@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.d.cts

@@ -1,8 +1,13 @@
-import { AutoReconnectingWebsocket, MockNovaInstance } from "../../AutoReconnectingWebsocket-Cr7f9016.cjs";
+import { AutoReconnectingWebsocket, MockNovaInstance } from "../../AutoReconnectingWebsocket-CoU4ZyD2.cjs";
 import { AxiosInstance } from "axios";
-import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
+import * as THREE from "three";
+import * as _wandelbots_nova_api_v20 from "@wandelbots/nova-api/v2";
+import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupDescription, MotionGroupModelsApi, MotionGroupState, Pose, RobotControllerState, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 export * from "@wandelbots/nova-api/v2";
 
+//#region src/lib/v2/types/vector3.d.ts
+type Vector3Simple = [number, number, number];
+//#endregion
 //#region src/lib/v2/NovaCellAPIClient.d.ts
 type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...args: P) => R : never;
 type UnwrapAxiosResponseReturn<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
@@ -56,6 +61,158 @@ declare class NovaCellAPIClient {
   readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>;
 }
 //#endregion
+//#region src/lib/v2/MotionStreamConnection.d.ts
+/**
+ * Store representing the current state of a connected motion group.
+ */
+declare class MotionStreamConnection {
+  readonly nova: NovaClient;
+  readonly controller: RobotControllerState;
+  readonly motionGroup: MotionGroupState;
+  readonly description: MotionGroupDescription;
+  readonly initialMotionState: MotionGroupState;
+  readonly motionStateSocket: AutoReconnectingWebsocket;
+  static open(nova: NovaClient, motionGroupId: string): Promise<MotionStreamConnection>;
+  rapidlyChangingMotionState: MotionGroupState;
+  constructor(nova: NovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, description: MotionGroupDescription, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket);
+  get motionGroupId(): string;
+  get controllerId(): string;
+  get wandelscriptIdentifier(): string;
+  get joints(): {
+    index: number;
+  }[];
+  dispose(): void;
+}
+//#endregion
+//#region src/lib/v2/JoggerConnection.d.ts
+type JoggerConnectionOptions = {
+  mode?: JoggerMode;
+  timeout?: number;
+  /**
+   * When an error message is received from the jogging websocket, it
+   * will be passed here. If this handler is not provided, the error will
+   * instead be thrown as an unhandled error.
+   */
+  onError?: (err: unknown) => void;
+  tcp?: string;
+  orientation?: JoggerOrientation;
+};
+type JoggerMode = "jogging" | "trajectory" | "off";
+type JoggerOrientation = "world" | "tool";
+declare class JoggerConnection {
+  readonly motionStream: MotionStreamConnection;
+  readonly options: JoggerConnectionOptions | undefined;
+  ENDPOINT_JOGGING: string;
+  ENDPOINT_TRAJECTORY: string;
+  DEFAULT_MODE: JoggerMode;
+  DEFAULT_TCP: string;
+  DEFAULT_INIT_TIMEOUT: number;
+  DEFAULT_ORIENTATION: JoggerOrientation;
+  mode: JoggerMode;
+  joggingSocket: AutoReconnectingWebsocket | null;
+  trajectorySocket: AutoReconnectingWebsocket | null;
+  timeout: number;
+  tcp: string;
+  orientation: JoggerOrientation;
+  onError?: (err: unknown) => void;
+  /**
+   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
+   *
+   * @param nova - The Nova client instance
+   * @param motionGroupId - The ID of the motion group to connect to
+   * @param options - Configuration options for the jogger connection
+   * @param options.mode - The jogging mode to initialize:
+   *   - "jogging": Continuous jogging mode with persistent websocket for real-time velocity commands
+   *   - "trajectory": Incremental jogging mode for fixed-distance motions via trajectory planning
+   *   - "off": No jogging enabled, all websockets closed (default)
+   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)
+   * @param options.tcp - TCP frame to use for motions (default: from motion group)
+   * //param options.coordinateSystem - Coordinate system for jogging commands (default: "world"). Please note: Currently not implemented
+   * @param options.orientation - If set to "tool", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: "world")
+   * @param options.onError - Error handler for websocket errors
+   * @returns Promise resolving to initialized JoggerConnection instance
+   */
+  static open(nova: NovaClient, motionGroupId: string, options?: JoggerConnectionOptions): Promise<JoggerConnection>;
+  constructor(motionStream: MotionStreamConnection, options?: JoggerConnectionOptions | undefined);
+  updateOptions(options: Partial<JoggerConnectionOptions>): Promise<void>;
+  get motionGroupId(): string;
+  get nova(): NovaClient;
+  get numJoints(): number;
+  stop(): Promise<void>;
+  dispose(): Promise<void[]>;
+  setJoggingMode(mode: JoggerMode, skipReinitializeIfSameMode?: boolean): Promise<void>;
+  initializeJoggingWebsocket(): Promise<void>;
+  /**
+   * Jogging: Start rotation of a single robot joint at the specified velocity
+   */
+  rotateJoints({
+    joint,
+    direction,
+    velocityRadsPerSec
+  }: {
+    /** Index of the joint to rotate */
+    joint: number;
+    /** Direction of rotation ("+" or "-") */
+    direction: "+" | "-";
+    /** Speed of the rotation in radians per second */
+    velocityRadsPerSec: number;
+  }): Promise<void>;
+  /**
+   * Jogging: Start the TCP moving along a specified axis at a given velocity
+   */
+  translateTCP({
+    axis,
+    direction,
+    velocityMmPerSec
+  }: {
+    axis: "x" | "y" | "z";
+    direction: "-" | "+";
+    velocityMmPerSec: number;
+  }): Promise<void>;
+  /**
+   * Jogging: Start the TCP rotating around a specified axis at a given velocity
+   */
+  rotateTCP({
+    axis,
+    direction,
+    velocityRadsPerSec
+  }: {
+    axis: "x" | "y" | "z";
+    direction: "-" | "+";
+    velocityRadsPerSec: number;
+  }): Promise<void>;
+  /**
+   * Trajectory jogging:
+   *
+   * Move the robot by a fixed distance in a single cartesian
+   * axis, either rotating or translating relative to the TCP.
+   * Promise resolves only after the motion has completed.
+   */
+  runIncrementalCartesianMotion({
+    currentTcpPose,
+    currentJoints,
+    coordSystemId,
+    velocityInRelevantUnits,
+    axis,
+    direction,
+    motion
+  }: {
+    currentTcpPose: Pose;
+    currentJoints: Vector3Simple;
+    coordSystemId: string;
+    velocityInRelevantUnits: number;
+    axis: "x" | "y" | "z";
+    direction: "-" | "+";
+    motion: {
+      type: "rotate";
+      distanceRads: number;
+    } | {
+      type: "translate";
+      distanceMm: number;
+    };
+  }): Promise<void>;
+}
+//#endregion
 //#region src/lib/v2/NovaClient.d.ts
 type NovaClientConfig = {
   /**
@@ -87,10 +244,6 @@ type NovaClientConfigWithDefaults = NovaClientConfig & {
   cellId: string;
 };
 /**
- * EXPERIMENTAL
- *
- * This client provides a starting point to migrate NOVA api v2.
- * As v2 is still in development, this client has to be considered unstable
  *
  * Client for connecting to a Nova instance and controlling robots.
  */
@@ -109,7 +262,103 @@ declare class NovaClient {
    * on the returned object.
    */
   openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
+  /**
+   * Connect to the motion state websocket(s) for a given motion group
+   */
+  connectMotionStream(motionGroupId: string): Promise<MotionStreamConnection>;
+  /**
+   * Connect to the jogging websocket(s) for a given motion group
+   */
+  connectJogger(motionGroupId: string, options?: JoggerConnectionOptions): Promise<JoggerConnection>;
+  connectMotionGroups(motionGroupIds: string[]): Promise<ConnectedMotionGroup[]>;
+  connectMotionGroup(motionGroupId: string): Promise<ConnectedMotionGroup>;
+}
+//#endregion
+//#region src/lib/v2/ConnectedMotionGroup.d.ts
+type RobotTcpLike = {
+  id: string;
+  readable_name: string;
+  position: Vector3Simple;
+  orientation: Vector3Simple;
+};
+type MotionGroupOption = {
+  selectionId: string;
+};
+/**
+ * Store representing the current state of a connected motion group.
