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

package/dist/v2/index.cjs

@@ -1,1038 +0,0 @@
-Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
-const require_context = require("../context-BZELA2eh.cjs");
-const require_converters = require("../converters-EYS27XJE.cjs");
-let axios = require("axios");
-axios = require_context.__toESM(axios, 1);
-let path_to_regexp = require("path-to-regexp");
-path_to_regexp = require_context.__toESM(path_to_regexp, 1);
-let _wandelbots_nova_api_v2 = require("@wandelbots/nova-api/v2");
-//#region src/lib/deprecated/v2/NovaCellAPIClient.ts
-/**
-* API client providing type-safe access to all the Nova API REST endpoints
-* associated with a specific cell id.
-* @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.
-*/
-var NovaCellAPIClient = class {
-	system;
-	cell;
-	motionGroup;
-	motionGroupModels;
-	controller;
-	controllerIOs;
-	trajectoryPlanning;
-	trajectoryExecution;
-	trajectoryCaching;
-	application;
-	applicationGlobal;
-	jogging;
-	kinematics;
-	busInputsOutputs;
-	virtualController;
-	virtualControllerBehavior;
-	virtualControllerIOs;
-	storeObject;
-	storeCollisionComponents;
-	storeCollisionSetups;
-	program;
-	license;
-	novaCloud;
-	robotConfigurations;
-	version;
-	session;
-	cellId;
-	opts;
-	constructor(cellId, opts) {
-		this.cellId = cellId;
-		this.opts = opts;
-		this.system = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.SystemApi);
-		this.cell = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.CellApi);
-		this.motionGroup = this.withCellId(_wandelbots_nova_api_v2.MotionGroupApi);
-		this.motionGroupModels = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.MotionGroupModelsApi);
-		this.controller = this.withCellId(_wandelbots_nova_api_v2.ControllerApi);
-		this.controllerIOs = this.withCellId(_wandelbots_nova_api_v2.ControllerInputsOutputsApi);
-		this.trajectoryPlanning = this.withCellId(_wandelbots_nova_api_v2.TrajectoryPlanningApi);
-		this.trajectoryExecution = this.withCellId(_wandelbots_nova_api_v2.TrajectoryExecutionApi);
-		this.trajectoryCaching = this.withCellId(_wandelbots_nova_api_v2.TrajectoryCachingApi);
-		this.application = this.withCellId(_wandelbots_nova_api_v2.ApplicationApi);
-		this.applicationGlobal = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.ApplicationApi);
-		this.jogging = this.withCellId(_wandelbots_nova_api_v2.JoggingApi);
-		this.kinematics = this.withCellId(_wandelbots_nova_api_v2.KinematicsApi);
-		this.busInputsOutputs = this.withCellId(_wandelbots_nova_api_v2.BUSInputsOutputsApi);
-		this.virtualController = this.withCellId(_wandelbots_nova_api_v2.VirtualControllerApi);
-		this.virtualControllerBehavior = this.withCellId(_wandelbots_nova_api_v2.VirtualControllerBehaviorApi);
-		this.virtualControllerIOs = this.withCellId(_wandelbots_nova_api_v2.VirtualControllerInputsOutputsApi);
-		this.storeObject = this.withCellId(_wandelbots_nova_api_v2.StoreObjectApi);
-		this.storeCollisionComponents = this.withCellId(_wandelbots_nova_api_v2.StoreCollisionComponentsApi);
-		this.storeCollisionSetups = this.withCellId(_wandelbots_nova_api_v2.StoreCollisionSetupsApi);
-		this.program = this.withCellId(_wandelbots_nova_api_v2.ProgramApi);
-		this.license = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.LicenseApi);
-		this.novaCloud = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.NOVACloudApi);
-		this.robotConfigurations = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.RobotConfigurationsApi);
