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

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

@@ -1 +1 @@
-{"version":3,"file":"index.cjs","names":["cellId: string","opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    }","SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","pathToRegexp","AxiosError","availableStorage","config","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/NovaClient.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","import type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * EXPERIMENTAL\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return {\n            controllers: [\n              {\n                controller: \"mock-ur5e\",\n                model_name: \"UniversalRobots::Controller\",\n                host: \"mock-ur5e\",\n                allow_software_install_on_controller: true,\n                motion_groups: [\n                  {\n                    motion_group: \"0@mock-ur5e\",\n                    name_from_controller: \"UR5e\",\n                    active: false,\n                    model_from_controller: \"UniversalRobots_UR5e\",\n                  },\n                ],\n                has_error: false,\n                error_details: \"\",\n              },\n            ],\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n        handle() {\n          return {\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 162.25,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -425,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -392.2,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 133.3,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: -1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 99.7,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: 0,\n                d: 99.6,\n                reverse_rotation_direction: false,\n              },\n            ],\n            mechanical_joint_limits: [\n              {\n                joint: \"JOINTNAME_AXIS_1\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_2\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_3\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_4\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_5\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_6\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n            ],\n          } // Mock motion group specification\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n        handle() {\n          return {\n            safety_settings: [\n              {\n                safety_state: \"SAFETY_NORMAL\",\n                settings: {\n                  joint_position_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      lower_limit: -2.96705961227417,\n                      upper_limit: 2.96705961227417,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      lower_limit: -1.7453292608261108,\n                      upper_limit: 2.7925267219543457,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      lower_limit: -3.3161256313323975,\n                      upper_limit: 0.40142571926116943,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      lower_limit: -3.4906585216522217,\n                      upper_limit: 3.4906585216522217,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      lower_limit: -2.4434609413146973,\n                      upper_limit: 2.4434609413146973,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      lower_limit: -4.71238899230957,\n                      upper_limit: 4.71238899230957,\n                      unlimited: false,\n                    },\n                  ],\n                  joint_velocity_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      limit: 3.4906585216522217,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      limit: 6.981317043304443,\n                    },\n                  ],\n                  joint_acceleration_limits: [],\n                  joint_torque_limits: [],\n                  tcp_velocity_limit: 1800,\n                },\n              },\n            ],\n            safety_zones: [\n              {\n                id: 1,\n                priority: 0,\n                geometry: {\n                  compound: {\n                    child_geometries: [\n                      {\n                        convex_hull: {\n                          vertices: [\n                            { vertex: [-800, -1330, -1820] },\n                            { vertex: [1650, -1330, -1820] },\n                            { vertex: [1650, 1330, -1820] },\n                            { vertex: [-800, 1330, -1820] },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Cell workzone\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 2,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, 1330, -920],\n                      },\n                      {\n                        vertex: [865, 1330, -920],\n                      },\n                      {\n                        vertex: [865, -720, -920],\n                      },\n                      {\n                        vertex: [1650, -720, -920],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Transport\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 3,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 430, -1250],\n                      },\n                      {\n                        vertex: [1650, 430, -1250],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Tunel\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 4,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, -760, -440],\n                      },\n                      {\n                        vertex: [900, -760, -440],\n                      },\n                      {\n                        vertex: [900, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -1330, -1800],\n                      },\n                      {\n                        vertex: [1650, -1330, -1800],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Fanuc controller\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 6,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [-200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, -200, -350],\n                      },\n                      {\n                        vertex: [200, -200, -350],\n                      },\n                      {\n                        vertex: [200, 200, -350],\n                      },\n                      {\n                        vertex: [-200, 200, -350],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Robot base\",\n                },\n                motion_group_uid: 1,\n              },\n            ],\n            robot_model_geometries: [\n              {\n                link_index: 1,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-70, -70, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link1_sphere\",\n                },\n              },\n              {\n                link_index: 2,\n                geometry: {\n                  capsule: {\n                    radius: 160,\n                    cylinder_height: 800,\n                  },\n                  init_pose: {\n                    position: [-450, 40, 170],\n                    orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2],\n                  },\n                  id: \"link2_capsule\",\n                },\n              },\n              {\n                link_index: 3,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-110, 10, -100],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link3_sphere\",\n                },\n              },\n              {\n                link_index: 4,\n                geometry: {\n                  capsule: {\n                    radius: 110,\n                    cylinder_height: 600,\n                  },\n                  init_pose: {\n                    position: [0, 300, 40],\n                    orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2],\n                  },\n                  id: \"link4_capsule\",\n                },\n              },\n              {\n                link_index: 5,\n                geometry: {\n                  sphere: {\n                    radius: 75,\n                  },\n                  init_pose: {\n                    position: [0, 0, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link5_sphere\",\n                },\n              },\n            ],\n            tool_geometries: [],\n          } // Mock safety setup\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/coordinate-systems\",\n        handle() {\n          return {\n            coordinatesystems: [\n              {\n                coordinate_system: \"\",\n                name: \"world\",\n                reference_uid: \"\",\n                position: [0, 0, 0],\n                rotation: {\n                  angles: [0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          } //satisfies CoordinateSystems\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n        handle() {\n          return {\n            tcps: [\n              {\n                id: \"Flange\",\n                readable_name: \"Default-Flange\",\n                position: [0, 0, 0],\n                rotation: {\n                  angles: [0, 0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n              {\n                id: \"complex-tcp-position\",\n                readable_name: \"Complex TCP Position\",\n                position: [-200, 300, 150],\n                rotation: {\n                  angles: [\n                    -0.12139440409113832, -0.06356210998212003,\n                    -0.2023240068185639, 0,\n                  ],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          }\n        },\n      },\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path || \"\")\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-joint\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:48:26.096266444Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: [\n                        1.3492152690887451, -1.5659207105636597,\n                        1.6653711795806885, -1.0991662740707397,\n                        -1.829018235206604, 1.264623761177063,\n                      ],\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"671259\",\n                    },\n                  ],\n                  sequence_number: \"671259\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-tcp\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:43:12.188335774Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3352527618408203, -1.5659207105636597,\n                          1.6653711795806885, -1.110615611076355,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"627897\",\n                    },\n                  ],\n                  sequence_number: \"627897\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\nfunction permissiveInstanceUrlParse(url: string): string {\n  if (!url.startsWith(\"http\")) {\n    url = `http://${url}`\n  }\n\n  return new URL(url).toString()\n}\n\n/**\n * EXPERIMENTAL\n *\n * This client provides a starting point to migrate NOVA api v2.\n * As v2 is still in development, this client has to be considered unstable\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    console.warn(\"Using experimental NOVA v2 client\")\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n      instanceUrl: permissiveInstanceUrlParse(config.instanceUrl),\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.config.instanceUrl, \"/api/v1\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    this.authPromise = loginWithAuth0(this.config.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.config.instanceUrl,\n        `/api/v1/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    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+{"version":3,"file":"index.cjs","names":["MOTION_DELTA_THRESHOLD","tryParseJson","tcps: RobotTcpLike[]","nova: NovaClient","controller: RobotControllerState","motionGroup: MotionGroupState","initialMotionState: MotionGroupState","motionStateSocket: AutoReconnectingWebsocket","isVirtual: boolean","description: MotionGroupDescription","initialControllerState: RobotControllerState","controllerStateSocket: AutoReconnectingWebsocket","THREE","cellId: string","opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    }","SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","pathToRegexp","AxiosError","Vector3","tryParseJson","nova: NovaClient","controller: RobotControllerState","motionGroup: MotionGroupState","description: MotionGroupDescription","initialMotionState: MotionGroupState","motionStateSocket: AutoReconnectingWebsocket","motionStream: MotionStreamConnection","options: JoggerConnectionOptions | undefined","tryParseJson","XYZ_TO_VECTOR","commands: MotionCommand[]","Vector3","availableStorage","config","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../../../src/lib/v2/motionStateUpdate.ts","../../../src/lib/v2/ConnectedMotionGroup.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/MotionStreamConnection.ts","../../../src/lib/v2/JoggerConnection.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":["import type { MotionGroupState, Pose } from \"@wandelbots/nova-api/v2\"\n\nexport function jointValuesEqual(\n  oldJointValues: number[],\n  newJointValues: number[],\n  changeDeltaThreshold: number,\n): boolean {\n  if (newJointValues.length !== oldJointValues.length) {\n    return true\n  }\n\n  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {\n    if (\n      // biome-ignore lint/style/noNonNullAssertion: legacy code\n      Math.abs(newJointValues[jointIndex]! - oldJointValues[jointIndex]!) >\n      changeDeltaThreshold\n    ) {\n      return false\n    }\n  }\n\n  return true\n}\n\nexport function poseEqual(\n  oldTcp: Pose | undefined,\n  newTcp: Pose | undefined,\n  changeDeltaThreshold: number,\n): boolean {\n  // undefined -> defined (+reverse) transition\n  if ((oldTcp === undefined && newTcp) || (oldTcp && newTcp === undefined)) {\n    return false\n  }\n\n  // Poses might be incomplete (missing orientation or position)\n  if (\n    oldTcp?.orientation === undefined ||\n    newTcp?.orientation === undefined ||\n    oldTcp?.position === undefined ||\n    newTcp?.position === undefined\n  ) {\n    return false\n  }\n\n  // the typechecker cannot resolve states to \"!= undefined\" if \"&&\" is used\n  if (oldTcp === undefined || newTcp === undefined) {\n    return true\n  }\n\n  let changedDelta = 0\n  changedDelta += Math.abs(oldTcp.orientation[0] - newTcp.orientation[0])\n  changedDelta += Math.abs(oldTcp.orientation[1] - newTcp.orientation[1])\n  changedDelta += Math.abs(oldTcp.orientation[2] - newTcp.orientation[2])\n  changedDelta += Math.abs(oldTcp.position[0] - newTcp.position[0])\n  changedDelta += Math.abs(oldTcp.position[1] - newTcp.position[1])\n  changedDelta += Math.abs(oldTcp.position[2] - newTcp.position[2])\n\n  return changedDelta <= changeDeltaThreshold\n}\n\n// Runs poseEqual check + coordinate system/tcp name equality\nexport function tcpMotionEqual(\n  oldMotionState: MotionGroupState,\n  newMotionState: MotionGroupState,\n  changeDeltaThreshold: number,\n): boolean {\n  return (\n    oldMotionState.coordinate_system === newMotionState.coordinate_system &&\n    oldMotionState.tcp === newMotionState.tcp &&\n    poseEqual(\n      oldMotionState.tcp_pose,\n      newMotionState.tcp_pose,\n      changeDeltaThreshold,\n    )\n  )\n}\n","import type {\n  MotionGroupDescription,\n  MotionGroupState,\n  RobotControllerState,\n  OperationMode,\n  SafetyStateType,\n} from \"@wandelbots/nova-api/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport * as THREE from \"three\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpMotionEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\nimport type { Vector3Simple } from \"./types/vector3\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nexport type RobotTcpLike = {\n  id: string\n  readable_name: string\n  position: Vector3Simple\n  orientation: Vector3Simple\n}\n\nexport type MotionGroupOption = {\n  selectionId: string\n}\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class ConnectedMotionGroup {\n  static async connect(nova: NovaClient, motionGroupId: string) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n\n    const controller =\n      await nova.api.controller.getCurrentRobotControllerState(controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Check if robot is virtual or physical\n    const config = await nova.api.controller.getRobotController(\n      controller.controller,\n    )\n    const isVirtual = config.configuration.kind === \"VirtualController\"\n\n    // If there's a configured mounting, we need it to show the right\n    // position of the robot model\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    // There are converted into a RobotTcpLike for easier use in the UI\n    const tcps: RobotTcpLike[] = Object.entries(description.tcps || {}).map(\n      ([id, tcp]) => ({\n        id,\n        readable_name: tcp.name,\n        position: tcp.pose.position as Vector3Simple,\n        orientation: tcp.pose.orientation as Vector3Simple,\n      }),\n    )\n\n    // Open the websocket to monitor controller state for e.g. e-stop\n    const controllerStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controller.controller}/state-stream?response_rate=1000`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstControllerMessage = await controllerStateSocket.firstMessage()\n    const initialControllerState = tryParseJson(firstControllerMessage.data)\n      ?.result as RobotControllerState\n\n    if (!initialControllerState) {\n      throw new Error(\n        `Unable to parse initial controller state message ${firstControllerMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected controller state websocket to controller ${controller.controller}. Initial state:\\n  `,\n      initialControllerState,\n    )\n\n    return new ConnectedMotionGroup(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n      isVirtual,\n      tcps,\n      description,\n      initialControllerState,\n      controllerStateSocket,\n    )\n  }\n\n  connectedJoggingSocket: WebSocket | null = null\n  // biome-ignore lint/suspicious/noExplicitAny: legacy code\n  planData: any | null // tmp\n  joggingVelocity: number = 10\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  // Response rate on the websocket should be a bit slower on this one since\n  // we don't use the motion data\n  controllerState: RobotControllerState\n\n  /**\n   * Reflects activation state of the motion group / robot servos. The\n   * movement controls in the UI should only be enabled in the \"active\" state\n   */\n  activationState: \"inactive\" | \"activating\" | \"deactivating\" | \"active\" =\n    \"inactive\"\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n    readonly isVirtual: boolean,\n    readonly tcps: RobotTcpLike[],\n    readonly description: MotionGroupDescription,\n    readonly initialControllerState: RobotControllerState,\n    readonly controllerStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n    this.controllerState = initialControllerState\n\n    // Track controller state updates (e.g. safety state and operation mode)\n    controllerStateSocket.addEventListener(\"message\", (event) => {\n      const data = tryParseJson(event.data)?.result\n\n      if (!data) {\n        return\n      }\n\n      runInAction(() => {\n        this.controllerState = data\n      })\n    })\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const latestMotionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!latestMotionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle motionState message\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position,\n          latestMotionState.joint_position,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState = latestMotionState\n        })\n      }\n\n      // handle tcpPose message\n      if (\n        !tcpMotionEqual(\n          this.rapidlyChangingMotionState,\n          latestMotionState,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.tcp_pose = latestMotionState.tcp_pose\n        })\n      }\n\n      // handle standstill changes\n      if (\n        this.rapidlyChangingMotionState.standstill !==\n        latestMotionState.standstill\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.standstill =\n            latestMotionState.standstill\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.description.motion_group_model\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  /** Jogging velocity in radians for rotation and joint movement */\n  get joggingVelocityRads() {\n    return (this.joggingVelocity * Math.PI) / 180\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  get dhParameters() {\n    return this.description.dh_parameters\n  }\n\n  get safetyZones() {\n    return this.description.safety_zones\n  }\n\n  /** Gets the robot mounting position offset in 3D viz coordinates */\n  get mountingPosition(): [number, number, number] {\n    if (!this.description.mounting) {\n      return [0, 0, 0]\n    }\n\n    return [\n      (this.description.mounting.position?.[0] || 0) / 1000,\n      (this.description.mounting.position?.[1] || 0) / 1000,\n      (this.description.mounting.position?.[2] || 0) / 1000,\n    ]\n  }\n\n  /** Gets the robot mounting position rotation in 3D viz coordinates */\n  get mountingQuaternion() {\n    const rotationVector = new THREE.Vector3(\n      this.description.mounting?.orientation?.[0] || 0,\n      this.description.mounting?.orientation?.[1] || 0,\n      this.description.mounting?.orientation?.[2] || 0,\n    )\n\n    const magnitude = rotationVector.length()\n    const axis = rotationVector.normalize()\n\n    return new THREE.Quaternion().setFromAxisAngle(axis, magnitude)\n  }\n\n  /**\n   * Whether the controller is currently in a safety state\n   * corresponding to an emergency stop\n   */\n  get isEstopActive() {\n    const estopStates: SafetyStateType[] = [\n      \"SAFETY_STATE_ROBOT_EMERGENCY_STOP\",\n      \"SAFETY_STATE_DEVICE_EMERGENCY_STOP\",\n    ]\n\n    return estopStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in a safety state\n   * that may be non-functional for robot pad purposes\n   */\n  get isMoveableSafetyState() {\n    const goodSafetyStates: SafetyStateType[] = [\n      \"SAFETY_STATE_NORMAL\",\n      \"SAFETY_STATE_REDUCED\",\n    ]\n\n    return goodSafetyStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in an operation mode that allows movement\n   */\n  get isMoveableOperationMode() {\n    const goodOperationModes: OperationMode[] = [\n      \"OPERATION_MODE_AUTO\",\n      \"OPERATION_MODE_MANUAL\",\n      \"OPERATION_MODE_MANUAL_T1\",\n      \"OPERATION_MODE_MANUAL_T2\",\n    ]\n\n    return goodOperationModes.includes(this.controllerState.operation_mode)\n  }\n\n  /**\n   * Whether the robot is currently active and can be moved, based on the\n   * safety state, operation mode and servo toggle activation state.\n   */\n  get canBeMoved() {\n    return (\n      this.isMoveableSafetyState &&\n      this.isMoveableOperationMode &&\n      this.activationState === \"active\"\n    )\n  }\n\n  async deactivate() {\n    if (this.activationState !== \"active\") {\n      console.error(\"Tried to deactivate while already deactivating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"deactivating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_MONITOR\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n      throw err\n    }\n  }\n\n  async activate() {\n    if (this.activationState !