+ */
+declare class ConnectedMotionGroup {
+  readonly nova: NovaClient;
+  readonly controller: RobotControllerState;
+  readonly motionGroup: MotionGroupState;
+  readonly initialMotionState: MotionGroupState;
+  readonly motionStateSocket: AutoReconnectingWebsocket;
+  readonly isVirtual: boolean;
+  readonly tcps: RobotTcpLike[];
+  readonly description: MotionGroupDescription;
+  readonly initialControllerState: RobotControllerState;
+  readonly controllerStateSocket: AutoReconnectingWebsocket;
+  static connect(nova: NovaClient, motionGroupId: string): Promise<ConnectedMotionGroup>;
+  connectedJoggingSocket: WebSocket | null;
+  planData: any | null;
+  joggingVelocity: number;
+  rapidlyChangingMotionState: MotionGroupState;
+  controllerState: RobotControllerState;
+  /**
+   * Reflects activation state of the motion group / robot servos. The
+   * movement controls in the UI should only be enabled in the "active" state
+   */
+  activationState: "inactive" | "activating" | "deactivating" | "active";
+  constructor(nova: NovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket, isVirtual: boolean, tcps: RobotTcpLike[], description: MotionGroupDescription, initialControllerState: RobotControllerState, controllerStateSocket: AutoReconnectingWebsocket);
+  get motionGroupId(): string;
+  get controllerId(): string;
+  get modelFromController(): string;
+  get wandelscriptIdentifier(): string;
+  /** Jogging velocity in radians for rotation and joint movement */
+  get joggingVelocityRads(): number;
+  get joints(): {
+    index: number;
+  }[];
+  get dhParameters(): _wandelbots_nova_api_v20.DHParameter[] | undefined;
+  get safetyZones(): {
+    [key: string]: _wandelbots_nova_api_v20.Collider;
+  } | undefined;
+  /** Gets the robot mounting position offset in 3D viz coordinates */
+  get mountingPosition(): [number, number, number];
+  /** Gets the robot mounting position rotation in 3D viz coordinates */
+  get mountingQuaternion(): THREE.Quaternion;
+  /**
+   * Whether the controller is currently in a safety state
+   * corresponding to an emergency stop
+   */
+  get isEstopActive(): boolean;
+  /**
+   * Whether the controller is in a safety state
+   * that may be non-functional for robot pad purposes
+   */
+  get isMoveableSafetyState(): boolean;
+  /**
+   * Whether the controller is in an operation mode that allows movement
+   */
+  get isMoveableOperationMode(): boolean;
+  /**
+   * Whether the robot is currently active and can be moved, based on the
+   * safety state, operation mode and servo toggle activation state.
+   */
+  get canBeMoved(): boolean;
+  deactivate(): Promise<void>;
+  activate(): Promise<void>;
+  toggleActivation(): void;
+  dispose(): void;
+  setJoggingVelocity(velocity: number): void;
 }
 //#endregion
-export { NovaCellAPIClient, NovaClient, NovaClientConfig, WithCellId, WithUnwrappedAxiosResponse };
+//#region src/lib/v2/wandelscriptUtils.d.ts
+/**
+ * Convert a Pose object representing a motion group position
+ * into a string which represents that pose in Wandelscript.
+ */
+declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
+//#endregion
+export { ConnectedMotionGroup, JoggerConnection, JoggerConnectionOptions, JoggerMode, JoggerOrientation, MotionGroupOption, MotionStreamConnection, NovaCellAPIClient, NovaClient, NovaClientConfig, RobotTcpLike, Vector3Simple, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
 //# sourceMappingURL=index.d.cts.map

package/dist/lib/v2/index.d.cts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.cts","names":[],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts"],"sourcesContent":[],"mappings":";;;;;;KA8BK,kBAAkB,8DACT,MAAM;KAGf,+BAA+B,wCAExB,WAAW,OACd,QAAQ,QAAQ,WAAW;EAP/B,IAAA,EAAA,KAAA,EAAA;CAAY,GAOmD,CAPnD,GAAA,KAAA,CAAA,GAAA,KAAA;AAAM,KAUX,UAVW,CAAA,CAAA,CAAA,GAAA,QACT,MAUA,CAVA,GAUI,yBAVJ,CAU8B,YAV9B,CAU2C,CAV3C,CAU6C,CAV7C,CAAA,CAAA,CAAA;AAAO,KAaT,0BAbS,CAAA,CAAA,CAAA,GAAA,QAGhB,MAWS,CAXT,GAWa,yBAXY,CAWc,CAXd,CAWgB,CAXhB,CAAA,CAAA,EAAA;;;;;AAGL,cAeZ,iBAAA,CAfY;WAAR,MAAA,EAAA,MAAA;WAAmD,IAAA,EAkBjD,aAlBiD,GAAA;IAA3D,aAAA,CAAA,EAmBa,aAnBb;IAAO,IAAA,CAAA,EAAA,OAAA;EAGJ,CAAA;EAAU,WAAA,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,EAeH,aAfG,GAAA;IACR,aAAA,CAAA,EAeQ,aAfR;IAA2C,IAAA,CAAA,EAAA,OAAA;;;;;AAGzD;;UACc,UAAA;;;;EAA6B,QAAA,0BAAA;EAO9B,SAAA,MAAA,EAqFI,0BArFa,CAqFb,SArFa,CAAA;EAAA,SAAA,IAAA,EAsFf,0BAtFe,CAsFf,OAtFe,CAAA;WAGX,WAAA,EAqFG,UArFH,CAqFG,cArFH,CAAA;WACG,iBAAA,EAqFM,UArFN,CAqFM,oBArFN,CAAA;WADH,UAAA,EAwFE,UAxFF,CAwFE,aAxFF,CAAA;WACG,aAAA,EAyFE,UAzFF,CAyFE,0BAzFF,CAAA;WAiFL,kBAAA,EAUY,UAVZ,CAUY,qBAVZ,CAAA;WAAA,mBAAA,EAWa,UAXb,CAWa,sBAXb,CAAA;WACF,iBAAA,EAWa,UAXb,CAWa,oBAXb,CAAA;WAAA,WAAA,EAaO,UAbP,CAaO,cAbP,CAAA;WAEO,iBAAA,EAYM,0BAZN,CAYM,cAZN,CAAA;WAAA,