-		this.version = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.VersionApi);
-		this.session = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.SessionApi);
-	}
-	/**
-	* Some TypeScript sorcery which alters the API class methods so you don't
-	* have to pass the cell id to every single one, and de-encapsulates the
-	* response data
-	*/
-	withCellId(ApiConstructor) {
-		const apiClient = new ApiConstructor({
-			...this.opts,
-			isJsonMime: (mime) => {
-				return mime === "application/json";
-			}
-		}, this.opts.basePath ?? "", this.opts.axiosInstance ?? axios.default.create());
-		for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) if (key !== "constructor" && typeof apiClient[key] === "function") {
-			const originalFunction = apiClient[key];
-			apiClient[key] = (...args) => {
-				return originalFunction.apply(apiClient, [this.cellId, ...args]).then((res) => res.data);
-			};
-		}
-		return apiClient;
-	}
-	/**
-	* As withCellId, but only does the response unwrapping
-	*/
-	withUnwrappedResponsesOnly(ApiConstructor) {
-		const apiClient = new ApiConstructor({
-			...this.opts,
-			isJsonMime: (mime) => {
-				return mime === "application/json";
-			}
-		}, this.opts.basePath ?? "", this.opts.axiosInstance ?? axios.default.create());
-		for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) if (key !== "constructor" && typeof apiClient[key] === "function") {
-			const originalFunction = apiClient[key];
-			apiClient[key] = (...args) => {
-				return originalFunction.apply(apiClient, args).then((res) => res.data);
-			};
-		}
-		return apiClient;
-	}
-};
-//#endregion
-//#region src/lib/mock/getCurrentRobotControllerState.ts
-const getCurrentRobotControllerState = {
-	method: "GET",
-	path: "/cells/:cellId/controllers/:controllerId/state",
-	handle() {
-		return {
-			mode: "MODE_CONTROL",
-			last_error: [],
-			timestamp: "2025-10-16T09:19:26.634534092Z",
-			sequence_number: 1054764,
-			controller: "mock-ur5e",
-			operation_mode: "OPERATION_MODE_AUTO",
-			safety_state: "SAFETY_STATE_NORMAL",
-			velocity_override: 100,
-			motion_groups: [{
-				timestamp: "2025-10-16T09:19:26.634534092Z",
-				sequence_number: 1054764,
-				motion_group: "0@mock-ur5e",
-				controller: "mock-ur5e",
-				joint_position: [
-					1.487959623336792,
-					-1.8501918315887451,
-					1.8003005981445312,
-					6.034560203552246,
-					1.4921919107437134,
-					1.593459963798523
-				],
-				joint_limit_reached: { limit_reached: [
-					false,
-					false,
-					false,
-					false,
-					false,
-					false
-				] },
-				joint_torque: [],
-				joint_current: [
-					0,
-					0,
-					0,
-					0,
-					0,
-					0
-				],
-				flange_pose: {
-					position: [
-						107.6452433732927,
-						-409.0402987746852,
-						524.2402132330305
-					],
-					orientation: [
-						.9874434028353319,
-						-.986571714997442,
-						1.3336589451098142
-					]
-				},
-				tcp: "Flange",
-				tcp_pose: {
-					position: [
-						107.6452433732927,
-						-409.0402987746852,
-						524.2402132330305
-					],
-					orientation: [
-						.9874434028353319,
-						-.986571714997442,
-						1.3336589451098142
-					]
-				},
-				payload: "",
-				coordinate_system: "",
-				standstill: true
-			}]
-		};
-	}
-};
-//#endregion
-//#region src/lib/mock/getMotionGroupDescription.ts
-const getMotionGroupDescription = {
-	method: "GET",
-	path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
-	handle() {
-		return {
-			motion_group_model: "UniversalRobots_UR5e",
-			mounting: {
-				position: [
-					0,
-					0,
-					0