== \"inactive\") {\n      console.error(\"Tried to activate while already activating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"activating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"ROBOT_SYSTEM_MODE_CONTROL\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n      throw err\n    }\n  }\n\n  toggleActivation() {\n    if (this.activationState === \"inactive\") {\n      this.activate()\n    } else if (this.activationState === \"active\") {\n      this.deactivate()\n    }\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n    if (this.connectedJoggingSocket) this.connectedJoggingSocket.close()\n  }\n\n  setJoggingVelocity(velocity: number) {\n    this.joggingVelocity = velocity\n  }\n}\n","/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","import type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/state\",\n        handle() {\n          return {\n            mode: \"MODE_CONTROL\",\n            last_error: [],\n            timestamp: \"2025-10-16T09:19:26.634534092Z\",\n            sequence_number: 1054764,\n            controller: \"mock-ur5e\",\n            operation_mode: \"OPERATION_MODE_AUTO\",\n            safety_state: \"SAFETY_STATE_NORMAL\",\n            velocity_override: 100,\n            motion_groups: [\n              {\n                timestamp: \"2025-10-16T09:19:26.634534092Z\",\n                sequence_number: 1054764,\n                motion_group: \"0@mock-ur5e\",\n                controller: \"mock-ur5e\",\n                joint_position: [\n                  1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n                  6.034560203552246, 1.4921919107437134, 1.593459963798523,\n                ],\n                joint_limit_reached: {\n                  limit_reached: [false, false, false, false, false, false],\n                },\n                joint_torque: [],\n                joint_current: [0, 0, 0, 0, 0, 0],\n                flange_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                tcp: \"Flange\",\n                tcp_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                payload: \"\",\n                coordinate_system: \"\",\n                standstill: true,\n              },\n            ],\n          }\n        },\n      },\n      // Add more mock requests here...\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n        handle() {\n          return {\n            motion_group_model: \"UniversalRobots_UR5e\",\n            mounting: {\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n            },\n            tcps: {\n              Flange: {\n                name: \"Default-Flange\",\n                pose: {\n                  position: [0, 0, 0],\n                  orientation: [0, 0, 0],\n                },\n              },\n              \"complex-tcp-position\": {\n                name: \"Complex TCP Position\",\n                pose: {\n                  position: [-200, 300, 150],\n                  orientation: [\n                    -0.12139440409113832, -0.06356210998212003,\n                    -0.2023240068185639,\n                  ],\n                },\n              },\n              \"offset-150mm-xy\": {\n                name: \"-150mm XY Offset\",\n                pose: {\n                  position: [-150, -150, 0],\n                  orientation: [0, 0, 0],\n                },\n              },\n              \"rotated-90deg-z\": {\n                name: \"90° Z Axis Rotation\",\n                pose: {\n                  position: [0, 0, 0],\n                  orientation: [0, 0, 1.5708],\n                },\n              },\n            },\n            payloads: {\n              \"FPay-0\": {\n                name: \"FPay-0\",\n                payload: 0,\n                center_of_mass: [0, 0, 0],\n                moment_of_inertia: [0, 0, 0],\n              },\n            },\n            cycle_time: 8,\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                d: 162.25,\n              },\n              {\n                a: -425,\n              },\n              {\n                a: -392.2,\n              },\n              {\n                alpha: 1.5707963267948966,\n                d: 133.3,\n              },\n              {\n                alpha: -1.5707963267948966,\n                d: 99.7,\n              },\n              {\n                d: 99.6,\n              },\n            ],\n            operation_limits: {\n              auto_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n                elbow: {\n                  velocity: 5000,\n                },\n                flange: {\n                  velocity: 5000,\n                },\n              },\n              manual_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t1_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t2_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n            },\n            serial_number: \"WBVirtualRobot\",\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return {\n            controllers: [\n              {\n                controller: \"mock-ur5e\",\n                model_name: \"UniversalRobots::Controller\",\n                host: \"mock-ur5e\",\n                allow_software_install_on_controller: true,\n                motion_groups: [\n                  {\n                    motion_group: \"0@mock-ur5e\",\n                    name_from_controller: \"UR5e\",\n                    active: false,\n                    model_from_controller: \"UniversalRobots_UR5e\",\n                  },\n                ],\n                has_error: false,\n                error_details: \"\",\n              },\n            ],\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n        handle() {\n          return {\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 162.25,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -425,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -392.2,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 133.3,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: -1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 99.7,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: 0,\n                d: 99.6,\n                reverse_rotation_direction: false,\n              },\n            ],\n            mechanical_joint_limits: [\n              {\n                joint: \"JOINTNAME_AXIS_1\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_2\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_3\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_4\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_5\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_6\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n            ],\n          } // Mock motion group specification\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n        handle() {\n          return {\n            safety_settings: [\n              {\n                safety_state: \"SAFETY_NORMAL\",\n                settings: {\n                  joint_position_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      lower_limit: -2.96705961227417,\n                      upper_limit: 2.96705961227417,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      lower_limit: -1.7453292608261108,\n                      upper_limit: 2.7925267219543457,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      lower_limit: -3.3161256313323975,\n                      upper_limit: 0.40142571926116943,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      lower_limit: -3.4906585216522217,\n                      upper_limit: 3.4906585216522217,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      lower_limit: -2.4434609413146973,\n                      upper_limit: 2.4434609413146973,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      lower_limit: -4.71238899230957,\n                      upper_limit: 4.71238899230957,\n                      unlimited: false,\n                    },\n                  ],\n                  joint_velocity_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      limit: 