OAAA,EAcJ,UAdI,CAcJ,UAdI,CAAA;WACM,UAAA,EAeP,UAfO,CAeP,aAfO,CAAA;WAAA,gBAAA,EAiBD,UAjBC,CAiBD,mBAjBC,CAAA;WAEP,iBAAA,EAiBO,UAjBP,CAiBO,oBAjBP,CAAA;WAAA,yBAAA,EAkBe,UAlBf,CAkBe,4BAlBf,CAAA;WAEG,oBAAA,EAmBO,UAnBP,CAmBO,iCAnBP,CAAA;WAAA,WAAA,EAuBF,UAvBE,CAuBF,cAvBE,CAAA;WAEK,wBAAA,EAsBM,UAtBN,CAsBM,2BAtBN,CAAA;WAAA,oBAAA,EAyBE,UAzBF,CAyBE,uBAzBF,CAAA;;;;KCxIjB,gBAAA;;ADgB8B;;;aAI5B,EAAA,MAAA,GAAA,0BAAA;;;AAAO;;QAGe,CAAA,EAAA,MAAA;;;;;UAGnB,CAAA,EAAA,MAAA;;;;AAGjB;EAAsB,QAAA,CAAA,EAAA,MAAA;;;;aACsB,CAAA,EAAA,MAAA;ICDxC,IDCc,CCDT,aDCS,EAAA,YAAA,GAAA,UAAA,CAAA;KCCb,4BAAA,GAA+B,gBDDO,GAAA;EAG/B,MAAA,EAAA,MAAA;CAA0B;;;;;;AAQtC;;;AAIsB,cCIT,UAAA,CDJS;WADH,GAAA,ECMH,iBDNG;WACG,MAAA,ECMH,4BDNG;WAiFL,IAAA,CAAA,EC1EC,gBD0ED;aAAA,ECzEF,ODyEE,CAAA,MAAA,GAAA,IAAA,CAAA,GAAA,IAAA;aACF,EAAA,MAAA,GAAA,IAAA;aAAA,CAAA,MAAA,ECvEO,gBDuEP;qBAEO,CAAA,CAAA,EC0BS,OD1BT,CAAA,IAAA,CAAA;kBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;;;;;;2BAKE,CAAA,IAAA,EAAA,MAAA,CAAA,ECsEgB,yBDtEhB"}
+{"version":3,"file":"index.d.cts","names":[],"sources":["../../../src/lib/v2/types/vector3.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/MotionStreamConnection.ts","../../../src/lib/v2/JoggerConnection.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/ConnectedMotionGroup.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":[],"mappings":";;;;;;;;KAAY,aAAA;;;KC8BP,kBAAkB,8DACT,MAAM;KAGf,+BAA+B,wCAExB,WAAW,OACd,QAAQ,QAAQ,WAAW;;IAAgC;ADrCxD,KCwCA,UDxCa,CAAA,CAAA,CAAA,GAAA,cCyCX,IAAI,0BAA0B,aAAa,EAAE;KAG/C,wCAdP,MAeS,CAfT,GAea,yBAfD,CAe2B,CAf3B,CAe6B,CAf7B,CAAA,CAAA,EAAA;;;;;AAIZ,cAkBQ,iBAAA,CAlBiB;EAAA,SAAA,MAAA,EAAA,MAAA;WAAM,IAAA,EAqBjB,aArBiB,GAAA;IAEb,aAAA,CAAA,EAoBD,aApBC;IAAX,IAAA,CAAA,EAAA,OAAA;;aACa,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,EAkBN,aAlBM,GAAA;IAAR,aAAA,CAAA,EAmBK,aAnBL;IAAmD,IAAA,CAAA,EAAA,OAAA;;EAApD;AAGhB;;;;UAC2D,UAAA;;;;EAG/C,QAAA,0BAA0B;EAAA,SAAA,MAAA,EA6FrB,0BA7FqB,CA6FrB,SA7FqB,CAAA;WACxB,IAAA,EA6FC,0BA7FD,CA6FC,OA7FD,CAAA;WAA8B,WAAA,EA+FtB,UA/FsB,CA+FtB,cA/FsB,CAAA;WAAE,iBAAA,EAgGlB,UAhGkB,CAgGlB,oBAhGkB,CAAA;WAA5B,UAAA,EAkGG,UAlGH,CAkGG,aAlGH,CAAA;EAAyB,SAAA,aAAA,EAoGnB,UApGmB,CAoGnB,0BApGmB,CAAA;EAO9B,SAAA,kBAAiB,EA+FD,UA/FC,CA+FD,qBA/FC,CAAA;EAAA,SAAA,mBAAA,EAgGA,UAhGA,CAgGA,sBAhGA,CAAA;WAGX,iBAAA,EA8FS,UA9FT,CA8FS,oBA9FT,CAAA;WACG,WAAA,EA+FA,UA/FA,CA+FA,cA/FA,CAAA;WADH,iBAAA,EAiGS,0BAjGT,CAiGS,cAjGT,CAAA;WACG,OAAA,EAkGJ,UAlGI,CAkGJ,UAlGI,CAAA;WAiFL,UAAA,EAmBI,UAnBJ,CAmBI,aAnBJ,CAAA;WAAA,gBAAA,EAqBU,UArBV,CAqBU,mBArBV,CAAA;WACF,iBAAA,EAsBa,UAtBb,CAsBa,oBAtBb,CAAA;WAAA,yBAAA,EAuBqB,UAvBrB,CAuBqB,4BAvBrB,CAAA;WAEO,oBAAA,EAwBS,UAxBT,CAwBS,iCAxBT,CAAA;WAAA,WAAA,EA4BA,UA5BA,CA4BA,cA5BA,CAAA;WACM,wBAAA,EA4BO,UA5BP,CA4BO,2BA5BP,CAAA;WAAA,oBAAA,EA+BG,UA/BH,CA+BG,uBA/BH,CAAA;;;;;;;cCpFf,sBAAA;iBA2DM;uBACM;EFrHb,SAAA,WAAa,EEsHC,gBFtHD;wBEuHC;+BACO;8BACD;ED3F3B,OAAA,IAAA,CAAA,IAAY,EC4BS,UD5BT,EAAA,aAAA,EAAA,MAAA,CAAA,EC4B0C,OD5B1C,CC4B0C,sBD5B1C,CAAA;EAAA,0BAAA,ECmFa,gBDnFb;aAAM,CAAA,IAAA,ECsFJ,UDtFI,EAAA,UAAA,ECuFE,oBDvFF,EAAA,WAAA,ECwFG,gBDxFH,EAAA,WAAA,ECyFG,sBDzFH,EAAA,kBAAA,EC0FU,gBD1FV,EAAA,iBAAA,EC2FS,yBD3FT;MACT,aAAA,CAAA,CAAA,EAAA,MAAA;MAAM,YAAA,CAAA,CAAA,EAAA,MAAA;EAAC,IAAA,sBAAA,CAAA,CAAA,EAAA,MAAA;EAGhB,IAAA,MAAA,CAAA,CAAA,EAAA;IAAyB,KAAA,EAAA,MAAA;KAAM;SAEb,CAAA,CAAA,EAAA,IAAA;;;;KEtBX,uBAAA;SAEH;;;AHhBT;;;;EC8BK,OAAA,CAAA,EAAA,CAAA,GAAA,EAAY,OAAA,EAAA,GAAA,IAAA;EAAA,GAAA,CAAA,EAAA,MAAA;aAAM,CAAA,EEKP,iBFLO;;AACH,KEWR,UAAA,GFXQ,SAAA,GAAA,YAAA,GAAA,KAAA;AAAC,KEaT,iBAAA,GFbS,OAAA,GAAA,MAAA;AAGhB,cEYQ,gBAAA,CFZiB;EAAA,SAAA,YAAA,EEkEH,sBFlEG;WAAM,OAAA,EEmEd,uBFnEc,GAAA,SAAA;kBAEb,EAAA,MAAA;qBAAX,EAAA,MAAA;cACwB,EEYV,UFZU;aAAX,EAAA,MAAA;sBAAR,EAAA,MAAA;qBAAmD,EEgBjC,iBFhBiC;MAA3D,EEkBD,UFlBC;EAAO,aAAA,EEmBC,yBFnBD,GAAA,IAAA;EAGJ,gBAAU,EEiBF,yBFjBE,GAAA,IAAA;EAAA,OAAA,EAAA,MAAA;KACR,EAAA,MAAA;aAA2C,EEoB1C,iBFpB0C;SAAE,CAAA,EAAA,CAAA,GAAA,EAAA,OAAA,EAAA,GAAA,IAAA;;;;AAG3D;;;;;;;AAQA;;;;;;;SAqFiB,IAAA,CAAA,IAAA,EEvDP,UFuDO,EAAA,aAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EErDJ,uBFqDI,CAAA,EErDwB,OFqDxB,CErDwB,gBFqDxB,CAAA;aACF,CAAA,YAAA,EEtCY,sBFsCZ,EAAA,OAAA,CAAA,EErCO,uBFqCP,GAAA,SAAA;eAAA,CAAA,OAAA,EE1BgB,OF0BhB,CE1BwB,uBF0BxB,CAAA,CAAA,EE1BgD,OF0BhD,CAAA,IAAA,CAAA;MAEO,aAAA,CAAA,CAAA,EAAA,MAAA;MAAA,IAAA,CAAA,CAAA,EEIZ,UFJY;MACM,SAAA,CAAA,CAAA,EAAA,MAAA;MAAA,CAAA,CAAA,EEoBhB,OFpBgB,CAAA,IAAA,CAAA;SAEP,CAAA,CAAA,EEmCN,OFnCM,CAAA,IAAA,EAAA,CAAA;gBAAA,CAAA,IAAA,EEyDQ,UFzDR,EAAA,0BAAA,CAAA,EAAA,OAAA,CAAA,EEyDqD,OFzDrD,CAAA,IAAA,CAAA;4BAEG,CAAA,CAAA,EE6EU,OF7EV,CAAA,IAAA,CAAA;;;;cAGM,CAAA;IAAA,KAAA;IAAA,SAAA;IAAA;GAAA,EAAA;IAAA;IACF,KAAA,EAAA,MAAA;IAAA;IAEN,SAAA,EAAA,GAAA,GAAA,GAAA;IAAA;IACM,kBAAA,EAAA,MAAA;MEiIzB,OFjIyB,CAAA,IAAA,CAAA;;;;cAIP,CAAA;IAAA,IAAA;IAAA,SAAA;IAAA;GAAA,EAAA;IAEM,IAAA,EAAA,GAAA,GAAA,GAAA,GAAA,GAAA;IAAA,SAAA,EAAA,GAAA,GAAA,GAAA;IAEC,gBAAA,EAAA,MAAA;MEsJzB,OFtJyB,CAAA,IAAA,CAAA;;;;WAIG,CAAA;IAAA,IAAA;IAAA,SAAA;IAAA;GAAA,EAAA;IAIT,IAAA,EAAA,GAAA,GAAA,GAAA,GAAA,GAAA;IAAA,SAAA,EAAA,GAAA,GAAA,GAAA;IACa,kBAAA,EAAA,MAAA;ME4KhC,OF5KgC,CAAA,IAAA,CAAA;;;;;;;AChHnC;EAAmC,6BAAA,CAAA;IAAA,cAAA;IAAA,aAAA;IAAA,aAAA;IAAA,uBAAA;IAAA,IAAA;IAAA,SAAA;IAAA;GAAA,EAAA;IA2DhB,cAAA,ECmQC,IDnQD;IACM,aAAA,ECmQN,aDnQM;IACC,aAAA,EAAA,MAAA;IACA,uBAAA,EAAA,MAAA;IACO,IAAA,EAAA,GAAA,GAAA,GAAA,GAAA,GAAA;IACD,SAAA,EAAA,GAAA,GAAA,GAAA;IA/DN,MAAA,EAAA;MAAiC,IAAA,EAAA,QAAA;MAAA,YAAA,EAAA,MAAA;IAuD7B,CAAA,GAAA;MAGX,IAAA,EAAA,WAAA;MACM,UAAA,EAAA,MAAA;IACC,CAAA;MCgRvB,OD/QuB,CAAA,IAAA,CAAA;;;;KEzGd,gBAAA;EJdA;;;;EC8BP,WAAA,EAAA,MAAY,GAAA,0BAAA;EAAA;;;;EACI,MAAA,CAAA,EAAA,MAAA;EAGhB;;;;UAEO,CAAA,EAAA,MAAA;;;;;UACH,CAAA,EAAA,MAAA;EAAO;AAGhB;;aACc,CAAA,EAAA,MAAA;IGEV,IHFqD,CGEhD,aHFgD,EAAA,YAAA,GAAA,UAAA,CAAA;KGIpD,4BAAA,GAA+B,gBHJuB,GAAA;QAAf,EAAA,MAAA;;;AAG5C;;;AAC4C,cGc/B,UAAA,CHd+B;WAAE,GAAA,EGe9B,iBHf8B;WAA5B,MAAA,EGgBC,4BHhBD;EAAyB,SAAA,IAAA,CAAA,EGiBzB,gBHjByB;EAO9B,WAAA,EGWE,OHXe,CAAA,MAAA,GAAA,IAAA,CAAA,GAAA,IAAA;EAAA,WAAA,EAAA,MAAA,GAAA,IAAA;aAGX,CAAA,MAAA,EGWG,gBHXH;qBACG,CAAA,CAAA,EG+GS,OH/GT,CAAA,IAAA,CAAA;kBADH,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;;;;;;2BAqFG,CAAA,IAAA,EAAA,MAAA,CAAA,EG4EkB,yBH5ElB;;;;qBAGD,CAAA,aAAA,EAAA,MAAA,CAAA,EGkF4B,OHlF5B,CGkF4B,sBHlF5B,CAAA;;;;eAIQ,CAAA,aAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EGuFhB,uBHvFgB,CAAA,EGuFY,OHvFZ,CGuFY,gBHvFZ,CAAA;qBAAA,CAAA,cAAA,EAAA,MAAA,EAAA,CAAA,EG8FxB,OH9FwB,CG8FhB,oBH9FgB,EAAA,CAAA;oBACC,CAAA,aAAA,EAAA,MAAA,CAAA,EGuGzB,OHvGyB,CGuGjB,oBHvGiB,CAAA;;;;KInIlB,YAAA;;;YAGA;ELpBA,WAAA,EKqBG,aLrBU;;KKwBb,iBAAA;;AJG8B,CAAA;;;;AAItB,cIAP,oBAAA,CJAO;EAAC,SAAA,IAAA,EIsHF,UJtHE;EAGhB,SAAA,UAAA,EIoHoB,oBJpHK;EAAA,SAAA,WAAA,EIqHJ,gBJrHI;WAAM,kBAAA,EIsHH,gBJtHG;WAEb,iBAAA,EIqHS,yBJrHT;WAAX,SAAA,EAAA,OAAA;WACwB,IAAA,EIsHjB,YJtHiB,EAAA;WAAX,WAAA,EIuHC,sBJvHD;WAAR,sBAAA,EIwHoB,oBJxHpB;WAAmD,qBAAA,EIyHhC,yBJzHgC;SAA3D,OAAA,CAAA,IAAA,EILoB,UJKpB,EAAA,aAAA,EAAA,MAAA,CAAA,EILqD,OJKrD,CILqD,oBJKrD,CAAA;EAAO,sBAAA,EI2FU,SJ3FV,GAAA,IAAA;EAGJ,QAAA,EAAA,GAAU,GAAA,IAAA;EAAA,eAAA,EAAA,MAAA;4BACR,EI8FgB,gBJ9FhB;iBAA2C,EIkGtC,oBJlGsC;;;;;EAG7C,eAAA,EAAA,UAAA,GAA0B,YAAA,GAAA,cAAA,GAAA,QAAA;EAAA,WAAA,CAAA,IAAA,EIyGnB,UJzGmB,EAAA,UAAA,EI0Gb,oBJ1Ga,EAAA,WAAA,EI2GZ,gBJ3GY,EAAA,kBAAA,EI4GL,gBJ5GK,EAAA,iBAAA,EI6GN,yBJ7GM,EAAA,SAAA,EAAA,OAAA,EAAA,IAAA,EI+GnB,YJ/GmB,EAAA,EAAA,WAAA,EIgHZ,sBJhHY,EAAA,sBAAA,EIiHD,oBJjHC,EAAA,qBAAA,EIkHF,yBJlHE;MACxB,aAAA,CAAA,CAAA,EAAA,MAAA;MAA8B,YAAA,CAAA,CAAA,EAAA,MAAA;MAAE,mBAAA,CAAA,CAAA,EAAA,MAAA;MAA5B,sBAAA,CAAA,CAAA,EAAA,MAAA;EAAyB;EAO9B,IAAA,mBAAiB,CAAA,CAAA,EAAA,MAAA;EAAA,IAAA,MAAA,CAAA,CAAA,EAAA;IAGX,KAAA,EAAA,MAAA;KACG;MADH,YAAA,CAAA,CAAA,EIuG0C,wBAAA,CAmG3C,WAAA,EJ1MC,GAAA,SAAA;MACG,WAAA,CAAA,CAAA,EAAA;IAiFL,CAAA,GAAA,EAAA,MAAA,CAAA,EIwHC,wBAAA,CAAA,QJxHD;MAAA,SAAA;;MACF,gBAAA,CAAA,CAAA,EAAA,CAAA,MAAA,EAAA,MAAA,EAAA,MAAA,CAAA;;MAEO,kBAAA,CAAA,CAAA,EI2IE,KAAA,CAAA,UJ3IF;;;;;MAKE,aAAA,CAAA,CAAA,EAAA,OAAA;;;;;MAGM,qBAAA,CAAA,CAAA,EAAA,OAAA;;;;MAGR,uBAAA,CAAA,CAAA,EAAA,OAAA;;;;;MAKD,UAAA,CAAA,CAAA,EAAA,OAAA;YAAA,CAAA,CAAA,EI4LH,OJ5LG,CAAA,IAAA,CAAA;UAEM,CAAA,CAAA,EIqNX,OJrNW,CAAA,IAAA,CAAA;kBAAA,CAAA,CAAA,EAAA,IAAA;SAEC,CAAA,CAAA,EAAA,IAAA;oBAAA,CAAA,QAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;;;;;iBK1JZ,wBAAA,OACR,KAAK"}

package/dist/lib/v2/index.d.ts

@@ -1,8 +1,13 @@
-import { AutoReconnectingWebsocket, MockNovaInstance } from "../../AutoReconnectingWebsocket-BI1ckzP8.js";
+import { AutoReconnectingWebsocket, MockNovaInstance } from "../../AutoReconnectingWebsocket-D0gTrkzu.js";
 import { AxiosInstance } from "axios";
-import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupModelsApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
+import * as THREE from "three";
+import * as _wandelbots_nova_api_v20 from "@wandelbots/nova-api/v2";
+import { ApplicationApi, BUSInputsOutputsApi, CellApi, Configuration, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, MotionGroupApi, MotionGroupDescription, MotionGroupModelsApi, MotionGroupState, Pose, RobotControllerState, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 export * from "@wandelbots/nova-api/v2";
 
+//#region src/lib/v2/types/vector3.d.ts
+type Vector3Simple = [number, number, number];
+//#endregion
 //#region src/lib/v2/NovaCellAPIClient.d.ts
 type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...args: P) => R : never;
 type UnwrapAxiosResponseReturn<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
@@ -56,6 +61,158 @@ declare class NovaCellAPIClient {
   readonly storeCollisionSetups: WithCellId<StoreCollisionSetupsApi>;
 }
 //#endregion
+//#region src/lib/v2/MotionStreamConnection.d.ts
+/**
+ * Store representing the current state of a connected motion group.