-				],
-				orientation: [
-					0,
-					0,
-					0
-				]
-			},
-			tcps: { Flange: {
-				name: "Default-Flange",
-				pose: {
-					position: [
-						0,
-						0,
-						0
-					],
-					orientation: [
-						0,
-						0,
-						0
-					]
-				}
-			} },
-			payloads: { "FPay-0": {
-				name: "FPay-0",
-				payload: 0,
-				center_of_mass: [
-					0,
-					0,
-					0
-				],
-				moment_of_inertia: [
-					0,
-					0,
-					0
-				]
-			} },
-			cycle_time: 8,
-			dh_parameters: [
-				{
-					alpha: 1.5707963267948966,
-					d: 162.25
-				},
-				{ a: -425 },
-				{ a: -392.2 },
-				{
-					alpha: 1.5707963267948966,
-					d: 133.3
-				},
-				{
-					alpha: -1.5707963267948966,
-					d: 99.7
-				},
-				{ d: 99.6 }
-			],
-			operation_limits: {
-				auto_limits: {
-					joints: [
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						}
-					],
-					tcp: { velocity: 5e3 },
-					elbow: { velocity: 5e3 },
-					flange: { velocity: 5e3 }
-				},
-				manual_limits: {
-					joints: [
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						}
-					],
-					tcp: { velocity: 5e3 }
-				},
-				manual_t1_limits: {
-					joints: [
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						}
-					],
-					tcp: { velocity: 5e3 }
-				},
-				manual_t2_limits: {
-					joints: [
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 150
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						},
-						{
-							position: {
-								lower_limit: -6.283185307179586,
-								upper_limit: 6.283185307179586
-							},
-							velocity: 3.34159255027771,
-							acceleration: 40,
-							torque: 28
-						}
-					],
-					tcp: { velocity: 5e3 }
-				}
-			},
-			serial_number: "WBVirtualRobot"
-		};
-	}
-};
-//#endregion
-//#region src/lib/mock/getMotionGroupKinematicModel.ts
-const getMotionGroupKinematicModel = {
-	method: "GET",
-	path: "/motion-group-models/:motionGroupModel/kinematic",
-	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
-				}
-			],
-			inverse_solver: "Universalrobots"
-		};
-	}
-};
-//#endregion
-//#region src/lib/mock/getRobotController.ts
-const getRobotController = {
-	method: "GET",
-	path: "/cells/:cellId/controllers/:controllerId",
-	handle() {
-		return {
-			configuration: {
-				initial_joint_position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
-				kind: "VirtualController",
-				manufacturer: "universalrobots",
-				type: "universalrobots-ur5e"
-			},
-			name: "mock-ur5"
-		};
-	}
-};
-//#endregion
-//#region src/lib/mock/listCoordinateSystems.ts
-const listCoordinateSystems = {
-	method: "GET",
-	path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
-	handle() {
-		return [{
-			coordinate_system: "",
-			name: "world",
-			reference_coordinate_system: "",
-			position: [
-				0,
-				0,
-				0
-			],
-			orientation: [
-				0,
-				0,
-				0
-			],
-			orientation_type: "ROTATION_VECTOR"
-		}, {
-			coordinate_system: "CS-0",
-			name: "Default-CS",
-			reference_coordinate_system: "",
-			position: [
-				0,
-				0,
-				0
-			],
-			orientation: [
-				0,
-				0,
-				0
-			],
-			orientation_type: "ROTATION_VECTOR"
-		}];
-	}
-};
-//#endregion
-//#region src/lib/mock/listRobotControllers.ts
-const listRobotControllers = {
-	method: "GET",
-	path: "/cells/:cellId/controllers",
-	handle() {
-		return ["mock-ur5e"];
-	}
-};
-//#endregion
-//#region src/lib/mock/MockNovaInstance.ts
-/**
-* Ultra-simplified mock Nova server for testing stuff
-*/
-var MockNovaInstance = class {
-	connections = [];