3.4906585216522217,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      limit: 6.981317043304443,\n                    },\n                  ],\n                  joint_acceleration_limits: [],\n                  joint_torque_limits: [],\n                  tcp_velocity_limit: 1800,\n                },\n              },\n            ],\n            safety_zones: [\n              {\n                id: 1,\n                priority: 0,\n                geometry: {\n                  compound: {\n                    child_geometries: [\n                      {\n                        convex_hull: {\n                          vertices: [\n                            { vertex: [-800, -1330, -1820] },\n                            { vertex: [1650, -1330, -1820] },\n                            { vertex: [1650, 1330, -1820] },\n                            { vertex: [-800, 1330, -1820] },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Cell workzone\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 2,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, 1330, -920],\n                      },\n                      {\n                        vertex: [865, 1330, -920],\n                      },\n                      {\n                        vertex: [865, -720, -920],\n                      },\n                      {\n                        vertex: [1650, -720, -920],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Transport\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 3,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 430, -1250],\n                      },\n                      {\n                        vertex: [1650, 430, -1250],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Tunel\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 4,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, -760, -440],\n                      },\n                      {\n                        vertex: [900, -760, -440],\n                      },\n                      {\n                        vertex: [900, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -1330, -1800],\n                      },\n                      {\n                        vertex: [1650, -1330, -1800],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Fanuc controller\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 6,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [-200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, -200, -350],\n                      },\n                      {\n                        vertex: [200, -200, -350],\n                      },\n                      {\n                        vertex: [200, 200, -350],\n                      },\n                      {\n                        vertex: [-200, 200, -350],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Robot base\",\n                },\n                motion_group_uid: 1,\n              },\n            ],\n            robot_model_geometries: [\n              {\n                link_index: 1,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-70, -70, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link1_sphere\",\n                },\n              },\n              {\n                link_index: 2,\n                geometry: {\n                  capsule: {\n                    radius: 160,\n                    cylinder_height: 800,\n                  },\n                  init_pose: {\n                    position: [-450, 40, 170],\n                    orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2],\n                  },\n                  id: \"link2_capsule\",\n                },\n              },\n              {\n                link_index: 3,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-110, 10, -100],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link3_sphere\",\n                },\n              },\n              {\n                link_index: 4,\n                geometry: {\n                  capsule: {\n                    radius: 110,\n                    cylinder_height: 600,\n                  },\n                  init_pose: {\n                    position: [0, 300, 40],\n                    orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2],\n                  },\n                  id: \"link4_capsule\",\n                },\n              },\n              {\n                link_index: 5,\n                geometry: {\n                  sphere: {\n                    radius: 75,\n                  },\n                  init_pose: {\n                    position: [0, 0, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link5_sphere\",\n                },\n              },\n            ],\n            tool_geometries: [],\n          } // Mock safety setup\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/coordinate-systems\",\n        handle() {\n          return {\n            coordinatesystems: [\n              {\n                coordinate_system: \"\",\n                name: \"world\",\n                reference_uid: \"\",\n                position: [0, 0, 0],\n                rotation: {\n                  angles: [0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          } //satisfies CoordinateSystems\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n        handle() {\n          return {\n            tcps: [\n              {\n                id: \"Flange\",\n                readable_name: \"Default-Flange\",\n                position: [0, 0, 0],\n                rotation: {\n                  angles: [0, 0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n              {\n                id: \"complex-tcp-position\",\n                readable_name: \"Complex TCP Position\",\n                position: [-200, 300, 150],\n                rotation: {\n                  angles: [\n                    -0.12139440409113832, -0.06356210998212003,\n                    -0.2023240068185639, 0,\n                  ],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          }\n        },\n      },\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path || \"\")\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-joint\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:48:26.096266444Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: [\n                        1.3492152690887451, -1.5659207105636597,\n                        1.6653711795806885, -1.0991662740707397,\n                        -1.829018235206604, 1.264623761177063,\n                      ],\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"671259\",\n                    },\n                  ],\n                  sequence_number: \"671259\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-tcp\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:43:12.188335774Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3352527618408203, -1.5659207105636597,\n                          1.6653711795806885, -1.110615611076355,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"627897\",\n                    },\n                  ],\n                  sequence_number: \"627897\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n  } satisfies MotionGroupState,\n}\n","import type {\n  MotionGroupDescription,\n  MotionGroupState,\n  RobotControllerState,\n} from \"@wandelbots/nova-api/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport { Vector3 } from \"three\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpMotionEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\nimport type { Vector3Simple } from \"./types/vector3\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nfunction unwrapRotationVector(\n  newRotationVectorApi: Vector3Simple,\n  currentRotationVectorApi: Vector3Simple,\n): Vector3Simple {\n  const currentRotationVector = new Vector3(\n    currentRotationVectorApi[0],\n    currentRotationVectorApi[1],\n    currentRotationVectorApi[2],\n  )\n\n  const newRotationVector = new