+ */
+declare class MotionStreamConnection {
+  readonly nova: NovaClient;
+  readonly controller: RobotControllerState;
+  readonly motionGroup: MotionGroupState;
+  readonly description: MotionGroupDescription;
+  readonly initialMotionState: MotionGroupState;
+  readonly motionStateSocket: AutoReconnectingWebsocket;
+  static open(nova: NovaClient, motionGroupId: string): Promise<MotionStreamConnection>;
+  rapidlyChangingMotionState: MotionGroupState;
+  constructor(nova: NovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, description: MotionGroupDescription, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket);
+  get motionGroupId(): string;
+  get controllerId(): string;
+  get wandelscriptIdentifier(): string;
+  get joints(): {
+    index: number;
+  }[];
+  dispose(): void;
+}
+//#endregion
+//#region src/lib/v2/JoggerConnection.d.ts
+type JoggerConnectionOptions = {
+  mode?: JoggerMode;
+  timeout?: number;
+  /**
+   * When an error message is received from the jogging websocket, it
+   * will be passed here. If this handler is not provided, the error will
+   * instead be thrown as an unhandled error.
+   */
+  onError?: (err: unknown) => void;
+  tcp?: string;
+  orientation?: JoggerOrientation;
+};
+type JoggerMode = "jogging" | "trajectory" | "off";
+type JoggerOrientation = "world" | "tool";
+declare class JoggerConnection {
+  readonly motionStream: MotionStreamConnection;
+  readonly options: JoggerConnectionOptions | undefined;
+  ENDPOINT_JOGGING: string;
+  ENDPOINT_TRAJECTORY: string;
+  DEFAULT_MODE: JoggerMode;
+  DEFAULT_TCP: string;
+  DEFAULT_INIT_TIMEOUT: number;
+  DEFAULT_ORIENTATION: JoggerOrientation;
+  mode: JoggerMode;
+  joggingSocket: AutoReconnectingWebsocket | null;
+  trajectorySocket: AutoReconnectingWebsocket | null;
+  timeout: number;
+  tcp: string;
+  orientation: JoggerOrientation;
+  onError?: (err: unknown) => void;
+  /**
+   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
+   *
+   * @param nova - The Nova client instance
+   * @param motionGroupId - The ID of the motion group to connect to
+   * @param options - Configuration options for the jogger connection
+   * @param options.mode - The jogging mode to initialize:
+   *   - "jogging": Continuous jogging mode with persistent websocket for real-time velocity commands
+   *   - "trajectory": Incremental jogging mode for fixed-distance motions via trajectory planning
+   *   - "off": No jogging enabled, all websockets closed (default)
+   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)
+   * @param options.tcp - TCP frame to use for motions (default: from motion group)
+   * //param options.coordinateSystem - Coordinate system for jogging commands (default: "world"). Please note: Currently not implemented
+   * @param options.orientation - If set to "tool", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: "world")
+   * @param options.onError - Error handler for websocket errors
+   * @returns Promise resolving to initialized JoggerConnection instance
+   */
+  static open(nova: NovaClient, motionGroupId: string, options?: JoggerConnectionOptions): Promise<JoggerConnection>;
+  constructor(motionStream: MotionStreamConnection, options?: JoggerConnectionOptions | undefined);
+  updateOptions(options: Partial<JoggerConnectionOptions>): Promise<void>;
+  get motionGroupId(): string;
+  get nova(): NovaClient;
+  get numJoints(): number;
+  stop(): Promise<void>;
+  dispose(): Promise<void[]>;
+  setJoggingMode(mode: JoggerMode, skipReinitializeIfSameMode?: boolean): Promise<void>;
+  initializeJoggingWebsocket(): Promise<void>;
+  /**
+   * Jogging: Start rotation of a single robot joint at the specified velocity
+   */
+  rotateJoints({
+    joint,
+    direction,
+    velocityRadsPerSec
+  }: {
+    /** Index of the joint to rotate */
+    joint: number;
+    /** Direction of rotation ("+" or "-") */
+    direction: "+" | "-";
+    /** Speed of the rotation in radians per second */
+    velocityRadsPerSec: number;
+  }): Promise<void>;
+  /**
+   * Jogging: Start the TCP moving along a specified axis at a given velocity
+   */
+  translateTCP({
+    axis,
+    direction,
+    velocityMmPerSec
+  }: {
+    axis: "x" | "y" | "z";
+    direction: "-" | "+";
+    velocityMmPerSec: number;
+  }): Promise<void>;
+  /**
+   * Jogging: Start the TCP rotating around a specified axis at a given velocity
+   */
+  rotateTCP({
+    axis,
+    direction,
+    velocityRadsPerSec
+  }: {
+    axis: "x" | "y" | "z";
+    direction: "-" | "+";
+    velocityRadsPerSec: number;
+  }): Promise<void>;
+  /**
+   * Trajectory jogging:
+   *
+   * Move the robot by a fixed distance in a single cartesian
+   * axis, either rotating or translating relative to the TCP.
+   * Promise resolves only after the motion has completed.
+   */
+  runIncrementalCartesianMotion({
+    currentTcpPose,
+    currentJoints,
+    coordSystemId,
+    velocityInRelevantUnits,
+    axis,
+    direction,
+    motion
+  }: {
+    currentTcpPose: Pose;
+    currentJoints: Vector3Simple;
+    coordSystemId: string;
+    velocityInRelevantUnits: number;
+    axis: "x" | "y" | "z";
+    direction: "-" | "+";
+    motion: {
+      type: "rotate";
+      distanceRads: number;
+    } | {
+      type: "translate";
+      distanceMm: number;
+    };
+  }): Promise<void>;
+}
+//#endregion
 //#region src/lib/v2/NovaClient.d.ts
 type NovaClientConfig = {
   /**
@@ -87,10 +244,6 @@ type NovaClientConfigWithDefaults = NovaClientConfig & {
   cellId: string;
 };
 /**
- * EXPERIMENTAL
- *
- * This client provides a starting point to migrate NOVA api v2.
- * As v2 is still in development, this client has to be considered unstable
  *
  * Client for connecting to a Nova instance and controlling robots.
  */
@@ -109,7 +262,103 @@ declare class NovaClient {
    * on the returned object.
    */
   openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
+  /**
+   * Connect to the motion state websocket(s) for a given motion group
+   */
+  connectMotionStream(motionGroupId: string): Promise<MotionStreamConnection>;
+  /**
+   * Connect to the jogging websocket(s) for a given motion group
+   */
+  connectJogger(motionGroupId: string, options?: JoggerConnectionOptions): Promise<JoggerConnection>;
+  connectMotionGroups(motionGroupIds: string[]): Promise<ConnectedMotionGroup[]>;
+  connectMotionGroup(motionGroupId: string): Promise<ConnectedMotionGroup>;
+}
+//#endregion
+//#region src/lib/v2/ConnectedMotionGroup.d.ts
+type RobotTcpLike = {
+  id: string;
+  readable_name: string;
+  position: Vector3Simple;
+  orientation: Vector3Simple;
+};
+type MotionGroupOption = {
+  selectionId: string;
+};
+/**
+ * Store representing the current state of a connected motion group.