-	async handleAPIRequest(config) {
-		const apiHandlers = [
-			listRobotControllers,
-			getRobotController,
-			getMotionGroupDescription,
-			getCurrentRobotControllerState,
-			listCoordinateSystems,
-			getMotionGroupKinematicModel
-		];
-		const method = config.method?.toUpperCase() || "GET";
-		if (!config.url) throw new Error("No url sent with request");
-		const path = config.url.split("?")[0] ?? config.url;
-		for (const handler of apiHandlers) {
-			const match = path_to_regexp.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 axios.AxiosError(`No mock handler matched this request: ${method} ${path}`, "404", config);
-	}
-	handleWebsocketConnection(socket) {
-		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("/execution/jogging")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify({ result: {
-				message: "string",
-				kind: "INITIALIZE_RECEIVED"
-			} }) }));
-		}, 10);
-	}
-	handleWebsocketMessage(socket, message) {
-		console.log(`Received message on ${socket.url}`, message);
-	}
-};
-const defaultMotionState = { result: {
-	motion_group: "0@universalrobots-ur5e",
-	controller: "universalrobots-ur5e",
-	timestamp: (/* @__PURE__ */ new Date()).toISOString(),
-	sequence_number: 1,
-	joint_position: [
-		1.1699999570846558,
-		-1.5700000524520874,
-		1.3600000143051147,
-		1.0299999713897705,
-		1.2899999618530273,
-		1.2799999713897705
-	],
-	joint_limit_reached: { limit_reached: [
-		false,
-		false,
-		false,
-		false,
-		false,
-		false
-	] },
-	standstill: false,
-	flange_pose: {
-		position: [
-			1.3300010259703043,
-			-409.2680714682808,
-			531.0203477065281
-		],
-		orientation: [
-			1.7564919306270736,
-			-1.7542521568325058,
-			.7326972590614671
-		]
-	},
-	tcp_pose: {
-		position: [
-			1.3300010259703043,
-			-409.2680714682808,
-			531.0203477065281
-		],
-		orientation: [
-			1.7564919306270736,
-			-1.7542521568325058,
-			.7326972590614671
-		]
-	},
-	description_revision: 0
-} };
-//#endregion
-//#region src/lib/deprecated/v2/NovaClient.ts
-/**
-* Client for connecting to a Nova instance and controlling robots.
-* @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.
-*/
-var NovaClient = class {
-	api;
-	config;
-	mock;
-	instanceUrl;
-	authPromise = null;
-	accessToken = null;
-	constructor(config) {
-		const cellId = config.cellId ?? "cell";
-		this.config = {
-			cellId,
-			...config
-		};
-		this.accessToken = config.accessToken || require_context.availableStorage.getString("wbjs.access_token") || null;
-		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
-		this.instanceUrl = require_converters.parseNovaInstanceUrl(this.config.instanceUrl);
-		const axiosInstance = axios.default.create({
-			baseURL: new URL("/api/v2", this.instanceUrl).href,
-			headers: require_context.isLocalhostDev ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
-		});
-		axiosInstance.interceptors.request.use(async (request) => {
-			if (!request.headers.Authorization) {
-				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}`)}`;
-			}
-			return request;
-		});
-		if (typeof window !== "undefined") axiosInstance.interceptors.response.use((r) => r, async (error) => {
-			if ((0, axios.isAxiosError)(error)) {
-				if (error.response?.status === 401) try {
-					await this.renewAuthentication();
-					if (error.config) {
-						if (this.accessToken) error.config.headers.Authorization = `Bearer ${this.accessToken}`;
-						else delete error.config.headers.Authorization;
-						return axiosInstance.request(error.config);
-					}
-				} catch (err) {
