits: [
-                    {
-                      joint: "JOINTNAME_AXIS_1",
-                      limit: 3.1415927410125732,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_2",
-                      limit: 3.1415927410125732,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_3",
-                      limit: 3.4906585216522217,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_4",
-                      limit: 6.108652591705322,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_5",
-                      limit: 6.108652591705322,
-                    },
-                    {
-                      joint: "JOINTNAME_AXIS_6",
-                      limit: 6.981317043304443,
-                    },
-                  ],
-                  joint_acceleration_limits: [],
-                  joint_torque_limits: [],
-                  tcp_velocity_limit: 1800,
-                },
-              },
-            ],
-            safety_zones: [
-              {
-                id: 1,
-                priority: 0,
-                geometry: {
-                  compound: {
-                    child_geometries: [
-                      {
-                        convex_hull: {
-                          vertices: [
-                            {
-                              x: -800,
-                              y: -1330,
-                              z: -1820,
-                            },
-                            {
-                              x: 1650,
-                              y: -1330,
-                              z: -1820,
-                            },
-                            {
-                              x: 1650,
-                              y: 1330,
-                              z: -1820,
-                            },
-                            {
-                              x: -800,
-                              y: 1330,
-                              z: -1820,
-                            },
-                          ],
-                        },
-                        init_pose: {
-                          position: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                          },
-                          orientation: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                            w: 1,
-                          },
-                        },
-                        id: "box",
-                      },
-                      {
-                        convex_hull: {
-                          vertices: [
-                            {
-                              x: -800,
-                              y: -1330,
-                              z: -1820,
-                            },
-                            {
-                              x: 1650,
-                              y: -1330,
-                              z: -1820,
-                            },
-                            {
-                              x: 1650,
-                              y: -1330,
-                              z: 1500,
-                            },
-                            {
-                              x: -800,
-                              y: -1330,
-                              z: 1500,
-                            },
-                          ],
-                        },
-                        init_pose: {
-                          position: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                          },
-                          orientation: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                            w: 1,
-                          },
-                        },
-                        id: "box",
-                      },
-                      {
-                        convex_hull: {
-                          vertices: [
-                            {
-                              x: -800,
-                              y: -1330,
-                              z: -1820,
-                            },
-                            {
-                              x: -800,
-                              y: 1330,
-                              z: -1820,
-                            },
-                            {
-                              x: -800,
-                              y: 1330,
-                              z: 1500,
-                            },
-                            {
-                              x: -800,
-                              y: -1330,
-                              z: 1500,
-                            },
-                          ],
-                        },
-                        init_pose: {
-                          position: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                          },
-                          orientation: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                            w: 1,
-                          },
-                        },
-                        id: "box",
-                      },
-                      {
-                        convex_hull: {
-                          vertices: [
-                            {
-                              x: 1650,
-                              y: 1330,
-                              z: 1500,
-                            },
-                            {
-                              x: -800,
-                              y: 1330,
-                              z: 1500,
-                            },
-                            {
-                              x: -800,
-                              y: -1330,
-                              z: 1500,
-                            },
-                            {
-                              x: 1650,
-                              y: -1330,
-                              z: 1500,
-                            },
-                          ],
-                        },
-                        init_pose: {
-                          position: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                          },
-                          orientation: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                            w: 1,
-                          },
-                        },
-                        id: "box",
-                      },
-                      {
-                        convex_hull: {
-                          vertices: [
-                            {
-                              x: 1650,
-                              y: 1330,
