@wandelbots/nova-js 3.2.0-pr.dev-e2e-jogging-test.143.4f02caf → 3.2.0-pr.feat-v2.155.e91b019

package/dist/index.d.cts

@@ -1,5 +1,5 @@
-import { AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-Cr7f9016.cjs";
-import { Pose } from "@wandelbots/nova-api/v1";
+import { AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-CoU4ZyD2.cjs";
+import { poseToWandelscriptString } from "./wandelscriptUtils-COHpTIme.cjs";
 
 //#region src/lib/availableStorage.d.ts
 /**
@@ -31,16 +31,19 @@ declare function makeUrlQueryString(obj: Record<string, string>): string;
 declare function radiansToDegrees(radians: number): number;
 /** Convert degrees to radians */
 declare function degreesToRadians(degrees: number): number;
-/**
- * Convert a Pose object representing a motion group position
- * into a string which represents that pose in Wandelscript.
- */
-declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
 /**
  * Check for coordinate system id equivalence, accounting for the "world" default
  * on empty/undefined values.
  */
 declare function isSameCoordinateSystem(firstCoordSystem: string | undefined, secondCoordSystem: string | undefined): boolean;
+/**
+ * Helpful const for converting {x, y, z} to [x, y, z] and vice versa
+ */
+declare const XYZ_TO_VECTOR: {
+  x: number;
+  y: number;
+  z: number;
+};
 //#endregion
 //#region src/lib/errorHandling.d.ts
 declare function delay(ms: number): Promise<unknown>;
@@ -66,5 +69,5 @@ declare function makeErrorMessage(err: unknown): string;
  */
 declare const loginWithAuth0: (instanceUrl: string) => Promise<string | null>;
 //#endregion
-export { AutoReconnectingWebsocket, availableStorage, degreesToRadians, delay, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson };
+export { AutoReconnectingWebsocket, XYZ_TO_VECTOR, availableStorage, degreesToRadians, delay, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson };
 //# sourceMappingURL=index.d.cts.map

package/dist/index.d.cts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.cts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAAA,SAAA,EAAA,OAAA;SAGa,CAAA,CAAA,CAAA,CAAA,GAAA,EAAA,MAAA,CAAA,EAAR,OAAQ,CAAA,CAAA,CAAA,GAAA,IAAA;SAAR,CAAA,GAAA,EAAA,MAAA,EAAA,GAAA,EAAA,OAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAAO,MAAA,CAAA,GAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAsCrB,SAAA,CAAA,GAAA,EAAA,MAAyC,EAAA,KAAA,EAAzB,MAAA,CAAA,EAAA,IAAA,GAAyB,SAAA;;;cAAzC,kBAAgB;;;;iBCzCb,YAAA;;ADAV,iBCSU,gBAAA,CDTM,IAAA,EAAA,OAAA,CAAA,EAAA,MAAA,GAAA,SAAA;;;;;AAyCtB;iBCnBgB,kBAAA,MAAwB;;iBAMxB,gBAAA;AA5BhB;AASgB,iBAwBA,gBAAA,CAxBgB,OAAA,EAAA,MAAA,CAAA,EAAA,MAAA;AAahC;AAMA;AAKA;AAQA;AAAwC,iBAAxB,wBAAA,CAAwB,IAAA,EAChC,IADgC,CAC3B,IAD2B,EAAA,UAAA,GAAA,aAAA,CAAA,CAAA,EAAA,MAAA;;;;AAqBxC;iBAAgB,sBAAA;;;iBC/DA,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,CFNM,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;AAyCtB;;;;ACzCgB,iBCkBA,gBAAA,CDlBY,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;;;;ADAN,cGkCT,cHlCS,EAAA,CAAA,WAAA,EAAA,MAAA,EAAA,GGoCnB,OHpCmB,CAAA,MAAA,GAAA,IAAA,CAAA"}
+{"version":3,"file":"index.d.cts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAAA,SAAA,EAAA,OAAA;SAGa,CAAA,CAAA,CAAA,CAAA,GAAA,EAAA,MAAA,CAAA,EAAR,OAAQ,CAAA,CAAA,CAAA,GAAA,IAAA;SAAR,CAAA,GAAA,EAAA,MAAA,EAAA,GAAA,EAAA,OAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAAO,MAAA,CAAA,GAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAsCrB,SAAA,CAAA,GAAA,EAAA,MAAyC,EAAA,KAAA,EAAzB,MAAA,CAAA,EAAA,IAAA,GAAyB,SAAA;;;cAAzC,kBAAgB;;;;iBC3Cb,YAAA;;iBASA,gBAAA;;;;;;ADkCH,iBCrBG,kBAAA,CDqBa,GAAA,ECrBW,MDqBc,CAAA,MAAA,EAAA,MAAA,CAAA,CAAA,EAAA,MAAA;;iBCftC,gBAAA;;AA5BA,iBAiCA,gBAAA,CAjCY,OAAA,EAAA,MAAA,CAAA,EAAA,MAAA;AAS5B;AAaA;AAMA;AAKA;AAQgB,iBAAA,sBAAA,CAAsB,gBAAA,EAAA,MAAA,GAAA,SAAA,EAAA,iBAAA,EAAA,MAAA,GAAA,SAAA,CAAA,EAAA,OAAA;AAatC;;;cAAa;ECrDG,CAAA,EAAA,MAAK;EAOL,CAAA,EAAA,MAAA;EAYA,CAAA,EAAA,MAAA;;;;iBAnBA,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,CFNM,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;AAyCtB;;;;AC3CgB,iBCoBA,gBAAA,CDpBY,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;;;;ADEN,cGkCT,cHlCS,EAAA,CAAA,WAAA,EAAA,MAAA,EAAA,GGoCnB,OHpCmB,CAAA,MAAA,GAAA,IAAA,CAAA"}