-					return Promise.reject(err);
-				}
-				else if (error.response?.status === 503) {
-					if ((await fetch(window.location.href)).status === 503) return require_context.guardedPageReload("503_server_unavailable");
-				}
-			}
-			return Promise.reject(error);
-		});
-		this.api = new NovaCellAPIClient(cellId, {
-			...config,
-			basePath: new URL("/api/v2", this.instanceUrl).href,
-			isJsonMime: (mime) => {
-				return mime === "application/json";
-			},
-			baseOptions: {
-				...this.mock ? { adapter: (config) => {
-					return this.mock.handleAPIRequest(config);
-				} } : {},
-				...config.baseOptions
-			},
-			axiosInstance
-		});
-	}
-	async renewAuthentication() {
-		if (this.authPromise) return;
-		const storedToken = require_context.availableStorage.getString("wbjs.access_token");
-		if (storedToken && this.accessToken !== storedToken) {
-			this.accessToken = storedToken;
-			return;
-		}
-		this.authPromise = require_context.loginWithAuth0(this.instanceUrl);
-		try {
-			this.accessToken = await this.authPromise;
-			if (this.accessToken) require_context.availableStorage.setString("wbjs.access_token", this.accessToken);
-			else require_context.availableStorage.delete("wbjs.access_token");
-		} finally {
-			this.authPromise = null;
-		}
-	}
-	makeWebsocketURL(path) {
-		const url = new URL(new URL(`/api/v2/cells/${this.config.cellId}/${path.replace(/^\/+/, "")}`, this.instanceUrl).href);
-		url.protocol = url.protocol.replace("http", "ws");
-		url.protocol = url.protocol.replace("https", "wss");
-		if (this.accessToken) url.searchParams.append("token", this.accessToken);
-		else if (this.config.username && this.config.password) {
-			url.username = this.config.username;
-			url.password = this.config.password;
-		}
-		return url.toString();
-	}
-	/**
-	* Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
-	* If you explicitly want to reconnect an existing websocket, call `reconnect`
-	* on the returned object.
-	*/
-	openReconnectingWebsocket(path) {
-		return new require_context.AutoReconnectingWebsocket(this.makeWebsocketURL(path), { mock: this.mock });
-	}
-};
-//#endregion
-//#region src/lib/deprecated/v2/wandelscriptUtils.ts
-/**
-* Convert a Pose object representing a motion group position
-* into a string which represents that pose in Wandelscript.
-* @deprecated Wandelscript usage is deprecated; switching to Python is recommended.
-*/
-function poseToWandelscriptString(pose) {
-	const position = [
-		pose.position?.[0] ?? 0,
-		pose.position?.[1] ?? 0,
-		pose.position?.[2] ?? 0
-	];
-	const orientation = [
-		pose.orientation?.[0] ?? 0,
-		pose.orientation?.[1] ?? 0,
-		pose.orientation?.[2] ?? 0
-	];
-	const positionValues = position.map((v) => v.toFixed(1));
-	const rotationValues = orientation.map((v) => v.toFixed(4));
-	return `(${positionValues.concat(rotationValues).join(", ")})`;
-}
-//#endregion
-//#region src/lib/NovaAPIClient.ts
-function unwrap(ApiConstructor, opts) {
-	const apiClient = new ApiConstructor({
-		...opts,
-		isJsonMime: (mime) => mime === "application/json"
-	}, opts.basePath ?? "", opts.axiosInstance ?? axios.default.create());
-	for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) if (key !== "constructor" && typeof apiClient[key] === "function") {
-		const originalFunction = apiClient[key];
-		apiClient[key] = (...args) => originalFunction.apply(apiClient, args).then((res) => res.data);
-	}
-	return apiClient;
-}
-/**
-* API client providing type-safe access to all the endpoints of a NOVA
-* instance.