-                              z: 1500,
-                            },
-                            {
-                              x: -800,
-                              y: 1330,
-                              z: 1500,
-                            },
-                            {
-                              x: -800,
-                              y: 1330,
-                              z: -1820,
-                            },
-                            {
-                              x: 1650,
-                              y: 1330,
-                              z: -1820,
-                            },
-                          ],
-                        },
-                        init_pose: {
-                          position: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                          },
-                          orientation: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                            w: 1,
-                          },
-                        },
-                        id: "box",
-                      },
-                      {
-                        convex_hull: {
-                          vertices: [
-                            {
-                              x: 1650,
-                              y: 1330,
-                              z: 1500,
-                            },
-                            {
-                              x: 1650,
-                              y: -1330,
-                              z: 1500,
-                            },
-                            {
-                              x: 1650,
-                              y: -1330,
-                              z: -1820,
-                            },
-                            {
-                              x: 1650,
-                              y: 1330,
-                              z: -1820,
-                            },
-                          ],
-                        },
-                        init_pose: {
-                          position: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                          },
-                          orientation: {
-                            x: 0,
-                            y: 0,
-                            z: 0,
-                            w: 1,
-                          },
-                        },
-                        id: "box",
-                      },
-                    ],
-                  },
-                  init_pose: {
-                    position: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                    },
-                    orientation: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                      w: 1,
-                    },
-                  },
-                  id: "Cell workzone",
-                },
-                motion_group_uid: 1,
-              },
-              {
-                id: 2,
-                priority: 0,
-                geometry: {
-                  convex_hull: {
-                    vertices: [
-                      {
-                        x: 1650,
-                        y: 1330,
-                        z: -1850,
-                      },
-                      {
-                        x: 865,
-                        y: 1330,
-                        z: -1850,
-                      },
-                      {
-                        x: 865,
-                        y: -720,
-                        z: -1850,
-                      },
-                      {
-                        x: 1650,
-                        y: -720,
-                        z: -1850,
-                      },
-                      {
-                        x: 1650,
-                        y: 1330,
-                        z: -920,
-                      },
-                      {
-                        x: 865,
-                        y: 1330,
-                        z: -920,
-                      },
-                      {
-                        x: 865,
-                        y: -720,
-                        z: -920,
-                      },
-                      {
-                        x: 1650,
-                        y: -720,
-                        z: -920,
-                      },
-                    ],
-                  },
-                  init_pose: {
-                    position: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                    },
-                    orientation: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                      w: 1,
-                    },
-                  },
-                  id: "Transport",
-                },
-                motion_group_uid: 1,
-              },
-              {
-                id: 3,
-                priority: 0,
-                geometry: {
-                  convex_hull: {
-                    vertices: [
-                      {
-                        x: 1650,
-                        y: 1330,
-                        z: -600,
-                      },
-                      {
-                        x: 865,
-                        y: 1330,
-                        z: -600,
-                      },
-                      {
-                        x: 865,
-                        y: 430,
-                        z: -600,
-                      },
-                      {
-                        x: 1650,
-                        y: 430,
-                        z: -600,
-                      },
-                      {
-                        x: 1650,
-                        y: 1330,
-                        z: -1250,
-                      },
-                      {
-                        x: 865,
-                        y: 1330,
-                        z: -1250,
-                      },
-                      {
-                        x: 865,
-                        y: 430,
-                        z: -1250,
-                      },
-                      {
-                        x: 1650,
-                        y: 430,
-                        z: -1250,
-                      },
-                    ],
-                  },
-                  init_pose: {
-                    position: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                    },
-                    orientation: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                      w: 1,
-                    },
-                  },
-                  id: "Tunel",
-                },
-                motion_group_uid: 1,
-              },