+ */
+declare class ConnectedMotionGroup {
+  readonly nova: NovaClient;
+  readonly controller: RobotControllerState;
+  readonly motionGroup: MotionGroupState;
+  readonly initialMotionState: MotionGroupState;
+  readonly motionStateSocket: AutoReconnectingWebsocket;
+  readonly isVirtual: boolean;
+  readonly tcps: RobotTcpLike[];
+  readonly description: MotionGroupDescription;
+  readonly initialControllerState: RobotControllerState;
+  readonly controllerStateSocket: AutoReconnectingWebsocket;
+  static connect(nova: NovaClient, motionGroupId: string): Promise<ConnectedMotionGroup>;
+  connectedJoggingSocket: WebSocket | null;
+  planData: any | null;
+  joggingVelocity: number;
+  rapidlyChangingMotionState: MotionGroupState;
+  controllerState: RobotControllerState;
+  /**
+   * Reflects activation state of the motion group / robot servos. The
+   * movement controls in the UI should only be enabled in the "active" state
+   */
+  activationState: "inactive" | "activating" | "deactivating" | "active";
+  constructor(nova: NovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket, isVirtual: boolean, tcps: RobotTcpLike[], description: MotionGroupDescription, initialControllerState: RobotControllerState, controllerStateSocket: AutoReconnectingWebsocket);
+  get motionGroupId(): string;
+  get controllerId(): string;
+  get modelFromController(): string;
+  get wandelscriptIdentifier(): string;
+  /** Jogging velocity in radians for rotation and joint movement */
+  get joggingVelocityRads(): number;
+  get joints(): {
+    index: number;
+  }[];
+  get dhParameters(): _wandelbots_nova_api_v20.DHParameter[] | undefined;
+  get safetyZones(): {
+    [key: string]: _wandelbots_nova_api_v20.Collider;
+  } | undefined;
+  /** Gets the robot mounting position offset in 3D viz coordinates */
+  get mountingPosition(): [number, number, number];
+  /** Gets the robot mounting position rotation in 3D viz coordinates */
+  get mountingQuaternion(): THREE.Quaternion;
+  /**
+   * Whether the controller is currently in a safety state
+   * corresponding to an emergency stop
+   */
+  get isEstopActive(): boolean;
+  /**
+   * Whether the controller is in a safety state
+   * that may be non-functional for robot pad purposes
+   */
+  get isMoveableSafetyState(): boolean;
+  /**
+   * Whether the controller is in an operation mode that allows movement
+   */
+  get isMoveableOperationMode(): boolean;
+  /**
+   * Whether the robot is currently active and can be moved, based on the
+   * safety state, operation mode and servo toggle activation state.
+   */
+  get canBeMoved(): boolean;
+  deactivate(): Promise<void>;
+  activate(): Promise<void>;
+  toggleActivation(): void;
+  dispose(): void;
+  setJoggingVelocity(velocity: number): void;
 }
 //#endregion
-export { NovaCellAPIClient, NovaClient, NovaClientConfig, WithCellId, WithUnwrappedAxiosResponse };
+//#region src/lib/v2/wandelscriptUtils.d.ts
+/**
+ * Convert a Pose object representing a motion group position
+ * into a string which represents that pose in Wandelscript.
+ */
+declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
+//#endregion
+export { ConnectedMotionGroup, JoggerConnection, JoggerConnectionOptions, JoggerMode, JoggerOrientation, MotionGroupOption, MotionStreamConnection, NovaCellAPIClient, NovaClient, NovaClientConfig, RobotTcpLike, Vector3Simple, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
 //# sourceMappingURL=index.d.ts.map

package/dist/lib/v2/index.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","names":[],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/NovaClient.ts"],"sourcesContent":[],"mappings":";;;;;;KA8BK,kBAAkB,8DACT,MAAM;KAGf,+BAA+B,wCAExB,WAAW,OACd,QAAQ,QAAQ,WAAW;EAP/B,IAAA,EAAA,KAAA,EAAA;CAAY,GAOmD,CAPnD,GAAA,KAAA,CAAA,GAAA,KAAA;AAAM,KAUX,UAVW,CAAA,CAAA,CAAA,GAAA,QACT,MAUA,CAVA,GAUI,yBAVJ,CAU8B,YAV9B,CAU2C,CAV3C,CAU6C,CAV7C,CAAA,CAAA,CAAA;AAAO,KAaT,0BAbS,CAAA,CAAA,CAAA,GAAA,QAGhB,MAWS,CAXT,GAWa,yBAXY,CAWc,CAXd,CAWgB,CAXhB,CAAA,CAAA,EAAA;;;;;AAGL,cAeZ,iBAAA,CAfY;WAAR,MAAA,EAAA,MAAA;WAAmD,IAAA,EAkBjD,aAlBiD,GAAA;IAA3D,aAAA,CAAA,EAmBa,aAnBb;IAAO,IAAA,CAAA,EAAA,OAAA;EAGJ,CAAA;EAAU,WAAA,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,EAeH,aAfG,GAAA;IACR,aAAA,CAAA,EAeQ,