-*/
-var NovaAPIClient = class {
-	opts;
-	application;
-	busIOs;
-	cell;
-	controller;
-	controllerIOs;
-	jogging;
-	kinematics;
-	license;
-	motionGroup;
-	motionGroupModels;
-	novaCloud;
-	program;
-	robotConfigurations;
-	session;
-	storeCollisionComponents;
-	storeCollisionSetups;
-	storeObject;
-	system;
-	trajectoryCaching;
-	trajectoryExecution;
-	trajectoryPlanning;
-	version;
-	virtualController;
-	virtualControllerBehavior;
-	virtualControllerIOs;
-	constructor(opts) {
-		this.opts = opts;
-		this.application = unwrap(_wandelbots_nova_api_v2.ApplicationApi, opts);
-		this.busIOs = unwrap(_wandelbots_nova_api_v2.BUSInputsOutputsApi, opts);
-		this.cell = unwrap(_wandelbots_nova_api_v2.CellApi, opts);
-		this.controller = unwrap(_wandelbots_nova_api_v2.ControllerApi, opts);
-		this.controllerIOs = unwrap(_wandelbots_nova_api_v2.ControllerInputsOutputsApi, opts);
-		this.jogging = unwrap(_wandelbots_nova_api_v2.JoggingApi, opts);
-		this.kinematics = unwrap(_wandelbots_nova_api_v2.KinematicsApi, opts);
-		this.license = unwrap(_wandelbots_nova_api_v2.LicenseApi, opts);
-		this.motionGroup = unwrap(_wandelbots_nova_api_v2.MotionGroupApi, opts);
-		this.motionGroupModels = unwrap(_wandelbots_nova_api_v2.MotionGroupModelsApi, opts);
-		this.novaCloud = unwrap(_wandelbots_nova_api_v2.NOVACloudApi, opts);
-		this.program = unwrap(_wandelbots_nova_api_v2.ProgramApi, opts);
-		this.robotConfigurations = unwrap(_wandelbots_nova_api_v2.RobotConfigurationsApi, opts);
-		this.session = unwrap(_wandelbots_nova_api_v2.SessionApi, opts);
-		this.storeCollisionComponents = unwrap(_wandelbots_nova_api_v2.StoreCollisionComponentsApi, opts);
-		this.storeCollisionSetups = unwrap(_wandelbots_nova_api_v2.StoreCollisionSetupsApi, opts);
-		this.storeObject = unwrap(_wandelbots_nova_api_v2.StoreObjectApi, opts);
-		this.system = unwrap(_wandelbots_nova_api_v2.SystemApi, opts);
-		this.trajectoryCaching = unwrap(_wandelbots_nova_api_v2.TrajectoryCachingApi, opts);
-		this.trajectoryExecution = unwrap(_wandelbots_nova_api_v2.TrajectoryExecutionApi, opts);
-		this.trajectoryPlanning = unwrap(_wandelbots_nova_api_v2.TrajectoryPlanningApi, opts);
-		this.version = unwrap(_wandelbots_nova_api_v2.VersionApi, opts);
-		this.virtualController = unwrap(_wandelbots_nova_api_v2.VirtualControllerApi, opts);
-		this.virtualControllerBehavior = unwrap(_wandelbots_nova_api_v2.VirtualControllerBehaviorApi, opts);
-		this.virtualControllerIOs = unwrap(_wandelbots_nova_api_v2.VirtualControllerInputsOutputsApi, opts);
-	}
-};
-//#endregion
-//#region src/lib/Nova.ts
-/**
-*
-* Client for connecting to a NOVA instance and controlling robots.