Vector3(\n    newRotationVectorApi[0],\n    newRotationVectorApi[1],\n    newRotationVectorApi[2],\n  )\n\n  const currentAngle = currentRotationVector.length()\n  const currentAxis = currentRotationVector.normalize()\n\n  let newAngle = newRotationVector.length()\n  let newAxis = newRotationVector.normalize()\n\n  // Align rotation axes\n  if (newAxis.dot(currentAxis) < 0) {\n    newAngle = -newAngle\n    newAxis = newAxis.multiplyScalar(-1.0)\n  }\n\n  // Shift rotation angle close to previous one to extend domain of rotation angles beyond [0, pi]\n  // - this simplifies interpolation and prevents abruptly changing signs of the rotation angles\n  let angleDifference = newAngle - currentAngle\n  angleDifference -=\n    2.0 * Math.PI * Math.floor((angleDifference + Math.PI) / (2.0 * Math.PI))\n\n  newAngle = currentAngle + angleDifference\n\n  return [...newAxis.multiplyScalar(newAngle)] as Vector3Simple\n}\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(nova: NovaClient, motionGroupId: string) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n\n    const controller =\n      await nova.api.controller.getCurrentRobotControllerState(controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Get the motion group description for later usage in jogging\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      description,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly description: MotionGroupDescription,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const latestMotionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!latestMotionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle joint position changes\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position,\n          latestMotionState.joint_position,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState = latestMotionState\n        })\n      }\n\n      // handle tcp pose changes\n      if (\n        !tcpMotionEqual(\n          this.rapidlyChangingMotionState,\n          latestMotionState,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          if (this.rapidlyChangingMotionState.tcp_pose == null) {\n            this.rapidlyChangingMotionState.tcp_pose =\n              latestMotionState.tcp_pose\n          } else if (\n            latestMotionState.tcp_pose?.orientation &&\n            latestMotionState.tcp_pose?.position &&\n            this.rapidlyChangingMotionState.tcp_pose?.orientation\n          ) {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: latestMotionState.tcp_pose.position,\n              orientation: unwrapRotationVector(\n                latestMotionState.tcp_pose.orientation as Vector3Simple,\n                this.rapidlyChangingMotionState.tcp_pose\n                  .orientation as Vector3Simple,\n              ),\n            }\n          } else {\n            console.warn(\n              \"Received incomplete tcp_pose, ignoring\",\n              latestMotionState.tcp_pose,\n            )\n          }\n        })\n      }\n\n      // handle standstill changes\n      if (\n        this.rapidlyChangingMotionState.standstill !==\n        latestMotionState.standstill\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.standstill =\n            latestMotionState.standstill\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n  }\n}\n","import type {\n  InitializeMovementResponse,\n  MotionCommand,\n  Pose,\n  StartMovementResponse,\n} from \"@wandelbots/nova-api/v2\"\nimport { Vector3 } from \"three/src/math/Vector3.js\"\nimport { when } from \"mobx\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson, XYZ_TO_VECTOR } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\nimport type { Vector3Simple } from \"./types/vector3\"\n\nexport type JoggerConnectionOptions = {\n  // The mode of the jogger connection - see type description of JoggerMode for details\n  mode?: JoggerMode\n\n  // Connection timeout in milliseconds to wait for jogging initialization to complete\n  timeout?: number\n\n  /**\n   * When an error message is received from the jogging websocket, it\n   * will be passed here. If this handler is not provided, the error will\n   * instead be thrown as an unhandled error.\n   */\n  onError?: (err: unknown) => void\n\n  // The TCP to use for jogging motions.\n  tcp?: string\n\n  // The coordinate system in which jogging takes place in\n  // coordinateSystem?: string,\n\n  // If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option\n  orientation?: JoggerOrientation\n}\n\n// Three modes are supported:\n// - \"jogging\": Continuous jogging mode, where joint velocities or TCP velocities can be commanded. Opens a single websocket connection to jogging endpoint\n// - \"trajectory\": Incremental jogging mode, where fixed distance motions are planned and executed. Opens a short lived websocket for each motion.\n// - \"off\": No jogging, all websockets are closed.\nexport type JoggerMode = \"jogging\" | \"trajectory\" | \"off\"\n\nexport type JoggerOrientation = \"world\" | \"tool\"\n\nexport class JoggerConnection {\n  ENDPOINT_JOGGING = \"/execution/jogging\"\n  ENDPOINT_TRAJECTORY = \"/execution/trajectory\"\n  DEFAULT_MODE = \"off\" as JoggerMode\n  DEFAULT_TCP = \"Flange\"\n  // DEFAULT_COORDINATE_SYSTEM = \"world\"\n  DEFAULT_INIT_TIMEOUT = 5000\n  DEFAULT_ORIENTATION = \"world\" as JoggerOrientation\n\n  mode: JoggerMode = \"off\"\n  joggingSocket: AutoReconnectingWebsocket | null = null\n  trajectorySocket: AutoReconnectingWebsocket | null = null\n  timeout: number = this.DEFAULT_INIT_TIMEOUT\n  tcp: string\n  // coordinateSystem?: string\n  orientation: JoggerOrientation\n  onError?: (err: unknown) => void\n\n  /**\n   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.\n   *\n   * @param nova - The Nova client instance\n   * @param motionGroupId - The ID of the motion group to connect to\n   * @param options - Configuration options for the jogger connection\n   * @param options.mode - The jogging mode to initialize:\n   *   - \"jogging\": Continuous jogging mode with persistent websocket for real-time velocity commands\n   *   - \"trajectory\": Incremental jogging mode for fixed-distance motions via trajectory planning\n   *   - \"off\": No jogging enabled, all websockets closed (default)\n   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)\n   * @param options.tcp - TCP frame to use for motions (default: from motion group)\n   * //param options.coordinateSystem - Coordinate system for jogging commands (default: \"world\"). Please note: Currently not implemented\n   * @param options.orientation - If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: \"world\")\n   * @param options.onError - Error handler for websocket errors\n   * @returns Promise resolving to initialized JoggerConnection instance\n   */\n  static async open(\n    nova: NovaClient,\n    motionGroupId: string,\n    options: JoggerConnectionOptions = {},\n  ) {\n    // Get matching motion stream\n    const motionStream = await nova.connectMotionStream(motionGroupId)\n\n    // Initialize jogger with options\n    const jogger = new JoggerConnection(motionStream, options)\n\n    // Initialize the jogging websocket, if necessary (mode is \"jogging\")\n    await jogger.setJoggingMode(jogger.mode)\n\n    // Return the initialized jogger\n    return jogger\n  }\n\n  constructor(\n    readonly motionStream: MotionStreamConnection,\n    readonly options: JoggerConnectionOptions | undefined = {},\n  ) {\n    this.tcp = options?.tcp || motionStream.motionGroup.tcp || this.DEFAULT_TCP\n    // this.coordinateSystem = options?.coordinateSystem || this.DEFAULT_COORDINATE_SYSTEM\n    this.orientation = options?.orientation || this.DEFAULT_ORIENTATION\n    this.timeout = options?.timeout || this.DEFAULT_INIT_TIMEOUT\n    this.mode = options?.mode || this.DEFAULT_MODE\n    this.onError = options?.onError\n  }\n\n  // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket\n  async updateOptions(options: Partial<JoggerConnectionOptions>) {\n    if (options.tcp) {\n      this.tcp = options.tcp\n    }\n\n    // if (options.coordinateSystem) {\n    //   this.coordinateSystem = options.coordinateSystem\n    // }\n\n    if (options.timeout) {\n      this.timeout = options.timeout\n    }\n\n    if (options.mode) {\n      this.mode = options.mode\n    }\n\n    if (options.orientation) {\n      this.orientation = options.orientation\n    }\n\n    if (options.onError) {\n      this.onError = options.onError\n    }\n\n    this.setJoggingMode(this.mode, false)\n  }\n\n  get motionGroupId() {\n    return this.motionStream.motionGroupId\n  }\n\n  get nova() {\n    return this.motionStream.nova\n  }\n\n  get numJoints() {\n    return this.motionStream.joints.length\n  }\n\n  // get activeJoggingMode() {\n  //   return this.mode\n  // }\n\n  // get activeWebsocket() {\n  //   return this.mode === \"jogging\" ? this.joggingSocket : this.trajectorySocket;\n  // }\n\n  // Sends stop movement command to robot\n  async stop() {\n    if (this.joggingSocket) {\n      const velocity = new Array(this.numJoints).fill(0)\n      this.joggingSocket.sendJson({\n        message_type: \"JointVelocityRequest\",\n        velocity,\n      })\n    }\n\n    if (this.trajectorySocket) {\n      this.trajectorySocket.sendJson({\n        message_type: \"PauseMovementRequest\",\n      })\n    }\n  }\n\n  // Dispose the jogger, closing all open websockets\n  async dispose() {\n    // Collect all initialized sockets\n    const sockets = [this.joggingSocket, this.trajectorySocket].filter(\n      (s) => s !== null,\n    ) as AutoReconnectingWebsocket[]\n\n    // Call them to dispose\n    sockets.forEach((s) => {\n      s.dispose()\n    })\n\n    // Remove references\n    this.joggingSocket = null\n    this.trajectorySocket = null\n\n    // Return promise that resolves when all sockets are closed\n    return Promise.all(sockets.map((s) => s.closed()))\n  }\n\n  // Activate jogger in one of the supported modes\n  // Will iniitialize or close websockets as necessary\n  // If mode is unchanged, does nothing (unless skipReinitializeIfSameMode is false)\n  async setJoggingMode(mode: JoggerMode, skipReinitializeIfSameMode = true) {\n    // If not changing mode, do nothing\n    if (this.mode === mode && skipReinitializeIfSameMode) {\n      return\n    }\n\n    // Close any previous websocket connection\n    this.dispose()\n\n    // Set the new mode\n    this.mode = mode\n\n    // Mode is \"jogging\" - open jogging websocket\n    if (this.mode === \"jogging\") {\n      return this.initializeJoggingWebsocket()\n    }\n\n    // Mode is \"trajectory\" or \"off\" - nothing more to do\n    return\n  }\n\n  // Initializes continuous jogging websocket, called by setJoggingMode(\"jogging\")\n  async initializeJoggingWebsocket() {\n    // Wait for initialization with timeout\n    return new Promise<void>((resolve, reject) => {\n      const connectionFailedTimeout = setTimeout(() => {\n        reject(\n          new Error(\n            `Jogging initialization timeout after ${this.timeout} seconds`,\n          ),\n        )\n      }, this.timeout)\n\n      this.joggingSocket = this.nova.openReconnectingWebsocket(\n        this.ENDPOINT_JOGGING,\n      )\n      this.joggingSocket.addEventListener(\"message\", (ev: MessageEvent) => {\n        const data = tryParseJson(ev.data)\n\n        if (data?.result?.kind === \"INITIALIZE_RECEIVED\") {\n          clearTimeout(connectionFailedTimeout)\n          resolve()\n          return\n        }\n\n        if (\n          (data && \"error\" in data) ||\n          data?.result?.kind === \"MOTION_ERROR\"\n        ) {\n          clearTimeout(connectionFailedTimeout)\n          if (this.onError) {\n            this.onError(ev.data)\n          } else {\n            reject(new Error(ev.data))\n          }\n        }\n      })\n\n      this.joggingSocket.sendJson({\n        message_type: \"InitializeJoggingRequest\",\n        motion_group: this.motionGroupId,\n        tcp: this.tcp,\n        // response_coordinate_system: this.coordinateSystem,\n      })\n    })\n  }\n\n  /**\n   * Jogging: Start rotation of a single robot joint at the specified velocity\n   */\n  async rotateJoints({\n    joint,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    /** Index of the joint to rotate */\n    joint: number\n    /** Direction of rotation (\"+\" or \"-\") */\n    direction: \"+\" | \"-\"\n    /** Speed of the rotation in radians per second */\n    velocityRadsPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n\n    const velocity = new Array(this.numJoints).fill(0)\n\n    velocity[joint] =\n      direction === \"-\" ? -velocityRadsPerSec : velocityRadsPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"JointVelocityRequest\",\n      velocity,\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP moving along a specified axis at a given velocity\n   */\n  async translateTCP({\n    axis,\n    direction,\n    velocityMmPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityMmPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    translation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityMmPerSec : velocityMmPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n      use_tool_coordinate_system: this.orientation === \"tool\",\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP rotating around a specified axis at a given velocity\n   */\n  async rotateTCP({\n    axis,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityRadsPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    rotation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityRadsPerSec : velocityRadsPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n    })\n  }\n\n  /**\n   * Trajectory jogging:\n   *\n   * Move the robot by a fixed distance in a single cartesian\n   * axis, either rotating or translating relative to the TCP.\n   * Promise resolves only after the motion has completed.\n   */\n  async runIncrementalCartesianMotion({\n    currentTcpPose,\n    currentJoints,\n    coordSystemId,\n    velocityInRelevantUnits,\n    axis,\n    direction,\n    motion,\n  }: {\n    currentTcpPose: Pose\n    currentJoints: Vector3Simple\n    coordSystemId: string\n    velocityInRelevantUnits: number\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    motion:\n      | {\n          type: \"rotate\"\n          distanceRads: number\n        }\n      | {\n          type: \"translate\"\n          distanceMm: number\n        }\n  }) {\n    const commands: MotionCommand[] = []\n\n    if (this.mode !== \"trajectory\") {\n      throw new Error(\n        \"Set jogging mode to 'trajectory' to run incremental cartesian motions\",\n      )\n    }\n\n    if (motion.type === \"translate\") {\n      if (!currentTcpPose.position) {\n        throw new Error(\n          \"Current pose has no position, cannot perform translation\",\n        )\n      }\n\n      const targetTcpPosition = [...currentTcpPose.position]\n      targetTcpPosition[XYZ_TO_VECTOR[axis]] +=\n        motion.distanceMm * (direction === \"-\" ? -1 : 1)\n\n      commands.push({\n        limits_override: {\n          tcp_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: targetTcpPosition,\n            orientation: currentTcpPose.orientation,\n          },\n        },\n      })\n    } else if (motion.type === \"rotate\") {\n      // Concatenate rotations expressed by rotation vectors\n      // Equations taken from https://physics.stackexchange.com/a/287819\n\n      if (!currentTcpPose.orientation) {\n        throw new Error(\n          \"Current pose has no orientation, cannot perform rotation\",\n        )\n      }\n\n      // Compute axis and angle of current rotation vector\n      const currentRotationVector = new Vector3(\n        currentTcpPose.orientation[0],\n        currentTcpPose.orientation[1],\n        currentTcpPose.orientation[2],\n      )\n\n      const currentRotationRad = currentRotationVector.length()\n      