-              {
-                id: 4,
-                priority: 0,
-                geometry: {
-                  convex_hull: {
-                    vertices: [
-                      {
-                        x: 1650,
-                        y: -760,
-                        z: -440,
-                      },
-                      {
-                        x: 900,
-                        y: -760,
-                        z: -440,
-                      },
-                      {
-                        x: 900,
-                        y: -1330,
-                        z: -440,
-                      },
-                      {
-                        x: 1650,
-                        y: -1330,
-                        z: -440,
-                      },
-                      {
-                        x: 1650,
-                        y: -760,
-                        z: -1800,
-                      },
-                      {
-                        x: 900,
-                        y: -760,
-                        z: -1800,
-                      },
-                      {
-                        x: 900,
-                        y: -1330,
-                        z: -1800,
-                      },
-                      {
-                        x: 1650,
-                        y: -1330,
-                        z: -1800,
-                      },
-                    ],
-                  },
-                  init_pose: {
-                    position: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                    },
-                    orientation: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                      w: 1,
-                    },
-                  },
-                  id: "Fanuc controller",
-                },
-                motion_group_uid: 1,
-              },
-              {
-                id: 6,
-                priority: 0,
-                geometry: {
-                  convex_hull: {
-                    vertices: [
-                      {
-                        x: -200,
-                        y: -200,
-                        z: -1900,
-                      },
-                      {
-                        x: 200,
-                        y: -200,
-                        z: -1900,
-                      },
-                      {
-                        x: 200,
-                        y: 200,
-                        z: -1900,
-                      },
-                      {
-                        x: -200,
-                        y: 200,
-                        z: -1900,
-                      },
-                      {
-                        x: -200,
-                        y: -200,
-                        z: -350,
-                      },
-                      {
-                        x: 200,
-                        y: -200,
-                        z: -350,
-                      },
-                      {
-                        x: 200,
-                        y: 200,
-                        z: -350,
-                      },
-                      {
-                        x: -200,
-                        y: 200,
-                        z: -350,
-                      },
-                    ],
-                  },
-                  init_pose: {
-                    position: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                    },
-                    orientation: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                      w: 1,
-                    },
-                  },
-                  id: "Robot base",
-                },
-                motion_group_uid: 1,
-              },
-            ],
-            robot_model_geometries: [
-              {
-                link_index: 1,
-                geometry: {
-                  sphere: {
-                    radius: 270,
-                  },
-                  init_pose: {
-                    position: {
-                      x: -70,
-                      y: -70,
-                      z: -50,
-                    },
-                    orientation: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                      w: 1,
-                    },
-                  },
-                  id: "link1_sphere",
-                },
-              },
-              {
-                link_index: 2,
-                geometry: {
-                  capsule: {
-                    radius: 160,
-                    cylinder_height: 800,
-                  },
-                  init_pose: {
-                    position: {
-                      x: -450,
-                      y: 40,
-                      z: 170,
-                    },
-                    orientation: {
-                      x: 0,
-                      y: -Math.SQRT1_2,
-                      z: 0,
-                      w: Math.SQRT1_2,
-                    },
-                  },
-                  id: "link2_capsule",
-                },
-              },
-              {
-                link_index: 3,
-                geometry: {
-                  sphere: {
-                    radius: 270,
-                  },
-                  init_pose: {
-                    position: {
-                      x: -110,
-                      y: 10,
-                      z: -100,
-                    },
-                    orientation: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                      w: 1,
-                    },
-                  },
-                  id: "link3_sphere",
-                },
-              },
-              {
-                link_index: 4,
-                geometry: {
-                  capsule: {
-                    radius: 110,
-                    cylinder_height: 600,
-                  },
-                  init_pose: {
-                    position: {
-                      x: 0,
-                      y: 300,
-                      z: 40,
-                    },
-                    orientation: {
-                      x: -Math.SQRT1_2,
-                      y: 0,
-                      z: 0,
-                      w: Math.SQRT1_2,
-                    },
-                  },
-                  id: "link4_capsule",
-                },
-              },
-              {
-                link_index: 5,
-                geometry: {
-                  sphere: {
-                    radius: 75,
-                  },
-                  init_pose: {
-                    position: {
-                      x: 0,
-                      y: 0,