-*/
-var Nova = class {
-	api;
-	config;
-	mock;
-	instanceUrl;
-	authPromise = null;
-	accessToken = null;
-	constructor(config) {
-		this.config = config;
-		this.accessToken = config.accessToken || require_context.availableStorage.getString("wbjs.access_token") || null;
-		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
-		this.instanceUrl = require_converters.parseNovaInstanceUrl(this.config.instanceUrl);
-		const axiosInstance = axios.default.create({
-			baseURL: new URL("/api/v2", this.instanceUrl).href,
-			headers: require_context.isLocalhostDev ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
-		});
-		axiosInstance.interceptors.request.use(async (request) => {
-			if (!request.headers.Authorization) {
-				if (this.accessToken) request.headers.Authorization = `Bearer ${this.accessToken}`;
-			}
-			return request;
-		});
-		if (typeof window !== "undefined") axiosInstance.interceptors.response.use((r) => r, async (error) => {
-			if ((0, axios.isAxiosError)(error)) {
-				if (error.response?.status === 401) try {
-					await this.renewAuthentication();
-					if (error.config) {
-						if (this.accessToken) error.config.headers.Authorization = `Bearer ${this.accessToken}`;
-						else delete error.config.headers.Authorization;
-						return axiosInstance.request(error.config);
-					}
-				} catch (err) {
-					return Promise.reject(err);
-				}
-				else if (error.response?.status === 403 && !error.config?.url?.split(/[?#]/)[0]?.endsWith("/session")) {
-					let redirectToAccessDenied = false;
-					try {
-						const session = await this.api.session.getSession();
-						if (session.session_id !== "default" && session.capabilities.length === 0) redirectToAccessDenied = true;
-					} catch (sessionError) {
-						if ((0, axios.isAxiosError)(sessionError) && sessionError.response?.status === 403) redirectToAccessDenied = true;
-					}
-					if (redirectToAccessDenied) {
-						window.location.href = this.instanceUrl.href;
-						return new Promise(() => {});
-					}
-				} else if (error.response?.status === 503) {
-					if ((await fetch(window.location.href)).status === 503) return require_context.guardedPageReload("503_server_unavailable");
-				}
-			}
-			return Promise.reject(error);
-		});
-		this.api = new NovaAPIClient({
-			...config,
-			basePath: new URL("/api/v2", this.instanceUrl).href,
-			isJsonMime: (mime) => {
-				return mime === "application/json";
-			},
-			baseOptions: {
-				...this.mock ? { adapter: (config) => {
-					if (!this.mock) throw new Error("Mock adapter used without a mock instance");
-					return this.mock.handleAPIRequest(config);
-				} } : {},
-				...config.baseOptions
-			},
-			axiosInstance
-		});
-	}
-	async renewAuthentication() {
-		if (this.authPromise) return;
-		const storedToken = require_context.availableStorage.getString("wbjs.access_token");
-		if (storedToken && this.accessToken !== storedToken) {
-			this.accessToken = storedToken;
-			return;
-		}
-		this.authPromise = require_context.loginWithAuth0(this.instanceUrl);
-		try {
-			this.accessToken = await this.authPromise;
-			if (this.accessToken) require_context.availableStorage.setString("wbjs.access_token", this.accessToken);
-			else require_context.availableStorage.delete("wbjs.access_token");
-		} finally {
-			this.authPromise = null;
-		}
-	}
-	makeWebsocketURL(path) {
-		const url = new URL(`/api/v2/${path.replace(/^\/+/, "")}`, this.instanceUrl);
-		url.protocol = url.protocol.replace("http", "ws");
-		url.protocol = url.protocol.replace("https", "wss");
-		if (this.accessToken) url.searchParams.append("token", this.accessToken);
-		return url.toString();
-	}
-	/**
-	* Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
-	* If you explicitly want to reconnect an existing websocket, call `reconnect`
-	* on the returned object.
-	*/
-	openReconnectingWebsocket(path) {
-		return new require_context.AutoReconnectingWebsocket(this.makeWebsocketURL(path), { mock: this.mock });
-	}
-};
-//#endregion
-exports.Nova = Nova;
-exports.NovaAPIClient = NovaAPIClient;
-exports.NovaCellAPIClient = NovaCellAPIClient;
-exports.NovaClient = NovaClient;
-exports.poseToWandelscriptString = poseToWandelscriptString;
-Object.keys(_wandelbots_nova_api_v2).forEach(function(k) {
-	if (k !== "default" && !Object.prototype.hasOwnProperty.call(exports, k)) Object.defineProperty(exports, k, {
-		enumerable: true,
-		get: function() {
-			return _wandelbots_nova_api_v2[k];
-		}
-	});
-});
-
-//# sourceMappingURL=index.cjs.map