const currentRotationDirection = currentRotationVector.clone().normalize()\n\n      // Compute axis and angle of difference rotation vector\n      const differenceRotationRad =\n        motion.distanceRads * (direction === \"-\" ? -1 : 1)\n\n      const differenceRotationDirection = new Vector3(0.0, 0.0, 0.0)\n      differenceRotationDirection[axis] = 1.0\n\n      // Some abbreviations to make the following equations more readable\n      const f1 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f2 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n      const f3 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f4 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n\n      const dotProduct = differenceRotationDirection.dot(\n        currentRotationDirection,\n      )\n\n      const crossProduct = differenceRotationDirection\n        .clone()\n        .cross(currentRotationDirection)\n\n      // Compute angle of concatenated rotation\n      const newRotationRad = 2.0 * Math.acos(f1 - f2 * dotProduct)\n\n      // Compute rotation vector of concatenated rotation\n      const f5 = newRotationRad / Math.sin(0.5 * newRotationRad)\n\n      const targetTcpOrientation = new Vector3()\n        .addScaledVector(crossProduct, f2)\n        .addScaledVector(differenceRotationDirection, f3)\n        .addScaledVector(currentRotationDirection, f4)\n        .multiplyScalar(f5)\n\n      commands.push({\n        limits_override: {\n          tcp_orientation_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: currentTcpPose.position,\n            orientation: [...targetTcpOrientation],\n          },\n        },\n      })\n    }\n\n    // Plan the motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/planTrajectory\n    const description = this.motionStream.description\n    if (description.cycle_time === undefined) {\n      console.warn(\n        \"Current motion group has no cycle time, cannot plan jogging motion\",\n      )\n      return\n    }\n\n    const motion_group_setup = {\n      motion_group_model: description.motion_group_model,\n      cycle_time: description.cycle_time,\n      mounting: description.mounting,\n\n      // tcp_offset: description.tcp_offset, TODO: implement tcp_offset handling\n      // FIXME use proper mode's limits if set\n      global: description.operation_limits.auto_limits,\n    }\n\n    const motionPlanRes = await this.nova.api.trajectoryPlanning.planTrajectory(\n      {\n        motion_group_setup,\n        start_joint_position: currentJoints,\n        motion_commands: commands,\n      },\n    )\n\n    const trajectoryData = motionPlanRes.response\n    if (!trajectoryData) {\n      throw new Error(\n        `Failed to plan jogging increment motion ${JSON.stringify(motionPlanRes)}`,\n      )\n    }\n\n    if (this.trajectorySocket) {\n      console.warn(\"Trajectory jogging websocket already open; will close\")\n      this.trajectorySocket.dispose()\n    }\n\n    // Execute the planned motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/executeTrajectory\n    this.trajectorySocket = this.nova.openReconnectingWebsocket(\n      this.ENDPOINT_TRAJECTORY,\n    )\n\n    const messageInitializeMovementResponse = (\n      result: InitializeMovementResponse | undefined,\n    ) => {\n      // Handle errorous response\n      if (!result || result.add_trajectory_error || result.message) {\n        if (this.onError) {\n          this.onError(result)\n        } else {\n          throw new Error(\n            result?.add_trajectory_error?.message ||\n              result?.message ||\n              \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Handle socket gone\n      if (!this.trajectorySocket) {\n        throw new Error(\n          `Failed to execute trajectory, websocket not available anymore`,\n        )\n      }\n\n      // Trajectory locked, now start movement\n      this.trajectorySocket.sendJson({\n        message_type: \"StartMovementRequest\",\n        direction: \"DIRECTION_FORWARD\",\n      })\n    }\n\n    const waitForMovementToStartAndFinish = async () => {\n      // Wait for robot to start moving (standstill becomes false)\n      await when(() => !this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Then wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const waitForMovementToFinish = async () => {\n      // Wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const messageStartMovementResponse = async (\n      data: StartMovementResponse,\n    ) => {\n      if (data?.message) {\n        if (this.onError) {\n          this.onError(data)\n          return\n        } else {\n          throw new Error(\n            data.message || \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Movement started we now wait to verify the robot is moving\n      // by observing changes to motion state\n      if (this.motionStream.rapidlyChangingMotionState.standstill) {\n        await waitForMovementToStartAndFinish()\n      } else {\n        await waitForMovementToFinish()\n      }\n    }\n\n    this.trajectorySocket.addEventListener(\"message\", (ev: MessageEvent) => {\n      const data = tryParseJson(ev.data)\n\n      if (!data?.result?.kind) {\n        throw new Error(\n          `Failed to execute trajectory: Received invalid message ${ev.data}`,\n        )\n      }\n\n      if (data.result.kind === \"INITIALIZE_RECEIVED\") {\n        messageInitializeMovementResponse(data.result)\n      } else if (data.result.kind === \"START_RECEIVED\") {\n        messageStartMovementResponse(data)\n      } else {\n        throw new Error(\n          `Failed to execute trajectory, cannot handle message type \"${data.result.kind}\"`,\n        )\n      }\n    })\n\n    // Send initialization/movement request\n    this.trajectorySocket.sendJson({\n      message_type: \"InitializeMovementRequest\",\n      trajectory: {\n        message_type: \"TrajectoryData\",\n        motion_group: this.motionGroupId,\n        data: trajectoryData,\n        tcp: this.tcp,\n      },\n    })\n  }\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\nimport { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport { JoggerConnection, type JoggerConnectionOptions } from \"./JoggerConnection\"\nimport { ConnectedMotionGroup } from \"./ConnectedMotionGroup\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\nfunction permissiveInstanceUrlParse(url: string): string {\n  if (!url.startsWith(\"http\")) {\n    url = `http://${url}`\n  }\n\n  return new URL(url).toString()\n}\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    } else {\n      this.config.instanceUrl = permissiveInstanceUrlParse(\n        this.config.instanceUrl,\n      )\n    }\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    this.authPromise = loginWithAuth0(this.config.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.config.instanceUrl,\n        `/api/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n\n  /**\n   * Connect to the motion state websocket(s) for a given motion group\n   */\n  async connectMotionStream(motionGroupId: string) {\n    return await MotionStreamConnection.open(this, motionGroupId)\n  }\n\n  /**\n   * Connect to the jogging websocket(s) for a given motion group\n   */\n  async connectJogger(\n    motionGroupId: string,\n    options: JoggerConnectionOptions = {},\n  ) {\n    return await JoggerConnection.open(this, motionGroupId, options)\n  }\n\n  async connectMotionGroups(\n    motionGroupIds: string[],\n  ): Promise<ConnectedMotionGroup[]> {\n    return Promise.all(\n      motionGroupIds.map((motionGroupId) =>\n        ConnectedMotionGroup.connect(this, motionGroupId),\n      ),\n    )\n  }\n\n  async connectMotionGroup(\n    motionGroupId: string,\n  ): Promise<ConnectedMotionGroup> {\n    const motionGroups = await this.connectMotionGroups([motionGroupId])\n    return motionGroups[0]!\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", 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