-                      z: -50,
-                    },
-                    orientation: {
-                      x: 0,
-                      y: 0,
-                      z: 0,
-                      w: 1,
-                    },
-                  },
-                  id: "link5_sphere",
-                },
-              },
-            ],
-            tool_geometries: [],
-          } satisfies SafetySetup
-        },
-      },
-      {
-        method: "GET",
-        path: "/cells/:cellId/coordinate-systems",
-        handle() {
-          return {
-            coordinatesystems: [
-              {
-                coordinate_system: "",
-                name: "world",
-                reference_uid: "",
-                position: {
-                  x: 0,
-                  y: 0,
-                  z: 0,
-                },
-                rotation: {
-                  angles: [0, 0, 0],
-                  type: "ROTATION_VECTOR",
-                },
-              },
-            ],
-          } //satisfies CoordinateSystems
-        },
-      },
-      {
-        method: "GET",
-        path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",
-        handle() {
-          return {
-            tcps: [
-              {
-                id: "Flange",
-                readable_name: "Default-Flange",
-                position: {
-                  x: 0,
-                  y: 0,
-                  z: 0,
-                },
-                rotation: {
-                  angles: [0, 0, 0, 0],
-                  type: "ROTATION_VECTOR",
-                },
-              },
-              {
-                id: "complex-tcp-position",
-                readable_name: "Complex TCP Position",
-                position: {
-                  x: -200,
-                  y: 300,
-                  z: 150,
-                },
-                rotation: {
-                  angles: [
-                    -0.12139440409113832, -0.06356210998212003,
-                    -0.2023240068185639, 0,
-                  ],
-                  type: "ROTATION_VECTOR",
-                },
-              },
-            ],
-          }
-        },
-      },
-    ]
-
-    const method = config.method?.toUpperCase() || "GET"
-    const path = `/cells${config.url?.split("/cells")[1]?.split("?")[0]}`
-
-    for (const handler of apiHandlers) {
-      const match = pathToRegexp.match(handler.path)(path || "")
-      if (method === handler.method && match) {
-        const json = handler.handle()
-        return {
-          status: 200,
-          statusText: "Success",
-          data: JSON.stringify(json),
-          headers: {},
-          config,
-          request: {
-            responseURL: config.url,
-          },
-        }
-      }
-    }
-
-    throw new AxiosError(
-      `No mock handler matched this request: ${method} ${path}`,
-      "404",
-      config,
-    )
-
-    // return {
-    //   status: 404,
-    //   statusText: "Not Found",
-    //   data: "",
-    //   headers: {},
-    //   config,
-    //   request: {
-    //     responseURL: config.url,
-    //   },
-    // }
-  }
-
-  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {
-    this.connections.push(socket)
-
-    setTimeout(() => {
-      socket.dispatchEvent(new Event("open"))
-
-      console.log("Websocket connection opened from", socket.url)
-
-      if (socket.url.includes("/state-stream")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify(defaultMotionState),
-          }),
-        )
-      }
-
-      if (socket.url.includes("/move-joint")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify({
-              result: {
-                motion_group: "0@ur",
-                state: {
-                  controller: "ur",
-                  operation_mode: "OPERATION_MODE_AUTO",
-                  safety_state: "SAFETY_STATE_NORMAL",
-                  timestamp: "2024-09-18T12:48:26.096266444Z",
-                  velocity_override: 100,
-                  motion_groups: [
-                    {
-                      motion_group: "0@ur",
-                      controller: "ur",
-                      joint_position: {
-                        joints: [
-                          1.3492152690887451, -1.5659207105636597,
-                          1.6653711795806885, -1.0991662740707397,
-                          -1.829018235206604, 1.264623761177063,
-                        ],
-                      },
-                      joint_velocity: {
-                        joints: [0, 0, 0, 0, 0, 0],
-                      },
-                      flange_pose: {
-                        position: {
-                          x: 6.437331889439328,
-                          y: -628.4123774830913,
-                          z: 577.0569957147832,
-                        },
-                        orientation: {
-                          x: -1.683333649797158,
-                          y: -1.9783363827298732,
-                          z: -0.4928031860165713,
-                        },
-                        coordinate_system: "",
-                      },
-                      tcp_pose: {
-                        position: {
-                          x: 6.437331889439328,
-                          y: -628.4123774830913,
-                          z: 577.0569957147832,
-                        },
-                        orientation: {
-                          x: -1.683333649797158,
-                          y: -1.9783363827298732,
-                          z: -0.4928031860165713,
-                        },
-                        coordinate_system: "",
-                        tcp: "Flange",
-                      },
-                      velocity: {
-                        linear: {
-                          x: 0,
-                          y: 0,
-                          z: 0,
-                        },
-                        angular: {
-                          x: -0,
-                          y: 0,
-                          z: 0,
-                        },
-                        coordinate_system: "",
-                      },
-                      force: {
-                        force: {
-                          x: 0,
-                          y: 0,
-                          z: 0,
-                        },
-                        moment: {
-                          x: 0,
-                          y: 0,
-                          z: 0,
-                        },
-                        coordinate_system: "",