package/dist/index.d.ts

@@ -1,5 +1,5 @@
-import { AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-BI1ckzP8.js";
-import { Pose } from "@wandelbots/nova-api/v1";
+import { AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-D0gTrkzu.js";
+import { poseToWandelscriptString } from "./wandelscriptUtils-Cl3GBxOp.js";
 
 //#region src/lib/availableStorage.d.ts
 /**
@@ -31,16 +31,19 @@ declare function makeUrlQueryString(obj: Record<string, string>): string;
 declare function radiansToDegrees(radians: number): number;
 /** Convert degrees to radians */
 declare function degreesToRadians(degrees: number): number;
-/**
- * Convert a Pose object representing a motion group position
- * into a string which represents that pose in Wandelscript.
- */
-declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
 /**
  * Check for coordinate system id equivalence, accounting for the "world" default
  * on empty/undefined values.
  */
 declare function isSameCoordinateSystem(firstCoordSystem: string | undefined, secondCoordSystem: string | undefined): boolean;
+/**
+ * Helpful const for converting {x, y, z} to [x, y, z] and vice versa
+ */
+declare const XYZ_TO_VECTOR: {
+  x: number;
+  y: number;
+  z: number;
+};
 //#endregion
 //#region src/lib/errorHandling.d.ts
 declare function delay(ms: number): Promise<unknown>;
@@ -66,5 +69,5 @@ declare function makeErrorMessage(err: unknown): string;
  */
 declare const loginWithAuth0: (instanceUrl: string) => Promise<string | null>;
 //#endregion
-export { AutoReconnectingWebsocket, availableStorage, degreesToRadians, delay, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson };
+export { AutoReconnectingWebsocket, XYZ_TO_VECTOR, availableStorage, degreesToRadians, delay, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson };
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAAA,SAAA,EAAA,OAAA;SAGa,CAAA,CAAA,CAAA,CAAA,GAAA,EAAA,MAAA,CAAA,EAAR,OAAQ,CAAA,CAAA,CAAA,GAAA,IAAA;SAAR,CAAA,GAAA,EAAA,MAAA,EAAA,GAAA,EAAA,OAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAAO,MAAA,CAAA,GAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAsCrB,SAAA,CAAA,GAAA,EAAA,MAAyC,EAAA,KAAA,EAAzB,MAAA,CAAA,EAAA,IAAA,GAAyB,SAAA;;;cAAzC,kBAAgB;;;;iBCzCb,YAAA;;ADAV,iBCSU,gBAAA,CDTM,IAAA,EAAA,OAAA,CAAA,EAAA,MAAA,GAAA,SAAA;;;;;AAyCtB;iBCnBgB,kBAAA,MAAwB;;iBAMxB,gBAAA;AA5BhB;AASgB,iBAwBA,gBAAA,CAxBgB,OAAA,EAAA,MAAA,CAAA,EAAA,MAAA;AAahC;AAMA;AAKA;AAQA;AAAwC,iBAAxB,wBAAA,CAAwB,IAAA,EAChC,IADgC,CAC3B,IAD2B,EAAA,UAAA,GAAA,aAAA,CAAA,CAAA,EAAA,MAAA;;;;AAqBxC;iBAAgB,sBAAA;;;iBC/DA,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,CFNM,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;AAyCtB;;;;ACzCgB,iBCkBA,gBAAA,CDlBY,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;;;;ADAN,cGkCT,cHlCS,EAAA,CAAA,WAAA,EAAA,MAAA,EAAA,GGoCnB,OHpCmB,CAAA,MAAA,GAAA,IAAA,CAAA"}
+{"version":3,"file":"index.d.ts","names":[],"sources":["../src/lib/availableStorage.ts","../src/lib/converters.ts","../src/lib/errorHandling.ts","../src/LoginWithAuth0.ts"],"sourcesContent":[],"mappings":";;;;;;;;cAIM,gBAAA,CAAgB;EAAA,SAAA,EAAA,OAAA;SAGa,CAAA,CAAA,CAAA,CAAA,GAAA,EAAA,MAAA,CAAA,EAAR,OAAQ,CAAA,CAAA,CAAA,GAAA,IAAA;SAAR,CAAA,GAAA,EAAA,MAAA,EAAA,GAAA,EAAA,OAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAAO,MAAA,CAAA,GAAA,EAAA,MAAA,CAAA,EAAA,IAAA,GAAA,SAAA;EAsCrB,SAAA,CAAA,GAAA,EAAA,MAAyC,EAAA,KAAA,EAAzB,MAAA,CAAA,EAAA,IAAA,GAAA,SAAyB;;;cAAzC,kBAAgB;;;;iBC3Cb,YAAA;;iBASA,gBAAA;;;;;;ADkCH,iBCrBG,kBAAA,CDqBa,GAAA,ECrBW,MDqBc,CAAA,MAAA,EAAA,MAAA,CAAA,CAAA,EAAA,MAAA;;iBCftC,gBAAA;;AA5BA,iBAiCA,gBAAA,CAjCY,OAAA,EAAA,MAAA,CAAA,EAAA,MAAA;AAS5B;AAaA;AAMA;AAKA;AAQgB,iBAAA,sBAAA,CAAsB,gBAAA,EAAA,MAAA,GAAA,SAAA,EAAA,iBAAA,EAAA,MAAA,GAAA,SAAA,CAAA,EAAA,OAAA;AAatC;;;cAAa;ECrDG,CAAA,EAAA,MAAK;EAOL,CAAA,EAAA,MAAA;EAYA,CAAA,EAAA,MAAA;;;;iBAnBA,KAAA,cAAgB;;;;AFC1B,iBEMU,qBAAA,CFNM,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;AAyCtB;;;;AC3CgB,iBCoBA,gBAAA,CDpBY,GAAA,EAAA,OAAA,CAAA,EAAA,MAAA;;;;;;;;ADEN,cGkCT,cHlCS,EAAA,CAAA,WAAA,EAAA,MAAA,EAAA,GGoCnB,OHpCmB,CAAA,MAAA,GAAA,IAAA,CAAA"}