aAfR;IAA2C,IAAA,CAAA,EAAA,OAAA;;;;;AAGzD;;UACc,UAAA;;;;EAA6B,QAAA,0BAAA;EAO9B,SAAA,MAAA,EAqFI,0BArFa,CAqFb,SArFa,CAAA;EAAA,SAAA,IAAA,EAsFf,0BAtFe,CAsFf,OAtFe,CAAA;WAGX,WAAA,EAqFG,UArFH,CAqFG,cArFH,CAAA;WACG,iBAAA,EAqFM,UArFN,CAqFM,oBArFN,CAAA;WADH,UAAA,EAwFE,UAxFF,CAwFE,aAxFF,CAAA;WACG,aAAA,EAyFE,UAzFF,CAyFE,0BAzFF,CAAA;WAiFL,kBAAA,EAUY,UAVZ,CAUY,qBAVZ,CAAA;WAAA,mBAAA,EAWa,UAXb,CAWa,sBAXb,CAAA;WACF,iBAAA,EAWa,UAXb,CAWa,oBAXb,CAAA;WAAA,WAAA,EAaO,UAbP,CAaO,cAbP,CAAA;WAEO,iBAAA,EAYM,0BAZN,CAYM,cAZN,CAAA;WAAA,OAAA,EAcJ,UAdI,CAcJ,UAdI,CAAA;WACM,UAAA,EAeP,UAfO,CAeP,aAfO,CAAA;WAAA,gBAAA,EAiBD,UAjBC,CAiBD,mBAjBC,CAAA;WAEP,iBAAA,EAiBO,UAjBP,CAiBO,oBAjBP,CAAA;WAAA,yBAAA,EAkBe,UAlBf,CAkBe,4BAlBf,CAAA;WAEG,oBAAA,EAmBO,UAnBP,CAmBO,iCAnBP,CAAA;WAAA,WAAA,EAuBF,UAvBE,CAuBF,cAvBE,CAAA;WAEK,wBAAA,EAsBM,UAtBN,CAsBM,2BAtBN,CAAA;WAAA,oBAAA,EAyBE,UAzBF,CAyBE,uBAzBF,CAAA;;;;KCxIjB,gBAAA;;ADgB8B;;;aAI5B,EAAA,MAAA,GAAA,0BAAA;;;AAAO;;QAGe,CAAA,EAAA,MAAA;;;;;UAGnB,CAAA,EAAA,MAAA;;;;AAGjB;EAAsB,QAAA,CAAA,EAAA,MAAA;;;;aACsB,CAAA,EAAA,MAAA;ICDxC,IDCc,CCDT,aDCS,EAAA,YAAA,GAAA,UAAA,CAAA;KCCb,4BAAA,GAA+B,gBDDO,GAAA;EAG/B,MAAA,EAAA,MAAA;CAA0B;;;;;;AAQtC;;;AAIsB,cCIT,UAAA,CDJS;WADH,GAAA,ECMH,iBDNG;WACG,MAAA,ECMH,4BDNG;WAiFL,IAAA,CAAA,EC1EC,gBD0ED;aAAA,ECzEF,ODyEE,CAAA,MAAA,GAAA,IAAA,CAAA,GAAA,IAAA;aACF,EAAA,MAAA,GAAA,IAAA;aAAA,CAAA,MAAA,ECvEO,gBDuEP;qBAEO,CAAA,CAAA,EC0BS,OD1BT,CAAA,IAAA,CAAA;kBAAA,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;;;;;;2BAKE,CAAA,IAAA,EAAA,MAAA,CAAA,ECsEgB,yBDtEhB"}
+{"version":3,"file":"index.d.ts","names":[],"sources":["../../../src/lib/v2/types/vector3.ts","../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/MotionStreamConnection.ts","../../../src/lib/v2/JoggerConnection.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/ConnectedMotionGroup.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":[],"mappings":";;;;;;;;KAAY,aAAA;;;KC8BP,kBAAkB,8DACT,MAAM;KAGf,+BAA+B,wCAExB,WAAW,OACd,QAAQ,QAAQ,WAAW;;IAAgC;ADrCxD,KCwCA,UDxCa,CAAA,CAAA,CAAA,GAAA,cCyCX,IAAI,0BAA0B,aAAa,EAAE;KAG/C,wCAdP,MAeS,CAfT,GAea,yBAfD,CAe2B,CAf3B,CAe6B,CAf7B,CAAA,CAAA,EAAA;;;;;AAIZ,cAkBQ,iBAAA,CAlBiB;EAAA,SAAA,MAAA,EAAA,MAAA;WAAM,IAAA,EAqBjB,aArBiB,GAAA;IAEb,aAAA,CAAA,EAoBD,aApBC;IAAX,IAAA,CAAA,EAAA,OAAA;;aACa,CAAA,MAAA,EAAA,MAAA,EAAA,IAAA,EAkBN,aAlBM,GAAA;IAAR,aAAA,CAAA,EAmBK,aAnBL;IAAmD,IAAA,CAAA,EAAA,OAAA;;EAApD;AAGhB;;;;UAC2D,UAAA;;;;EAG/C,QAAA,0BAA0B;EAAA,SAAA,MAAA,EA6FrB,0BA7FqB,CA6FrB,SA7FqB,CAAA;WACxB,IAAA,EA6FC,0BA7FD,CA6FC,OA7FD,CAAA;WAA8B,WAAA,EA+FtB,UA/FsB,CA+FtB,cA/FsB,CAAA;WAAE,iBAAA,EAgGlB,UAhGkB,CAgGlB,oBAhGkB,CAAA;WAA5B,UAAA,EAkGG,UAlGH,CAkGG,aAlGH,CAAA;EAAyB,SAAA,aAAA,EAoGnB,UApGmB,CAoGnB,0BApGmB,CAAA;EAO9B,SAAA,kBAAiB,EA+FD,UA/FC,CA+FD,qBA/FC,CAAA;EAAA,SAAA,mBAAA,EAgGA,UAhGA,CAgGA,sBAhGA,CAAA;WAGX,iBAAA,EA8FS,UA9FT,CA8FS,oBA9FT,CAAA;WACG,WAAA,EA+FA,UA/FA,CA+FA,cA/FA,CAAA;WADH,iBAAA,EAiGS,0BAjGT,CAiGS,cAjGT,CAAA;WACG,OAAA,EAkGJ,UAlGI,CAkGJ,UAlGI,CAAA;WAiFL,UAAA,EAmBI,UAnBJ,CAmBI,aAnBJ,CAAA;WAAA,gBAAA,EAqBU,UArBV,CAqBU,mBArBV,CAAA;WACF,iBAAA,EAsBa,UAtBb,CAsBa,oBAtBb,CAAA;WAAA,yBAAA,EAuBqB,UAvBrB,CAuBqB,4BAvBrB,CAAA;WAEO,oBAAA,EAwBS,UAxBT,CAwBS,iCAxBT,CAAA;WAAA,WAAA,EA4BA,UA5BA,CA4BA,cA5BA,CAAA;WACM,wBAAA,EA4BO,UA5BP,CA4BO,2BA5BP,CAAA;WAAA,oBAAA,EA+BG,UA/BH,CA+BG,uBA/BH,CAAA;;;;;;;cCpFf,sBAAA;iBA2DM;uBACM;EFrHb,SAAA,WAAa,EEsHC,gBFtHD;wBEuHC;+BACO;8BACD;ED3F3B,OAAA,IAAA,CAAA,IAAY,EC4BS,UD5BT,EAAA,aAAA,EAAA,MAAA,CAAA,EC4B0C,OD5B1C,CC4B0C,sBD5B1C,CAAA;EAAA,0BAAA,ECmFa,gBDnFb;aAAM,CAAA,IAAA,ECsFJ,UDtFI,EAAA,UAAA,ECuFE,oBDvFF,EAAA,WAAA,ECwFG,gBDxFH,EAAA,WAAA,ECyFG,sBDzFH,EAAA,kBAAA,EC0FU,gBD1FV,EAAA,iBAAA,EC2FS,yBD3FT;MACT,aAAA,CAAA,CAAA,EAAA,MAAA;MAAM,YAAA,CAAA,CAAA,EAAA,MAAA;EAAC,IAAA,sBAAA,CAAA,CAAA,EAAA,MAAA;EAGhB,IAAA,MAAA,CAAA,CAAA,EAAA;IAAyB,KAAA,EAAA,MAAA;KAAM;SAEb,CAAA,CAAA,EAAA,IAAA;;;;KEtBX,uBAAA;SAEH;;;AHhBT;;;;EC8BK,OAAA,CAAA,EAAA,CAAA,GAAA,EAAY,OAAA,EAAA,GAAA,IAAA;EAAA,GAAA,CAAA,EAAA,MAAA;aAAM,CAAA,EEKP,iBFLO;;AACH,KEWR,UAAA,GFXQ,SAAA,GAAA,YAAA,GAAA,KAAA;AAAC,KEaT,iBAAA,GFbS,OAAA,GAAA,MAAA;AAGhB,cEYQ,gBAAA,CFZiB;EAAA,SAAA,YAAA,EEkEH,sBFlEG;WAAM,OAAA,EEmEd,uBFnEc,GAAA,SAAA;kBAEb,EAAA,MAAA;qBAAX,EAAA,MAAA;cACwB,EEYV,UFZU;aAAX,EAAA,MAAA;sBAAR,EAAA,MAAA;qBAAmD,EEgBjC,iBFhBiC;MAA3D,EEkBD,UFlBC;EAAO,aAAA,EEmBC,yBFnBD,GAAA,IAAA;EAGJ,gBAAU,EEiBF,yBFjBE,GAAA,IAAA;EAAA,OAAA,EAAA,MAAA;KACR,EAAA,MAAA;aAA2C,EEoB1C,iBFpB0C;SAAE,CAAA,EAAA,CAAA,GAAA,EAAA,OAAA,EAAA,GAAA,IAAA;;;;AAG3D;;;;;;;AAQA;;;;;;;SAqFiB,IAAA,CAAA,IAAA,EEvDP,UFuDO,EAAA,aAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EErDJ,uBFqDI,CAAA,EErDwB,OFqDxB,CErDwB,gBFqDxB,CAAA;aACF,CAAA,YAAA,EEtCY,sBFsCZ,EAAA,OAAA,CAAA,EErCO,uBFqCP,GAAA,SAAA;eAAA,CAAA,OAAA,EE1BgB,OF0BhB,CE1BwB,uBF0BxB,CAAA,CAAA,EE1BgD,OF0BhD,CAAA,IAAA,CAAA;MAEO,aAAA,CAAA,CAAA,EAAA,MAAA;MAAA,IAAA,CAAA,CAAA,EEIZ,UFJY;MACM,SAAA,CAAA,CAAA,EAAA,MAAA;MAAA,CAAA,CAAA,EEoBhB,OFpBgB,CAAA,IAAA,CAAA;SAEP,CAAA,CAAA,EEmCN,OFnCM,CAAA,IAAA,EAAA,CAAA;gBAAA,CAAA,IAAA,EEyDQ,UFzDR,EAAA,0BAAA,CAAA,EAAA,OAAA,CAAA,EEyDqD,OFzDrD,CAAA,IAAA,CAAA;4BAEG,CAAA,CAAA,EE6EU,OF7EV,CAAA,IAAA,CAAA;;;;cAGM,CAAA;IAAA,KAAA;IAAA,SAAA;IAAA;GAAA,EAAA;IAAA;IACF,KAAA,EAAA,MAAA;IAAA;IAEN,SAAA,EAAA,GAAA,GAAA,GAAA;IAAA;IACM,kBAAA,EAAA,MAAA;MEiIzB,OFjIyB,CAAA,IAAA,CAAA;;;;cAIP,CAAA;IAAA,IAAA;IAAA,SAAA;IAAA;GAAA,EAAA;IAEM,IAAA,EAAA,GAAA,GAAA,GAAA,GAAA,GAAA;IAAA,SAAA,EAAA,GAAA,GAAA,GAAA;IAEC,gBAAA,EAAA,MAAA;MEsJzB,OFtJyB,CAAA,IAAA,CAAA;;;;WAIG,CAAA;IAAA,IAAA;IAAA,SAAA;IAAA;GAAA,EAAA;IAIT,IAAA,EAAA,GAAA,GAAA,GAAA,GAAA,GAAA;IAAA,SAAA,EAAA,GAAA,GAAA,GAAA;IACa,kBAAA,EAAA,MAAA;ME4KhC,OF5KgC,CAAA,IAAA,CAAA;;;;;;;AChHnC;EAAmC,6BAAA,CAAA;IAAA,cAAA;IAAA,aAAA;IAAA,aAAA;IAAA,uBAAA;IAAA,IAAA;IAAA,SAAA;IAAA;GAAA,EAAA;IA2DhB,cAAA,ECmQC,IDnQD;IACM,aAAA,ECmQN,aDnQM;IACC,aAAA,EAAA,MAAA;IACA,uBAAA,EAAA,MAAA;IACO,IAAA,EAAA,GAAA,GAAA,GAAA,GAAA,GAAA;IACD,SAAA,EAAA,GAAA,GAAA,GAAA;IA/DN,MAAA,EAAA;MAAiC,IAAA,EAAA,QAAA;MAAA,YAAA,EAAA,MAAA;IAuD7B,CAAA,GAAA;MAGX,IAAA,EAAA,WAAA;MACM,UAAA,EAAA,MAAA;IACC,CAAA;MCgRvB,OD/QuB,CAAA,IAAA,CAAA;;;;KEzGd,gBAAA;EJdA;;;;EC8BP,WAAA,EAAA,MAAY,GAAA,0BAAA;EAAA;;;;EACI,MAAA,CAAA,EAAA,MAAA;EAGhB;;;;UAEO,CAAA,EAAA,MAAA;;;;;UACH,CAAA,EAAA,MAAA;EAAO;AAGhB;;aACc,CAAA,EAAA,MAAA;IGEV,IHFqD,CGEhD,aHFgD,EAAA,YAAA,GAAA,UAAA,CAAA;KGIpD,4BAAA,GAA+B,gBHJuB,GAAA;QAAf,EAAA,MAAA;;;AAG5C;;;AAC4C,cGc/B,UAAA,CHd+B;WAAE,GAAA,EGe9B,iBHf8B;WAA5B,MAAA,EGgBC,4BHhBD;EAAyB,SAAA,IAAA,CAAA,EGiBzB,gBHjByB;EAO9B,WAAA,EGWE,OHXe,CAAA,MAAA,GAAA,IAAA,CAAA,GAAA,IAAA;EAAA,WAAA,EAAA,MAAA,GAAA,IAAA;aAGX,CAAA,MAAA,EGWG,gBHXH;qBACG,CAAA,CAAA,EG+GS,OH/GT,CAAA,IAAA,CAAA;kBADH,CAAA,IAAA,EAAA,MAAA,CAAA,EAAA,MAAA;;;;;;2BAqFG,CAAA,IAAA,EAAA,MAAA,CAAA,EG4EkB,yBH5ElB;;;;qBAGD,CAAA,aAAA,EAAA,MAAA,CAAA,EGkF4B,OHlF5B,CGkF4B,sBHlF5B,CAAA;;;;eAIQ,CAAA,aAAA,EAAA,MAAA,EAAA,OAAA,CAAA,EGuFhB,uBHvFgB,CAAA,EGuFY,OHvFZ,CGuFY,gBHvFZ,CAAA;qBAAA,CAAA,cAAA,EAAA,MAAA,EAAA,CAAA,EG8FxB,OH9FwB,CG8FhB,oBH9FgB,EAAA,CAAA;oBACC,CAAA,aAAA,EAAA,MAAA,CAAA,EGuGzB,OHvGyB,CGuGjB,oBHvGiB,CAAA;;;;KInIlB,YAAA;;;YAGA;ELpBA,WAAA,EKqBG,aLrBU;;KKwBb,iBAAA;;AJG8B,CAAA;;;;AAItB,cIAP,oBAAA,CJAO;EAAC,SAAA,IAAA,EIsHF,UJtHE;EAGhB,SAAA,UAAA,EIoHoB,oBJpHK;EAAA,SAAA,WAAA,EIqHJ,gBJrHI;WAAM,kBAAA,EIsHH,gBJtHG;WAEb,iBAAA,EIqHS,yBJrHT;WAAX,SAAA,EAAA,OAAA;WACwB,IAAA,EIsHjB,YJtHiB,EAAA;WAAX,WAAA,EIuHC,sBJvHD;WAAR,sBAAA,EIwHoB,oBJxHpB;WAAmD,qBAAA,EIyHhC,yBJzHgC;SAA3D,OAAA,CAAA,IAAA,EILoB,UJKpB,EAAA,aAAA,EAAA,MAAA,CAAA,EILqD,OJKrD,CILqD,oBJKrD,CAAA;EAAO,sBAAA,EI2FU,SJ3FV,GAAA,IAAA;EAGJ,QAAA,EAAA,GAAU,GAAA,IAAA;EAAA,eAAA,EAAA,MAAA;4BACR,EI8FgB,gBJ9FhB;iBAA2C,EIkGtC,oBJlGsC;;;;;EAG7C,eAAA,EAAA,UAAA,GAA0B,YAAA,GAAA,cAAA,GAAA,QAAA;EAAA,WAAA,CAAA,IAAA,EIyGnB,UJzGmB,EAAA,UAAA,EI0Gb,oBJ1Ga,EAAA,WAAA,EI2GZ,gBJ3GY,EAAA,kBAAA,EI4GL,gBJ5GK,EAAA,iBAAA,EI6GN,yBJ7GM,EAAA,SAAA,EAAA,OAAA,EAAA,IAAA,EI+GnB,YJ/GmB,EAAA,EAAA,WAAA,EIgHZ,sBJhHY,EAAA,sBAAA,EIiHD,oBJjHC,EAAA,qBAAA,EIkHF,yBJlHE;MACxB,aAAA,CAAA,CAAA,EAAA,MAAA;MAA8B,YAAA,CAAA,CAAA,EAAA,MAAA;MAAE,mBAAA,CAAA,CAAA,EAAA,MAAA;MAA5B,sBAAA,CAAA,CAAA,EAAA,MAAA;EAAyB;EAO9B,IAAA,mBAAiB,CAAA,CAAA,EAAA,MAAA;EAAA,IAAA,MAAA,CAAA,CAAA,EAAA;IAGX,KAAA,EAAA,MAAA;KACG;MADH,YAAA,CAAA,CAAA,EIuG0C,wBAAA,CAmG3C,WAAA,EJ1MC,GAAA,SAAA;MACG,WAAA,CAAA,CAAA,EAAA;IAiFL,CAAA,GAAA,EAAA,MAAA,CAAA,EIwHC,wBAAA,CAAA,QJxHD;MAAA,SAAA;;MACF,gBAAA,CAAA,CAAA,EAAA,CAAA,MAAA,EAAA,MAAA,EAAA,MAAA,CAAA;;MAEO,kBAAA,CAAA,CAAA,EI2IE,KAAA,CAAA,UJ3IF;;;;;MAKE,aAAA,CAAA,CAAA,EAAA,OAAA;;;;;MAGM,qBAAA,CAAA,CAAA,EAAA,OAAA;;;;MAGR,uBAAA,CAAA,CAAA,EAAA,OAAA;;;;;MAKD,UAAA,CAAA,CAAA,EAAA,OAAA;YAAA,CAAA,CAAA,EI4LH,OJ5LG,CAAA,IAAA,CAAA;UAEM,CAAA,CAAA,EIqNX,OJrNW,CAAA,IAAA,CAAA;kBAAA,CAAA,CAAA,EAAA,IAAA;SAEC,CAAA,CAAA,EAAA,IAAA;oBAAA,CAAA,QAAA,EAAA,MAAA,CAAA,EAAA,IAAA;;;;;;;;iBK1JZ,wBAAA,OACR,KAAK"}