-                      },
-                      joint_limit_reached: {
-                        limit_reached: [
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                        ],
-                      },
-                      joint_current: {
-                        joints: [0, 0, 0, 0, 0, 0],
-                      },
-                      sequence_number: "671259",
-                    },
-                  ],
-                  sequence_number: "671259",
-                },
-                movement_state: "MOVEMENT_STATE_MOVING",
-              },
-            }),
-          }),
-        )
-      }
-
-      if (socket.url.includes("/move-tcp")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify({
-              result: {
-                motion_group: "0@ur",
-                state: {
-                  controller: "ur",
-                  operation_mode: "OPERATION_MODE_AUTO",
-                  safety_state: "SAFETY_STATE_NORMAL",
-                  timestamp: "2024-09-18T12:43:12.188335774Z",
-                  velocity_override: 100,
-                  motion_groups: [
-                    {
-                      motion_group: "0@ur",
-                      controller: "ur",
-                      joint_position: {
-                        joints: [
-                          1.3352527618408203, -1.5659207105636597,
-                          1.6653711795806885, -1.110615611076355,
-                          -1.829018235206604, 1.264623761177063,
-                        ],
-                      },
-                      joint_velocity: {
-                        joints: [0, 0, 0, 0, 0, 0],
-                      },
-                      flange_pose: {
-                        position: {
-                          x: -2.763015284002938,
-                          y: -630.2151479701106,
-                          z: 577.524509114342,
-                        },
-                        orientation: {
-                          x: -1.704794877102097,
-                          y: -1.9722372952861567,
-                          z: -0.4852079204210754,
-                        },
-                        coordinate_system: "",
-                      },
-                      tcp_pose: {
-                        position: {
-                          x: -2.763015284002938,
-                          y: -630.2151479701106,
-                          z: 577.524509114342,
-                        },
-                        orientation: {
-                          x: -1.704794877102097,
-                          y: -1.9722372952861567,
-                          z: -0.4852079204210754,
-                        },
-                        coordinate_system: "",
-                        tcp: "Flange",
-                      },
-                      velocity: {
-                        linear: {
-                          x: 0,
-                          y: 0,
-                          z: 0,
-                        },
-                        angular: {
-                          x: -0,
-                          y: 0,
-                          z: 0,
-                        },
-                        coordinate_system: "",
-                      },
-                      force: {
-                        force: {
-                          x: 0,
-                          y: 0,
-                          z: 0,
-                        },
-                        moment: {
-                          x: 0,
-                          y: 0,
-                          z: 0,
-                        },
-                        coordinate_system: "",
-                      },
-                      joint_limit_reached: {
-                        limit_reached: [
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                        ],
-                      },
-                      joint_current: {
-                        joints: [0, 0, 0, 0, 0, 0],
-                      },
-                      sequence_number: "627897",
-                    },
-                  ],
-                  sequence_number: "627897",
-                },
-                movement_state: "MOVEMENT_STATE_MOVING",
-              },
-            }),
-          }),
-        )
-      }
-    }, 10)
-  }
-
-  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {
-    console.log(`Received message on ${socket.url}`, message)
-  }
-}
-
-const defaultMotionState = {
-  result: {
-    state: {
-      motion_group: "0@universalrobots-ur5e",
-      controller: "universalrobots-ur5e",
-      joint_position: {
-        joints: [
-          1.1699999570846558, -1.5700000524520874, 1.3600000143051147,
-          1.0299999713897705, 1.2899999618530273, 1.2799999713897705,
-        ],
-      },
-      joint_velocity: {
-        joints: [0, 0, 0, 0, 0, 0],
-      },
-      flange_pose: {
-        position: {
-          x: 1.3300010259703043,
-          y: -409.2680714682808,
-          z: 531.0203477065281,
-        },
-        orientation: {
-          x: 1.7564919306270736,
-          y: -1.7542521568325058,
-          z: 0.7326972590614671,
-        },
-        coordinate_system: "",
-      },
-      tcp_pose: {
-        position: {
-          x: 1.3300010259703043,
-          y: -409.2680714682808,
-          z: 531.0203477065281,
-        },
-        orientation: {
-          x: 1.7564919306270736,
-          y: -1.7542521568325058,
-          z: 0.7326972590614671,
-        },
-        coordinate_system: "",
-        tcp: "Flange",
-      },
-      velocity: {
-        linear: {
-          x: 0,
-          y: 0,
-          z: 0,
-        },
-        angular: {
-          x: 0,
-          y: 0,
-          z: 0,
-        },
-        coordinate_system: "",
-      },
-      force: {
-        force: {
-          x: 0,
-          y: 0,
-          z: 0,
-        },
-        moment: {
-          x: 0,
-          y: 0,
-          z: 0,
-        },
-        coordinate_system: "",
-      },
-      joint_limit_reached: {
-        limit_reached: [false, false, false, false, false, false],
-      },
-      joint_current: {
-        joints: [0, 0, 0, 0, 0, 0],
-      },
-      sequence_number: "1",
-    },
-    tcp_pose: {
-      position: {
-        x: 302.90748476115556,
-        y: -152.87065869452337,
-        z: 424.0454619321661,
-      },
-      orientation: {
-        x: 2.3403056115045353,
-        y: -1.1706836379431356,
-        z: 0.9772511964246311,
-      },
-      coordinate_system: "",
-      tcp: "Flange",
-    },
-  } satisfies MotionGroupStateResponse,
-}