package/dist/index.js

@@ -1,5 +1,5 @@
-import { AutoReconnectingWebsocket, availableStorage, loginWithAuth0 } from "./LoginWithAuth0-0g0wWRUC.js";
-import { degreesToRadians, isSameCoordinateSystem, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson } from "./converters-DY6Lf7mb.js";
+import { AutoReconnectingWebsocket, XYZ_TO_VECTOR, availableStorage, degreesToRadians, isSameCoordinateSystem, loginWithAuth0, makeUrlQueryString, radiansToDegrees, tryParseJson, tryStringifyJson } from "./LoginWithAuth0-CaX7yo7d.js";
+import { poseToWandelscriptString } from "./wandelscriptUtils-CO5GYRij.js";
 import { AxiosError } from "axios";
 
 //#region src/lib/errorHandling.ts
@@ -32,5 +32,5 @@ function makeErrorMessage(err) {
 }
 
 //#endregion
-export { AutoReconnectingWebsocket, availableStorage, degreesToRadians, delay, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson };
+export { AutoReconnectingWebsocket, XYZ_TO_VECTOR, availableStorage, degreesToRadians, delay, isSameCoordinateSystem, loginWithAuth0, makeErrorMessage, makeShortErrorMessage, makeUrlQueryString, poseToWandelscriptString, radiansToDegrees, tryParseJson, tryStringifyJson };
 //# sourceMappingURL=index.js.map

package/dist/lib/v1/index.cjs

@@ -1,5 +1,5 @@
-const require_LoginWithAuth0 = require('../../LoginWithAuth0-C82OCyDy.cjs');
-const require_converters = require('../../converters-DP2EIVv6.cjs');
+const require_LoginWithAuth0 = require('../../LoginWithAuth0-DaPnTz2I.cjs');
+const require_wandelscriptUtils = require('../../wandelscriptUtils-DwpJ4jCy.cjs');
 let axios = require("axios");
 axios = require_LoginWithAuth0.__toESM(axios);
 let __wandelbots_nova_api_v1 = require("@wandelbots/nova-api/v1");
@@ -49,7 +49,7 @@ var ConnectedMotionGroup = class ConnectedMotionGroup {
 		if (!controller || !motionGroup) throw new Error(`Controller ${controllerId} or motion group ${motionGroupId} not found`);
 		const motionStateSocket = nova.openReconnectingWebsocket(`/motion-groups/${motionGroupId}/state-stream`);
 		const firstMessage = await motionStateSocket.firstMessage();
-		const initialMotionState = require_converters.tryParseJson(firstMessage.data)?.result;
+		const initialMotionState = require_LoginWithAuth0.tryParseJson(firstMessage.data)?.result;
 		if (!initialMotionState) throw new Error(`Unable to parse initial motion state message ${firstMessage.data}`);
 		console.log(`Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\n  `, initialMotionState);
 		const isVirtual = (await nova.api.controller.getRobotController(controller.controller)).configuration.kind === "VirtualController";
@@ -63,13 +63,11 @@ var ConnectedMotionGroup = class ConnectedMotionGroup {
 		})();
 		const controllerStateSocket = nova.openReconnectingWebsocket(`/controllers/${controller.controller}/state-stream?response_rate=1000`);
 		const firstControllerMessage = await controllerStateSocket.firstMessage();
-		const initialControllerState = require_converters.tryParseJson(firstControllerMessage.data)?.result;
+		const initialControllerState = require_LoginWithAuth0.tryParseJson(firstControllerMessage.data)?.result;
 		if (!initialControllerState) throw new Error(`Unable to parse initial controller state message ${firstControllerMessage.data}`);
 		console.log(`Connected controller state websocket to controller ${controller.controller}. Initial state:\n  `, initialControllerState);
 		const { tcps } = await nova.api.motionGroupInfos.listTcps(motionGroupId);
-		const motionGroupSpecification = await nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId);
-		const safetySetup = await nova.api.motionGroupInfos.getSafetySetup(motionGroupId);
-		return new ConnectedMotionGroup(nova, controller, motionGroup, initialMotionState, motionStateSocket, isVirtual, tcps, motionGroupSpecification, safetySetup, mounting, initialControllerState, controllerStateSocket);
+		return new ConnectedMotionGroup(nova, controller, motionGroup, initialMotionState, motionStateSocket, isVirtual, tcps, await nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId), await nova.api.motionGroupInfos.getSafetySetup(motionGroupId), mounting, initialControllerState, controllerStateSocket);
 	}
 	constructor(nova, controller, motionGroup, initialMotionState, motionStateSocket, isVirtual, tcps, motionGroupSpecification, safetySetup, mounting, initialControllerState, controllerStateSocket) {
 		this.nova = nova;
@@ -91,14 +89,14 @@ var ConnectedMotionGroup = class ConnectedMotionGroup {
 		this.rapidlyChangingMotionState = initialMotionState;
 		this.controllerState = initialControllerState;
 		controllerStateSocket.addEventListener("message", (event) => {
-			const data = require_converters.tryParseJson(event.data)?.result;
+			const data = require_LoginWithAuth0.tryParseJson(event.data)?.result;
 			if (!data) return;
 			(0, mobx.runInAction)(() => {
 				this.controllerState = data;
 			});
 		});
 		motionStateSocket.addEventListener("message", (event) => {
-			const motionStateResponse = require_converters.tryParseJson(event.data)?.result;
+			const motionStateResponse = require_LoginWithAuth0.tryParseJson(event.data)?.result;
 			if (!motionStateResponse) throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${event.data}`);
 			if (!jointValuesEqual(this.rapidlyChangingMotionState.state.joint_position.joints, motionStateResponse.state.joint_position.joints, MOTION_DELTA_THRESHOLD$1)) (0, mobx.runInAction)(() => {
 				this.rapidlyChangingMotionState.state = motionStateResponse.state;
@@ -267,8 +265,7 @@ async function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordi
 //#region src/lib/v1/JoggerConnection.ts
 var JoggerConnection = class JoggerConnection {
 	static async open(nova, motionGroupId, opts = {}) {
-		const motionStream = await nova.connectMotionStream(motionGroupId);
-		return new JoggerConnection(motionStream, opts);
+		return new JoggerConnection(await nova.connectMotionStream(motionGroupId), opts);
 	}
 	constructor(motionStream, opts = {}) {
 		this.motionStream = motionStream;
@@ -343,7 +340,7 @@ var JoggerConnection = class JoggerConnection {
 		if (mode === "cartesian" && !this.cartesianWebsocket) {
 			this.cartesianWebsocket = this.nova.openReconnectingWebsocket(`/motion-groups/move-tcp`);
 			this.cartesianWebsocket.addEventListener("message", (ev) => {
-				const data = require_converters.tryParseJson(ev.data);
+				const data = require_LoginWithAuth0.tryParseJson(ev.data);
 				if (data && "error" in data) if (this.opts.onError) this.opts.onError(ev.data);
 				else throw new Error(ev.data);
 			});
@@ -351,7 +348,7 @@ var JoggerConnection = class JoggerConnection {
 		if (mode === "joint" && !this.jointWebsocket) {
 			this.jointWebsocket = this.nova.openReconnectingWebsocket(`/motion-groups/move-joint`);
 			this.jointWebsocket.addEventListener("message", (ev) => {
-				const data = require_converters.tryParseJson(ev.data);
+				const data = require_LoginWithAuth0.tryParseJson(ev.data);
 				if (data && "error" in data) if (this.opts.onError) this.opts.onError(ev.data);
 				else throw new Error(ev.data);
 			});
@@ -420,7 +417,7 @@ var JoggerConnection = class JoggerConnection {
 	*/
 	async runIncrementalCartesianMotion({ currentTcpPose, currentJoints, coordSystemId, velocityInRelevantUnits, axis, direction, motion }) {
 		const commands = [];
-		if (!require_converters.isSameCoordinateSystem(currentTcpPose.coordinate_system, coordSystemId)) throw new Error(`Current TCP pose coordinate system ${currentTcpPose.coordinate_system} does not match target coordinate system ${coordSystemId}`);
+		if (!require_LoginWithAuth0.isSameCoordinateSystem(currentTcpPose.coordinate_system, coordSystemId)) throw new Error(`Current TCP pose coordinate system ${currentTcpPose.coordinate_system} does not match target coordinate system ${coordSystemId}`);
 		if (motion.type === "translate") {
 			const targetTcpPosition = Object.assign({}, currentTcpPose.position);
 			targetTcpPosition[axis] += motion.distanceMm * (direction === "-" ? -1 : 1);
@@ -523,8 +520,8 @@ var MotionStreamConnection = class MotionStreamConnection {
 		if (!controller || !motionGroup) throw new Error(`Controller ${controllerId} or motion group ${motionGroupId} not found`);
 		const motionStateSocket = nova.openReconnectingWebsocket(`/motion-groups/${motionGroupId}/state-stream`);
 		const firstMessage = await motionStateSocket.firstMessage();
-		console.log("got first message", firstMessage);
-		const initialMotionState = require_converters.tryParseJson(firstMessage.data)?.result;
+		console.log("got first message", require_LoginWithAuth0.tryParseJson(firstMessage.data));
+		const initialMotionState = require_LoginWithAuth0.tryParseJson(firstMessage.data)?.result;
 		if (!initialMotionState) throw new Error(`Unable to parse initial motion state message ${firstMessage.data}`);
 		console.log(`Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\n  `, initialMotionState);
 		return new MotionStreamConnection(nova, controller, motionGroup, initialMotionState, motionStateSocket);
@@ -537,7 +534,7 @@ var MotionStreamConnection = class MotionStreamConnection {
 		this.motionStateSocket = motionStateSocket;
 		this.rapidlyChangingMotionState = initialMotionState;
 		motionStateSocket.addEventListener("message", (event) => {
-			const motionStateResponse = require_converters.tryParseJson(event.data)?.result;
+			const motionStateResponse = require_LoginWithAuth0.tryParseJson(event.data)?.result;
 			if (!motionStateResponse) throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${event.data}`);
 			if (!jointValuesEqual(this.rapidlyChangingMotionState.state.joint_position.joints, motionStateResponse.state.joint_position.joints, MOTION_DELTA_THRESHOLD)) (0, mobx.runInAction)(() => {
 				this.rapidlyChangingMotionState.state = motionStateResponse.state;
@@ -657,7 +654,6 @@ var NovaCellAPIClient = class {
 //#endregion
 //#region src/lib/v1/mock/MockNovaInstance.ts
 /**
-* EXPERIMENTAL
 * Ultra-simplified mock Nova server for testing stuff
 */
 var MockNovaInstance = class {
@@ -1900,6 +1896,7 @@ function permissiveInstanceUrlParse(url) {
 }
 /**
 * Client for connecting to a Nova instance and controlling robots.
+* @deprecated The nova v1 client is deprecated. Please use the v2 client from `@wandelbots/nova-js/v2` instead.
 */
 var NovaClient = class {
 	constructor(config) {
@@ -2032,7 +2029,7 @@ var ProgramStateConnection = class {
 		(0, mobx.makeAutoObservable)(this, {}, { autoBind: true });
 		this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`);
 		this.programStateSocket.addEventListener("message", (ev) => {
-			const msg = require_converters.tryParseJson(ev.data);
+			const msg = require_LoginWithAuth0.tryParseJson(ev.data);
 			if (!msg) {
 				console.error("Failed to parse program state message", ev.data);
 				return;
@@ -2170,6 +2167,7 @@ exports.NovaClient = NovaClient;
 exports.ProgramState = ProgramState;
 exports.ProgramStateConnection = ProgramStateConnection;
 exports.getLatestTrajectories = getLatestTrajectories;
+exports.poseToWandelscriptString = require_wandelscriptUtils.poseToWandelscriptString;
 Object.keys(__wandelbots_nova_api_v1).forEach(function (k) {
   if (k !== 'default' && !Object.prototype.hasOwnProperty.call(exports, k)) Object.defineProperty(exports, k, {
     enumerable: true,